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refactor(map_based_prediction): update prediction yaml file #531

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Aug 26, 2023
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refactor(map_based_prediction): update prediction yaml file #531

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5 changes: 4 additions & 1 deletion ...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
/**:
ros__parameters:
enable_delay_compensation: true
prediction_time_horizon: 7.8 #[s]
prediction_time_horizon: 10.0 #[s]
prediction_sampling_delta_time: 0.5 #[s]
min_velocity_for_map_based_prediction: 1.39 #[m/s]
min_crosswalk_user_velocity: 1.39 #[m/s]
Expand All @@ -11,7 +11,10 @@
sigma_yaw_angle_deg: 5.0 #[angle degree]
object_buffer_time_length: 2.0 #[s]
history_time_length: 1.0 #[s]
# parameter for shoulder lane prediction
prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8

# parameters for lc prediction
lane_change_detection:
method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
time_to_change_lane:
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