From c53614acb71f5e235d9bf2883bc9080ded509063 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Fri, 22 Dec 2023 09:08:25 +0900 Subject: [PATCH 1/5] Add params for acceleration constraints for map_based_prediction Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 69ff96a263..d01ab61e28 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -13,6 +13,9 @@ sigma_yaw_angle_deg: 5.0 #[angle degree] object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] + max_lateral_accel: 2.0 # [m/ss] + deceleration_distance_before_curve: 3.5 # [m] + deceleration_distance_after_curve: 2.0 # [m] # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 From 065f722190119251096039441be6fa61fef5c5cb Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Fri, 22 Dec 2023 17:32:06 +0900 Subject: [PATCH 2/5] add new param Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index d01ab61e28..17ed1c2a21 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -14,6 +14,7 @@ object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] max_lateral_accel: 2.0 # [m/ss] + min_acceleration_before_curve: -5.0 # [m/ss] deceleration_distance_before_curve: 3.5 # [m] deceleration_distance_after_curve: 2.0 # [m] # parameter for shoulder lane prediction From e32e0b4a0402503591e88527cd35cbf365bd88aa Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Mon, 25 Dec 2023 14:28:58 +0900 Subject: [PATCH 3/5] tune params Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 17ed1c2a21..fbaca62a39 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -14,7 +14,7 @@ object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] max_lateral_accel: 2.0 # [m/ss] - min_acceleration_before_curve: -5.0 # [m/ss] + min_acceleration_before_curve: -2.0 # [m/ss] deceleration_distance_before_curve: 3.5 # [m] deceleration_distance_after_curve: 2.0 # [m] # parameter for shoulder lane prediction From fc8ff9a79c5fd32982310ae19d9d4dca9fed53ae Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 26 Dec 2023 16:15:12 +0900 Subject: [PATCH 4/5] add parameter to switch on and off constraints check Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index fbaca62a39..4914cb8006 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -13,10 +13,9 @@ sigma_yaw_angle_deg: 5.0 #[angle degree] object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] - max_lateral_accel: 2.0 # [m/ss] - min_acceleration_before_curve: -2.0 # [m/ss] - deceleration_distance_before_curve: 3.5 # [m] - deceleration_distance_after_curve: 2.0 # [m] + check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints + max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted paths + min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 From 7caf716d12509cb18ff155f74f7bc8cfcad5eec2 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 26 Dec 2023 17:01:07 +0900 Subject: [PATCH 5/5] improve comment Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 4914cb8006..fe4d2a51ec 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -14,7 +14,7 @@ object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints - max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted paths + max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8