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feat(map_based_prediction): use acc for map prediction #788

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merged 4 commits into from
Jan 19, 2024
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feat(map_based_prediction): use acc for map prediction #788

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bcd4926
add param to toggle on and off acc consideration
danielsanchezaran Jan 11, 2024
5347346
add params
danielsanchezaran Jan 11, 2024
c89c277
set default to true for evaluator testing
danielsanchezaran Jan 12, 2024
276fede
set back to false default
danielsanchezaran Jan 12, 2024
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3 changes: 3 additions & 0 deletions ...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
Expand Up @@ -16,6 +16,9 @@
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 vehicle paths
min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve
use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
# parameter for shoulder lane prediction
prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8

Expand All @@ -32,6 +35,6 @@
diff_dist_threshold_to_left_bound: 0.29 #[m]
diff_dist_threshold_to_right_bound: -0.29 #[m]
num_continuous_state_transition: 3
consider_only_routable_neighbours: false

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reference_path_resolution: 0.5 #[m]
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