feat(map_based_prediction): map prediction with acc constraints (auto…

…warefoundation#759)

* Add params for acceleration constraints for map_based_prediction

Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>

* add new param

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* tune params

Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>

* add parameter to switch on and off constraints check

Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>

* improve comment

Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>

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Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

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]
+    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
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8