feat(map_based_prediction): use different time horizon (autowarefound…

…ation#967) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
tier4 · May 29, 2024 · d0c0660 · d0c0660
1 parent 5c77b28
commit d0c0660
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -1,7 +1,10 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 10.0 #[s]
+    prediction_time_horizon:
+      vehicle: 15.0 #[s]
+      pedestrian: 10.0 #[s]
+      unknown: 10.0 #[s]
     lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]