feat(map_based_prediction): map prediction with acc constraints (#759)

* Add params for acceleration constraints for map_based_prediction Signed-off-by: Daniel Sanchez <[email protected]> * add new param Signed-off-by: Daniel Sanchez <[email protected]> * tune params Signed-off-by: Daniel Sanchez <[email protected]> * add parameter to switch on and off constraints check Signed-off-by: Daniel Sanchez <[email protected]> * improve comment Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Dec 27, 2023 · 6bc483a · 6bc483a
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commit 6bc483a
Showing 1 changed file with 3 additions and 0 deletions.
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
@@ -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