From e13c37c68bea1a71b854d4fd513e9a991ea4f6ce Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Thu, 11 Jan 2024 18:53:43 +0900 Subject: [PATCH] add params Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 2 ++ 1 file changed, 2 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 aa26d636d3..fdd64174de 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 @@ -17,6 +17,8 @@ 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