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chore(map_based_prediction): prediction param to yaml #771

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Aug 25, 2023
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chore(map_based_prediction): prediction param to yaml #771

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a0d60e6
move hard coded declare parameters to yaml file
YoshiRi Aug 25, 2023
b6e0769
apply prefix
YoshiRi Aug 25, 2023
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3 changes: 3 additions & 0 deletions perception/map_based_prediction/config/map_based_prediction.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,10 @@
sigma_yaw_angle_deg: 5.0 #[angle degree]
object_buffer_time_length: 2.0 #[s]
history_time_length: 1.0 #[s]
# parameter for shoulder lane prediction
prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8

# parameters for lc prediction
lane_change_detection:
method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
time_to_change_lane:
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42 changes: 20 additions & 22 deletions perception/map_based_prediction/src/map_based_prediction_node.cpp
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Expand Up @@ -227,7 +227,7 @@
for (auto & candidate : right_lane_candidates) {
// exclude self lanelet
if (candidate == current_lanelet) continue;
// if candidate has linestring as leftbound, assign it to output

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Unknown word (leftbound)
if (candidate.leftBound() == current_lanelet.rightBound()) {
output_lanelets.push_back(candidate);
}
Expand All @@ -254,7 +254,7 @@
for (auto & candidate : left_lane_candidates) {
// exclude self lanelet
if (candidate == current_lanelet) continue;
// if candidate has linestring as rightbound, assign it to output

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if (candidate.rightBound() == current_lanelet.leftBound()) {
output_lanelets.push_back(candidate);
}
Expand Down Expand Up @@ -287,7 +287,7 @@
lanelet::ConstLanelets possible_lanelets;
possible_lanelets.push_back(lanelet);
lanelet::routing::LaneletPaths possible_paths;
// need to init path with constlanelets

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lanelet::routing::LaneletPath possible_path(possible_lanelets);
possible_paths.push_back(possible_path);
return possible_paths;
Expand Down Expand Up @@ -550,7 +550,7 @@
label == ObjectClassification::MOTORCYCLE || label == ObjectClassification::BICYCLE) {
// if object is within road lanelet and satisfies yaw constraints
const bool within_road_lanelet = withinRoadLanelet(object, lanelet_map_ptr_, true);
const float high_speed_threshold = 25.0 / 18.0 * 5.0; // High speed bycicle 25 km/h

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const bool high_speed_object =
object.kinematics.twist_with_covariance.twist.linear.x > high_speed_threshold;

Expand Down Expand Up @@ -589,33 +589,31 @@
MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options)
: Node("map_based_prediction", node_options), debug_accumulated_time_(0.0)
{
enable_delay_compensation_ = declare_parameter("enable_delay_compensation", true);
prediction_time_horizon_ = declare_parameter("prediction_time_horizon", 10.0);
prediction_sampling_time_interval_ = declare_parameter("prediction_sampling_delta_time", 0.5);
enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
prediction_time_horizon_ = declare_parameter<double>("prediction_time_horizon");
prediction_sampling_time_interval_ = declare_parameter<double>("prediction_sampling_delta_time");
min_velocity_for_map_based_prediction_ =
declare_parameter("min_velocity_for_map_based_prediction", 1.0);
min_crosswalk_user_velocity_ = declare_parameter("min_crosswalk_user_velocity", 1.0);
declare_parameter<double>("min_velocity_for_map_based_prediction");
min_crosswalk_user_velocity_ = declare_parameter<double>("min_crosswalk_user_velocity");
dist_threshold_for_searching_lanelet_ =
declare_parameter("dist_threshold_for_searching_lanelet", 3.0);
declare_parameter<double>("dist_threshold_for_searching_lanelet");
delta_yaw_threshold_for_searching_lanelet_ =
declare_parameter("delta_yaw_threshold_for_searching_lanelet", 0.785);
sigma_lateral_offset_ = declare_parameter("sigma_lateral_offset", 0.5);
sigma_yaw_angle_deg_ = declare_parameter("sigma_yaw_angle_deg", 5.0);
object_buffer_time_length_ = declare_parameter("object_buffer_time_length", 2.0);
history_time_length_ = declare_parameter("history_time_length", 1.0);
declare_parameter<double>("delta_yaw_threshold_for_searching_lanelet");
sigma_lateral_offset_ = declare_parameter<double>("sigma_lateral_offset");
sigma_yaw_angle_deg_ = declare_parameter<double>("sigma_yaw_angle_deg");
object_buffer_time_length_ = declare_parameter<double>("object_buffer_time_length");
history_time_length_ = declare_parameter<double>("history_time_length");
{ // lane change detection
lane_change_detection_method_ = declare_parameter<std::string>("lane_change_detection.method");

// lane change detection by time_to_change_lane
dist_threshold_to_bound_ = declare_parameter(
"lane_change_detection.time_to_change_lane.dist_threshold_for_lane_change_detection",
1.0); // 1m
time_threshold_to_bound_ = declare_parameter(
"lane_change_detection.time_to_change_lane.time_threshold_for_lane_change_detection",
5.0); // 5 sec
cutoff_freq_of_velocity_lpf_ = declare_parameter(
"lane_change_detection.time_to_change_lane.cutoff_freq_of_velocity_for_lane_change_detection",
0.1); // 0.1Hz
dist_threshold_to_bound_ = declare_parameter<double>(
"lane_change_detection.time_to_change_lane.dist_threshold_for_lane_change_detection"); // 1m
time_threshold_to_bound_ = declare_parameter<double>(
"lane_change_detection.time_to_change_lane.time_threshold_for_lane_change_detection");
cutoff_freq_of_velocity_lpf_ = declare_parameter<double>(
"lane_change_detection.time_to_change_lane.cutoff_freq_of_velocity_for_lane_change_"
"detection");

// lane change detection by lat_diff_distance
dist_ratio_threshold_to_left_bound_ = declare_parameter<double>(
Expand All @@ -630,11 +628,11 @@
num_continuous_state_transition_ =
declare_parameter<int>("lane_change_detection.num_continuous_state_transition");
}
reference_path_resolution_ = declare_parameter("reference_path_resolution", 0.5);
reference_path_resolution_ = declare_parameter<double>("reference_path_resolution");
/* prediction path will disabled when the estimated path length exceeds lanelet length. This
* parameter control the estimated path length = vx * th * (rate) */
prediction_time_horizon_rate_for_validate_lane_length_ =
declare_parameter("prediction_time_horizon_rate_for_validate_lane_length", 0.8);
declare_parameter<double>("prediction_time_horizon_rate_for_validate_shoulder_lane_length");

path_generator_ = std::make_shared<PathGenerator>(
prediction_time_horizon_, prediction_sampling_time_interval_, min_crosswalk_user_velocity_);
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