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refactor(updated-map-based-prediction): rework parameters (autowarefoundation#5656)
updated-schema-file Signed-off-by: santosh-interplai <santosh@interpl.ai>
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‎perception/map_based_prediction/schema/map_based_pediction.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Map Based Prediction",
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"type": "object",
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"definitions": {
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"map_based_prediction": {
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"type": "object",
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"properties": {
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"enable_delay_compensation": {
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"type": "boolean",
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"default": true,
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"description": "flag to enable the time delay compensation for the position of the object"
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},
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"prediction_time_horizon": {
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"type": "number",
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"default": "10.0",
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"description": "predict time duration for predicted path"
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},
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"lateral_control_time_horizon": {
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"type": "number",
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"default": "5.0",
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"description": "time duration for predicted path will reach the reference path (mostly center of the lane)"
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},
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"prediction_sampling_delta_time": {
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"type": "number",
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"default": "0.5",
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"description": "sampling time for points in predicted path"
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},
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"min_velocity_for_map_based_prediction": {
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"type": "number",
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"default": 1.39,
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"description": "apply map-based prediction to the objects with higher velocity than this value"
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},
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"min_crosswalk_user_velocity": {
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"type": "number",
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"default": 1.39,
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"description": "minimum velocity use in path prediction for crosswalk users"
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},
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"max_crosswalk_user_delta_yaw_threshold_for_lanelet": {
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"type": "number",
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"default": 0.785,
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"description": "maximum yaw difference between crosswalk user and lanelet to use in path prediction for crosswalk users"
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},
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"dist_threshold_for_searching_lanelet": {
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"type": "number",
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"default": 3.0,
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"description": "The threshold of the angle used when searching for the lane to which the object belongs "
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},
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"delta_yaw_threshold_for_searching_lanelet": {
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"type": "number",
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"default": 0.785,
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"description": "The threshold of the distance used when searching for the lane to which the object belongs"
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},
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"sigma_lateral_offset": {
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"type": "number",
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"default": 0.5,
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"description": "Standard deviation for lateral position of objects "
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},
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"sigma_yaw_angle_deg": {
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"type": "number",
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"default": 5.0,
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"description": "Standard deviation yaw angle of objects "
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},
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"object_buffer_time_length": {
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"type": "number",
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"default": 2.0,
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"description": "Time span of object history to store the information"
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},
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"history_time_length": {
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"type": "number",
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"default": 1.0,
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"description": "Time span of object information used for prediction"
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},
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"prediction_time_horizon_rate_for_validate_shoulder_lane_length": {
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"type": "number",
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"default": 0.8,
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"description": "prediction path will disabled when the estimated path length exceeds lanelet length. This parameter control the estimated path length"
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},
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"lane_change_detection": {
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"type": "object",
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"properties": {
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"time_to_change_lane": {
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"type": "object",
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"properties": {
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"dist_threshold_for_lane_change_detection": {
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"type": "number",
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"default": 1.0
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},
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"time_threshold_for_lane_change_detection": {
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"type": "number",
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"default": 5.0
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},
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"cutoff_freq_of_velocity_for_lane_change_detection": {
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"type": "number",
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"default": 0.1
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}
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},
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"required": [
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"dist_threshold_for_lane_change_detection",
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"time_threshold_for_lane_change_detection",
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"cutoff_freq_of_velocity_for_lane_change_detection"
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]
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},
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"lat_diff_distance": {
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"type": "object",
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"properties": {
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"dist_ratio_threshold_to_left_bound": {
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"type": "number",
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"default": -0.5
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},
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"dist_ratio_threshold_to_right_bound": {
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"type": "number",
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"default": 0.5
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},
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"diff_dist_threshold_to_left_bound": {
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"type": "number",
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"default": 0.29
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},
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"diff_dist_threshold_to_right_bound": {
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"type": "number",
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"default": -0.29
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}
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},
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"required": [
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"dist_ratio_threshold_to_left_bound",
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"dist_ratio_threshold_to_right_bound",
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"diff_dist_threshold_to_left_bound",
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"diff_dist_threshold_to_right_bound"
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]
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}
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}
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},
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"reference_path_resolution": {
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"type": "number",
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"default": 0.5,
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"description": "Standard deviation for lateral position of objects "
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}
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},
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"required": [
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"enable_delay_compensation",
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"prediction_time_horizon",
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"lateral_control_time_horizon",
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"prediction_sampling_delta_time",
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"min_velocity_for_map_based_prediction",
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"min_crosswalk_user_velocity",
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"max_crosswalk_user_delta_yaw_threshold_for_lanelet",
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"dist_threshold_for_searching_lanelet",
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"delta_yaw_threshold_for_searching_lanelet",
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"sigma_lateral_offset",
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"sigma_yaw_angle_deg",
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"object_buffer_time_length",
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"history_time_length",
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"prediction_time_horizon_rate_for_validate_shoulder_lane_length"
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]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/map_based_prediction"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

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