feat(map_based_prediction): incorporate crosswalk user history (#987)

soblin · web-flow · commit 56c44ca57ea8 · 2024-05-13T20:05:21.000+09:00
Signed-off-by: Mamoru Sobue &lt;mamoru.sobue@tier4.jp&gt;
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
@@ -27,6 +27,9 @@
       timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
+    use_crosswalk_user_history:
+       match_lost_and_appeared_users: false
+       remember_lost_users: false
 
     # parameters for lc prediction
     lane_change_detection:
