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