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fix(map_based_prediction): fix reversed vehicle prediction #1057

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Jun 8, 2022
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fix(map_based_prediction): fix reversed vehicle prediction #1057

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6 changes: 4 additions & 2 deletions perception/map_based_prediction/src/map_based_prediction_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -426,10 +426,12 @@ bool MapBasedPredictionNode::checkCloseLaneletCondition(

// Step4. Check if the closest lanelet is valid, and add all
// of the lanelets that are below max_dist and max_delta_yaw
const double object_vel = object.kinematics.twist_with_covariance.twist.linear.x;
const bool is_yaw_reversed =
M_PI - delta_yaw_threshold_for_searching_lanelet_ < abs_norm_delta && object_vel < 0.0;
if (
lanelet.first < dist_threshold_for_searching_lanelet_ &&
(M_PI - delta_yaw_threshold_for_searching_lanelet_ < abs_norm_delta ||
abs_norm_delta < delta_yaw_threshold_for_searching_lanelet_)) {
(is_yaw_reversed || abs_norm_delta < delta_yaw_threshold_for_searching_lanelet_)) {
return true;
}

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