Merge pull request autowarefoundation#425 from tier4/sync-awf-latest

tier4-autoware-public-bot[bot] · web-flow · commit c2536d41d9db · 2024-05-30T07:53:06.000Z
chore: sync awf-latest
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
@@ -1,7 +1,10 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 10.0 #[s]
+    prediction_time_horizon:
+      vehicle: 15.0 #[s]
+      pedestrian: 10.0 #[s]
+      unknown: 10.0 #[s]
     lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]
