Prediction: distinguish pedestrain and unknown still thresholds

modules/prediction/common/prediction_gflags.cc

@@ -100,10 +100,14 @@ DEFINE_double(still_obstacle_speed_threshold, 1.8,
               "Speed threshold for still obstacles");
 DEFINE_double(still_pedestrian_speed_threshold, 0.2,
               "Speed threshold for still pedestrians");
+DEFINE_double(still_unknown_speed_threshold, 0.5,
+              "Speed threshold for still unknown obstacles");
 DEFINE_double(still_obstacle_position_std, 1.0,
               "Position standard deviation for still obstacles");
 DEFINE_double(still_pedestrian_position_std, 0.5,
               "Position standard deviation for still obstacles");
+DEFINE_double(still_unknown_position_std, 0.5,
+              "Position standard deviation for still obstacles");
 DEFINE_double(max_history_time, 7.0, "Obstacles' maximal historical time.");
 DEFINE_double(target_lane_gap, 2.0, "Gap between two lane points.");
 DEFINE_double(dense_lane_gap, 0.2,

modules/prediction/common/prediction_gflags.h

@@ -68,8 +68,10 @@ DECLARE_int32(min_still_obstacle_history_length);
 DECLARE_int32(max_still_obstacle_history_length);
 DECLARE_double(still_obstacle_speed_threshold);
 DECLARE_double(still_pedestrian_speed_threshold);
+DECLARE_double(still_unknown_speed_threshold);
 DECLARE_double(still_obstacle_position_std);
 DECLARE_double(still_pedestrian_position_std);
+DECLARE_double(still_unknown_position_std);
 DECLARE_double(max_history_time);
 DECLARE_double(target_lane_gap);
 DECLARE_double(dense_lane_gap);

modules/prediction/container/obstacles/obstacle.cc

@@ -1389,11 +1389,13 @@ void Obstacle::SetMotionStatus() {
   double std = FLAGS_still_obstacle_position_std;
   double speed_threshold = FLAGS_still_obstacle_speed_threshold;
   if (type_ == PerceptionObstacle::PEDESTRIAN ||
-      type_ == PerceptionObstacle::BICYCLE ||
-      type_ == PerceptionObstacle::UNKNOWN ||
-      type_ == PerceptionObstacle::UNKNOWN_MOVABLE) {
+      type_ == PerceptionObstacle::BICYCLE) {
     speed_threshold = FLAGS_still_pedestrian_speed_threshold;
     std = FLAGS_still_pedestrian_position_std;
+  } else if (type_ == PerceptionObstacle::UNKNOWN ||
+      type_ == PerceptionObstacle::UNKNOWN_MOVABLE) {
+    speed_threshold = FLAGS_still_unknown_speed_threshold;
+    std = FLAGS_still_unknown_position_std;
   }
   double speed = feature_history_.front().speed();