Prediction: fix obstacle is-on-lane logit and adjust lane angle diff

modules/prediction/common/prediction_gflags.cc

@@ -62,7 +62,7 @@ DEFINE_double(still_obstacle_position_std, 1.0,
               "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(max_lane_angle_diff, M_PI / 2.0,
+DEFINE_double(max_lane_angle_diff, M_PI / 4.0,
               "Max angle difference for a candiate lane");
 DEFINE_bool(enable_pedestrian_acc, false, "Enable calculating speed by acc");
 DEFINE_double(coeff_mul_sigma, 2.0, "coefficient multiply standard deviation");

modules/prediction/container/obstacles/obstacle.cc

@@ -119,7 +119,8 @@ bool Obstacle::IsOnLane() {
   std::lock_guard<std::mutex> lock(mutex_);
   if (feature_history_.size() > 0) {
     if (feature_history_.front().has_lane() &&
-        feature_history_.front().lane().has_lane_feature()) {
+        (feature_history_.front().lane().current_lane_feature_size() > 0 ||
+         feature_history_.front().lane().nearby_lane_feature_size() > 0)) {
       ADEBUG << "Obstacle [" << id_ << "] is on lane.";
       return true;
     }