Prediction: trim prediction trajectory by junction

modules/prediction/common/prediction_gflags.cc

@@ -93,7 +93,7 @@ DEFINE_bool(enable_adjust_velocity_heading, true,
             "adjust velocity heading to lane heading");
 DEFINE_double(heading_diff_thred, M_PI / 6.0,
               "Threshold for adjusting on-lane obstacle heading");
-DEFINE_bool(enable_rnn_acc, true, "If use acceleration from RNN model.");
+DEFINE_bool(enable_rnn_acc, false, "If use acceleration from RNN model.");
 
 // Obstacle trajectory
 DEFINE_double(lane_sequence_threshold, 0.5,
@@ -110,6 +110,8 @@ DEFINE_double(distance_to_adc_trajectory_thred, 5.0,
                "ADC planning trajectory");
 DEFINE_double(time_to_adc_trajectory_thred, 2.0,
               "Time threshold to trim prediction trajectory");
+DEFINE_double(junction_distance_thred, 0.25,
+              "Threshold of radius to search junction.");
 
 // move sequence prediction
 DEFINE_double(time_upper_bound_to_lane_center, 5.0,

modules/prediction/common/prediction_gflags.h

@@ -78,6 +78,7 @@ DECLARE_bool(enable_trim_prediction_trajectory);
 DECLARE_double(adc_time_step);
 DECLARE_double(distance_to_adc_trajectory_thred);
 DECLARE_double(time_to_adc_trajectory_thred);
+DECLARE_double(junction_distance_thred);
 
 // move sequence prediction
 DECLARE_double(time_upper_bound_to_lane_center);

modules/prediction/predictor/predictor.cc

@@ -66,23 +66,21 @@ bool Predictor::TrimTrajectory(
     const ADCTrajectoryContainer* adc_trajectory_container,
     Trajectory* trajectory) {
   int num_point = trajectory->trajectory_point_size();
-  // Get the index at intersect
+  if (num_point == 0) {
+    return false;
+  }
+  double start_x = trajectory->trajectory_point(0).path_point().x();
+  double start_y = trajectory->trajectory_point(0).path_point().y();
+  if (PredictionMap::instance()->NearJunction(
+          {start_x, start_y}, FLAGS_junction_distance_thred)) {
+    return false;
+  }
   int index = 0;
-  bool has_intersect = false;
   while (index < num_point) {
     double x = trajectory->trajectory_point(index).path_point().x();
     double y = trajectory->trajectory_point(index).path_point().y();
-    Eigen::Vector2d point(x, y);
-    std::vector<std::string> lane_ids =
-        PredictionMap::instance()->NearbyLaneIds(
-            point, FLAGS_distance_to_adc_trajectory_thred);
-    for (const std::string& lane_id : lane_ids) {
-      if (adc_trajectory_container->ContainsLaneId(lane_id)) {
-        has_intersect = true;
-        break;
-      }
-    }
-    if (has_intersect) {
+    if (PredictionMap::instance()->NearJunction(
+            {x, y}, FLAGS_junction_distance_thred)) {
       break;
     }
     ++index;
@@ -93,12 +91,6 @@ bool Predictor::TrimTrajectory(
     return false;
   }
 
-  double index_time = trajectory->trajectory_point(index).relative_time();
-  // if early intersect occurs
-  if (index_time < FLAGS_time_to_adc_trajectory_thred) {
-    return false;
-  }
-
   for (int i = index; i < num_point; ++i) {
     trajectory->mutable_trajectory_point()->RemoveLast();
   }