prediction: deprecate pedestrian acceleration

modules/prediction/common/prediction_gflags.cc

@@ -98,7 +98,6 @@ DEFINE_int32(max_num_nearby_lane_in_junction, 1,
              "Max number to search nearby lanes");
 DEFINE_double(max_lane_angle_diff_in_junction, M_PI / 6.0,
               "Max angle difference for a candidate lane");
-DEFINE_bool(enable_pedestrian_acc, false, "Enable calculating speed by acc");
 DEFINE_double(coeff_mul_sigma, 2.0, "coefficient multiply standard deviation");
 DEFINE_double(pedestrian_max_speed, 10.0, "speed upper bound for pedestrian");
 DEFINE_double(pedestrian_max_acc, 2.0, "maximum pedestrian acceleration");

modules/prediction/common/prediction_gflags.h

@@ -68,7 +68,6 @@ DECLARE_double(max_lane_angle_diff);
 DECLARE_int32(max_num_current_lane_in_junction);
 DECLARE_int32(max_num_nearby_lane_in_junction);
 DECLARE_double(max_lane_angle_diff_in_junction);
-DECLARE_bool(enable_pedestrian_acc);
 DECLARE_double(coeff_mul_sigma);
 DECLARE_double(pedestrian_max_speed);
 DECLARE_double(pedestrian_max_acc);

modules/prediction/container/obstacles/obstacle.cc

@@ -894,10 +894,8 @@ void Obstacle::UpdateKFPedestrianTracker(const Feature& feature) {
     Eigen::Matrix<double, 4, 1> u;
     u(0, 0) = feature.velocity().x();
     u(1, 0) = feature.velocity().y();
-    if (FLAGS_enable_pedestrian_acc) {
-      u(2, 0) = feature.acceleration().x();
-      u(3, 0) = feature.acceleration().y();
-    }
+    u(2, 0) = 0.0;
+    u(3, 0) = 0.0;
 
     kf_pedestrian_tracker_.Predict(u);
 

modules/prediction/container/obstacles/obstacle.h

@@ -30,13 +30,12 @@
 #include "Eigen/Dense"
 
 #include "modules/common/filters/digital_filter.h"
+#include "modules/common/math/kalman_filter.h"
 #include "modules/common/proto/error_code.pb.h"
+#include "modules/map/hdmap/hdmap_common.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/prediction/proto/feature.pb.h"
 
-#include "modules/common/math/kalman_filter.h"
-#include "modules/map/hdmap/hdmap_common.h"
-
 /**
  * @namespace apollo::prediction
  * @brief apollo::prediction
@@ -303,14 +302,22 @@ class Obstacle {
 
  private:
   int id_ = -1;
+
   perception::PerceptionObstacle::Type type_ =
       perception::PerceptionObstacle::UNKNOWN_UNMOVABLE;
+
   std::deque<Feature> feature_history_;
+
   common::math::KalmanFilter<double, 6, 2, 0> kf_motion_tracker_;
+
   common::math::KalmanFilter<double, 2, 2, 4> kf_pedestrian_tracker_;
+
   common::DigitalFilter heading_filter_;
+
   std::vector<std::shared_ptr<const hdmap::LaneInfo>> current_lanes_;
+
   std::vector<Eigen::MatrixXf> rnn_states_;
+
   bool rnn_enabled_ = false;
 };
 

modules/prediction/predictor/regional/regional_predictor.cc

@@ -131,9 +131,6 @@ void RegionalPredictor::GenerateMovingTrajectory(const Obstacle* obstacle,
   Eigen::Vector2d position(feature.position().x(), feature.position().y());
   Eigen::Vector2d velocity(feature.velocity().x(), feature.velocity().y());
   Eigen::Vector2d acc(0.0, 0.0);
-  if (FLAGS_enable_pedestrian_acc) {
-    acc = {feature.acceleration().x(), feature.acceleration().y()};
-  }
 
   const double total_time = FLAGS_prediction_trajectory_time_length;
   std::vector<TrajectoryPoint> left_points;
@@ -239,10 +236,6 @@ void RegionalPredictor::GetTrajectoryCandidatePoints(
   u.setZero();
   u(0, 0) = velocity.x();
   u(1, 0) = velocity.y();
-  if (FLAGS_enable_pedestrian_acc) {
-    u(2, 0) = acceleration.x();
-    u(3, 0) = acceleration.y();
-  }
 
   kf.SetControlMatrix(B);