Prediction: move some constants to gflags

modules/prediction/common/prediction_gflags.cc

@@ -62,6 +62,14 @@ DEFINE_bool(enable_junction_feature, true,
             "If to enable building junction feature for obstacles");
 DEFINE_bool(enable_all_junction, false,
             "If consider all junction with junction_mlp_model.");
+DEFINE_double(caution_search_distance_ahead, 40.0,
+              "The distance ahead to search caution-level obstacles");
+DEFINE_double(caution_search_distance_backward_for_merge, 30.0,
+              "The distance backward to search caution-lebel obstacles "
+              "in the case of merging");
+DEFINE_double(caution_search_distance_backward_for_overlap, 20.0,
+              "The distance backward to search caution-lebel obstacles "
+              "in the case of overlap");
 
 // Obstacle features
 DEFINE_int32(ego_vehicle_id, -1, "The obstacle ID of the ego vehicle.");

modules/prediction/common/prediction_gflags.h

@@ -46,6 +46,9 @@ DECLARE_double(junction_distance_threshold);
 DECLARE_bool(enable_prioritize_obstacles);
 DECLARE_bool(enable_junction_feature);
 DECLARE_bool(enable_all_junction);
+DECLARE_double(caution_search_distance_ahead);
+DECLARE_double(caution_search_distance_backward_for_merge);
+DECLARE_double(caution_search_distance_backward_for_overlap);
 
 // Obstacle features
 DECLARE_int32(ego_vehicle_id);

modules/prediction/scenario/prioritization/obstacles_prioritizer.cc

@@ -293,6 +293,7 @@ void ObstaclesPrioritizer::AssignCautionLevelInJunction(
       ADEBUG << "SetCaution for obstacle [" << obstacle_ptr->id() << "]";
     }
   }
+  AssignCautionLevelByEgoReferenceLine();
 }
 
 void ObstaclesPrioritizer::AssignCautionLevelByEgoReferenceLine() {
@@ -316,7 +317,7 @@ void ObstaclesPrioritizer::AssignCautionLevelByEgoReferenceLine() {
     accumulated_s += lane_info_ptr->total_length();
     AssignCautionByMerge(lane_info_ptr);
     AssignCautionByOverlap(lane_info_ptr);
-    if (accumulated_s > 40.0) {
+    if (accumulated_s > FLAGS_caution_search_distance_ahead) {
       break;
     }
   }
@@ -324,7 +325,8 @@ void ObstaclesPrioritizer::AssignCautionLevelByEgoReferenceLine() {
 
 void ObstaclesPrioritizer::AssignCautionByMerge(
     std::shared_ptr<const LaneInfo> lane_info_ptr) {
-  SetCautionBackward(lane_info_ptr, 40.0);
+  SetCautionBackward(lane_info_ptr,
+      FLAGS_caution_search_distance_backward_for_merge);
 }
 
 void ObstaclesPrioritizer::AssignCautionByOverlap(
@@ -340,7 +342,8 @@ void ObstaclesPrioritizer::AssignCautionByOverlap(
       } else {
         std::shared_ptr<const LaneInfo> overlap_lane_ptr =
             PredictionMap::LaneById(object_id);
-        SetCautionBackward(overlap_lane_ptr, 20.0);
+        SetCautionBackward(overlap_lane_ptr,
+            FLAGS_caution_search_distance_backward_for_overlap);
       }
     }
   }