Prediction: refactor some junction related parameters

modules/prediction/common/junction_analyzer.cc

@@ -90,7 +90,7 @@ void JunctionAnalyzer::SetAllJunctionExits() {
 std::vector<JunctionExit> JunctionAnalyzer::GetJunctionExits(
     const std::string& start_lane_id) {
   // TODO(hongyi) make this a gflag
-  int max_search_level = 5;
+  int max_search_level = 6;
 
   std::vector<JunctionExit> junction_exits;
   std::queue<std::pair<ConstLaneInfoPtr, int>> lane_info_queue;

modules/prediction/common/prediction_gflags.cc

@@ -25,7 +25,7 @@ DEFINE_double(prediction_trajectory_time_length, 8.0,
               "Time length of predicted trajectory (in seconds)");
 DEFINE_double(prediction_trajectory_time_resolution, 0.1,
               "Time resolution of predicted trajectory (in seconds");
-DEFINE_double(min_prediction_trajectory_spatial_length, 20.0,
+DEFINE_double(min_prediction_trajectory_spatial_length, 100.0,
               "Minimal spatial length of predicted trajectory");
 DEFINE_bool(enable_trajectory_validation_check, false,
             "If check the validity of prediction trajectory.");

modules/prediction/conf/prediction_conf.pb.txt

@@ -24,7 +24,7 @@ obstacle_conf {
   obstacle_status: IN_JUNCTION
   priority_type: NORMAL
   evaluator_type: JUNCTION_MLP_EVALUATOR
-  predictor_type: INTERACTION_PREDICTOR
+  predictor_type: LANE_SEQUENCE_PREDICTOR
 }
 obstacle_conf {
   obstacle_type: VEHICLE

modules/prediction/container/obstacles/obstacle.cc

@@ -1028,7 +1028,7 @@ void Obstacle::BuildLaneGraph() {
   double road_graph_search_distance = std::fmax(
       estimated_move_distance, FLAGS_min_prediction_trajectory_spatial_length);
 
-  bool is_in_junction = feature->has_junction_feature();
+  bool is_in_junction = HasJunctionFeatureWithExits();
   std::unordered_set<std::string> exit_lane_id_set;
   if (is_in_junction) {
     for (const auto& exit : feature->junction_feature().junction_exit()) {
@@ -1212,7 +1212,7 @@ void Obstacle::BuildLaneGraphFromLeftToRight() {
     return;
   }
 
-  bool is_in_junction = feature->has_junction_feature();
+  bool is_in_junction = HasJunctionFeatureWithExits();
   std::unordered_set<std::string> exit_lane_id_set;
   if (is_in_junction) {
     for (const auto& exit : feature->junction_feature().junction_exit()) {

modules/prediction/evaluator/vehicle/junction_mlp_evaluator.cc

@@ -144,11 +144,7 @@ bool JunctionMLPEvaluator::Evaluate(Obstacle* obstacle_ptr) {
                                       latest_feature_ptr->raw_velocity().x());
     double d_idx = (angle / (2.0 * M_PI) + 1.0 / 24.0) * 12.0;
     int idx = static_cast<int>(floor(d_idx >= 0 ? d_idx : d_idx + 12));
-    int prev_idx = idx == 0 ? 11 : idx - 1;
-    int post_idx = idx == 11 ? 0 : idx + 1;
-    junction_exit_prob[junction_exit.exit_lane_id()] =
-        probability[idx] * 0.5 + probability[prev_idx] * 0.25 +
-        probability[post_idx] * 0.25;
+    junction_exit_prob[junction_exit.exit_lane_id()] = probability[idx];
   }
 
   for (int i = 0; i < lane_graph_ptr->lane_sequence_size(); ++i) {