fix(map_based_prediction): fix reversed vehicle prediction (tier4#1057)

Signed-off-by: yutaka <[email protected]>

perception/map_based_prediction/src/map_based_prediction_node.cpp

@@ -426,10 +426,12 @@ bool MapBasedPredictionNode::checkCloseLaneletCondition(
 
   // Step4. Check if the closest lanelet is valid, and add all
   // of the lanelets that are below max_dist and max_delta_yaw
+  const double object_vel = object.kinematics.twist_with_covariance.twist.linear.x;
+  const bool is_yaw_reversed =
+    M_PI - delta_yaw_threshold_for_searching_lanelet_ < abs_norm_delta && object_vel < 0.0;
   if (
     lanelet.first < dist_threshold_for_searching_lanelet_ &&
-    (M_PI - delta_yaw_threshold_for_searching_lanelet_ < abs_norm_delta ||
-     abs_norm_delta < delta_yaw_threshold_for_searching_lanelet_)) {
+    (is_yaw_reversed || abs_norm_delta < delta_yaw_threshold_for_searching_lanelet_)) {
     return true;
   }