From 005cc9f2f8d27c99565a6dee227a19b53f12bcfc Mon Sep 17 00:00:00 2001 From: Zhang Liangliang Date: Fri, 1 Sep 2017 10:26:43 -0700 Subject: [PATCH] Planning: (1) adjust lateral/longitudinal bound in reference_line_smoother to provide near to center reference lines; (2) adjust the speed lower bound from 0.0 to 1e-12 to avoid double precision issue in qp_st_speed_graph. --- .../reference_line/reference_line_smoother.cc | 8 +- .../reference_line_smoother_test.cc | 2 +- .../qp_spline_st_speed/qp_spline_st_graph.cc | 4 +- .../garage_test/result_follow_0.pb.txt | 2234 ++++++++-------- .../garage_test/result_stop_dest_0.pb.txt | 2261 ++++++++--------- .../garage_test/result_stop_obstacle_0.pb.txt | 2259 ++++++++-------- .../result_cruise_0.pb.txt | 2245 ++++++++-------- .../result_cruise_0.pb.txt | 2251 ++++++++-------- 8 files changed, 5632 insertions(+), 5632 deletions(-) diff --git a/modules/planning/reference_line/reference_line_smoother.cc b/modules/planning/reference_line/reference_line_smoother.cc index 731221a6bf..3e08d81c48 100644 --- a/modules/planning/reference_line/reference_line_smoother.cc +++ b/modules/planning/reference_line/reference_line_smoother.cc @@ -172,9 +172,11 @@ bool ReferenceLineSmoother::ApplyConstraint( std::vector lateral_bound; std::vector xy_points; for (std::uint32_t i = 0; i < path_points.size(); ++i) { + const double kLateralBoundCoeff = 0.2; headings.push_back(path_points[i].theta()); - longitidinal_bound.push_back(0.5 * smoother_config_.boundary_bound()); - lateral_bound.push_back(smoother_config_.boundary_bound()); + longitidinal_bound.push_back(smoother_config_.boundary_bound()); + lateral_bound.push_back(kLateralBoundCoeff * + smoother_config_.boundary_bound()); xy_points.emplace_back(path_points[i].x(), path_points[i].y()); } @@ -228,7 +230,7 @@ bool ReferenceLineSmoother::ApplyKernel() { smoother_config_.third_derivative_weight()); } - constexpr double kReferenceLineSmootherKernelWeight = 0.005; + constexpr double kReferenceLineSmootherKernelWeight = 0.01; kernel->AddRegularization(kReferenceLineSmootherKernelWeight); return true; } diff --git a/modules/planning/reference_line/reference_line_smoother_test.cc b/modules/planning/reference_line/reference_line_smoother_test.cc index 9dcb296aba..d3d98164c2 100644 --- a/modules/planning/reference_line/reference_line_smoother_test.cc +++ b/modules/planning/reference_line/reference_line_smoother_test.cc @@ -74,7 +74,7 @@ TEST_F(ReferenceLineSmootherTest, smooth) { ReferenceLine smoothed_reference_line; EXPECT_FLOAT_EQ(153.87421, reference_line_->Length()); EXPECT_TRUE(smoother_.Smooth(*reference_line_, &smoothed_reference_line)); - EXPECT_FLOAT_EQ(153.52716, smoothed_reference_line.Length()); + EXPECT_FLOAT_EQ(153.64909, smoothed_reference_line.Length()); } } // namespace planning diff --git a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc index 02e73de792..978a578144 100644 --- a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc +++ b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc @@ -202,7 +202,9 @@ Status QpSplineStGraph::ApplyConstraint( return Status(ErrorCode::PLANNING_ERROR, msg); } - std::vector speed_lower_bound(t_evaluated_.size(), 0.0); + constexpr double kSpeedBoundEpsilon = 1e-12; + std::vector speed_lower_bound(t_evaluated_.size(), + kSpeedBoundEpsilon); DCHECK_EQ(t_evaluated_.size(), speed_upper_bound.size()); DCHECK_EQ(t_evaluated_.size(), speed_lower_bound.size()); diff --git a/modules/planning/testdata/garage_test/result_follow_0.pb.txt b/modules/planning/testdata/garage_test/result_follow_0.pb.txt index 7d3250838e..60dc214636 100755 --- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt @@ -8,2253 +8,2253 @@ trajectory_point { x: 586344.8230049999 y: 4140700.15992 theta: 1.3255010179499997 - 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v: 0.86224855142028 - a: -0.059522607915263259 + v: 0.87081858529292688 + a: -0.059384964112677185 relative_time: 7.7499999999999805 } trajectory_point { path_point { - x: 586366.77024157718 - y: 4140780.9815276065 - theta: 1.3344598167249957 - kappa: 0.00317327547128485 - s: 20.00249251203978 + x: 586367.03686780331 + y: 4140780.934406715 + theta: 1.3614080606526988 + kappa: 0.0086167207171135834 + s: 20.037314731742118 dkappa: 0 ddkappa: 0 } - v: 0.85956644555484452 - a: -0.047750585135235057 + v: 0.86814268012278661 + a: -0.047640221815795414 relative_time: 7.79999999999998 } trajectory_point { path_point { - x: 586366.78029250633 - y: 4140781.0232578209 - theta: 1.3345990724853491 - kappa: 0.0030003675771263206 - s: 20.045416071798535 + x: 586367.0458731004 + y: 4140780.9768135976 + theta: 1.361785601055812 + kappa: 0.008220164486818976 + s: 20.080667229777756 dkappa: 0 ddkappa: 0 } - v: 0.85747459706344831 - a: -0.035912312953694236 + v: 0.86605566519906119 + a: -0.035829354256086521 relative_time: 7.84999999999998 } trajectory_point { path_point { - 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s: 20.173767360031572 + x: 586367.072712132 + y: 4140781.1036439734 + theta: 1.3628020299526185 + kappa: 0.0072155335555205494 + s: 20.210306301468787 dkappa: 0 ddkappa: 0 } - v: 0.85477372053425138 - a: 3.6082248300317588e-15 + v: 0.86336102453778674 + a: 2.1649348980190553e-15 relative_time: 7.99999999999998 } decision { @@ -2264,10 +2263,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 586367.82279939589 - y: 4140785.5980816446 + x: 586367.858633872 + y: 4140785.4811067292 } - stop_heading: 1.3683406050571048 + stop_heading: 1.4474826038586581 } } object_decision { @@ -2287,10 +2286,10 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: 0 stop_point { - x: 586367.82279939589 - y: 4140785.5980816446 + x: 586367.858633872 + y: 4140785.4811067292 } - stop_heading: 1.3683406050571048 + stop_heading: 1.4474826038586581 } } } diff --git a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt index b4e4551c82..e35139a294 100755 --- a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt @@ -1,6 +1,5 @@ header { module_name: "planning" - sequence_num: 1 } is_replan: true gear: GEAR_DRIVE @@ -10,2252 +9,2252 @@ trajectory_point { y: 4140690.05199 z: 0 theta: 1.6602776953500005 - kappa: 0 + kappa: 1.6464083883232229e-18 dkappa: 0 ddkappa: 0 } - v: 4.2611112594604492 - a: 1.29254925048 + v: 4.2611112594604483 + a: 1.2925492504799998 relative_time: 0 } trajectory_point { path_point { - x: 586343.88663168577 - y: 4140690.2657193872 - theta: 1.660183991858776 - kappa: -0.0004961824967182135 - s: 0.21459554764257416 + x: 586343.8867738226 + y: 4140690.2657320681 + theta: 1.66005584599002 + kappa: -0.00074164311467416182 + s: 0.21459546728395695 dkappa: 0 ddkappa: 0 } - v: 4.3212079698121268 - a: 1.1122280788333607 + v: 4.3212032844961525 + a: 1.1120515622780682 relative_time: 0.05 } trajectory_point { path_point { - x: 586343.86712069577 - y: 4140690.4822192527 - theta: 1.660089073730135 - kappa: -0.00099879678576691457 - s: 0.43197280162628948 + x: 586343.86740684975 + y: 4140690.4822443542 + theta: 1.6598311213228487 + kappa: -0.0014928983437214618 + s: 0.43197221323777157 dkappa: 0 ddkappa: 0 } - 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s: 9.9450084134605259 + x: 586343.9582750632 + y: 4140700.0585238943 + theta: 1.3990700202389057 + kappa: -0.037245134295314758 + s: 10.040997652249816 dkappa: 0 ddkappa: 0 } - v: 0.0017905516670857239 - a: 2.0122792321330962e-16 + v: 0.0019892514952786541 + a: 1.1102230246251565e-16 relative_time: 7.99999999999998 } decision { @@ -2264,10 +2263,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 1_0" stop_point { - x: 586345.17777458706 - y: 4140704.2252595429 + x: 586344.64474474289 + y: 4140704.4574318649 } - stop_heading: 1.2517387544338563 + stop_heading: 1.2658351870002598 } } object_decision { @@ -2279,10 +2278,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -5 stop_point { - x: 586345.17777458706 - y: 4140704.2252595429 + x: 586344.64474474289 + y: 4140704.4574318649 } - stop_heading: 1.2517387544338563 + stop_heading: 1.2658351870002598 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt index 1c2e13f850..2298b0a5f6 100755 --- a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt @@ -1,6 +1,5 @@ header { module_name: "planning" - 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