Planning: (1) adjust lateral/longitudinal bound in reference_line_smoother to...

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.

modules/planning/reference_line/reference_line_smoother.cc

@@ -172,9 +172,11 @@ bool ReferenceLineSmoother::ApplyConstraint(
   std::vector<double> lateral_bound;
   std::vector<common::math::Vec2d> 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;
 }

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

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<double> speed_lower_bound(t_evaluated_.size(), 0.0);
+  constexpr double kSpeedBoundEpsilon = 1e-12;
+  std::vector<double> 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());