Planning: enabled threadpoll. (#2444)

01142382 · Liangliang Zhang · Jiaming Tao · 41d7c4b9 · 01142382 · 01142382
18 changed file
--- a/modules/planning/conf/planning.conf
+++ b/modules/planning/conf/planning.conf
@@ -5,3 +5,5 @@
 --prioritize_change_lane
 --enable_reference_line_stitching
 --min_length_for_lane_change=5.0
+--enable_multi_thread_in_dp_poly_path
+--enable_multi_thread_in_dp_st_graph
--- a/modules/planning/conf/planning_config.pb.txt
+++ b/modules/planning/conf/planning_config.pb.txt
@@ -13,13 +13,13 @@ em_planner_config {
    task : QP_SPLINE_ST_SPEED_OPTIMIZER

    dp_poly_path_config {
-        sample_points_num_each_level: 5
+        sample_points_num_each_level: 7
        step_length_max: 40.0
        step_length_min: 20.0
        lateral_sample_offset: 0.5
        lateral_adjust_coeff: 0.5
        eval_time_interval: 0.1
-        path_resolution: 2.0
+        path_resolution: 1.0
        obstacle_ignore_distance: 20.0
        obstacle_collision_distance: 0.5
        obstacle_risk_distance: 2.0

--- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt
--- a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
--- a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
--- a/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt