diff --git a/modules/planning/reference_line/reference_line_provider.cc b/modules/planning/reference_line/reference_line_provider.cc index 69a54f322be98db3edd16805fc9ab7aabca3b56c..fbb1e5197e82772ed2a4568834f5cb3c2d693937 100644 --- a/modules/planning/reference_line/reference_line_provider.cc +++ b/modules/planning/reference_line/reference_line_provider.cc @@ -72,6 +72,7 @@ void ReferenceLineProvider::UpdateRoutingResponse( std::lock_guard lock(routing_response_mutex_); // TODO(all): check if routing needs to be updated before assigning. routing_response_ = routing_response; + has_routing_ = true; } void ReferenceLineProvider::Generate() { @@ -80,6 +81,19 @@ void ReferenceLineProvider::Generate() { common::VehicleState::instance()->pose().position(); const auto adc_point_enu = common::util::MakePointENU( curr_adc_position.x(), curr_adc_position.y(), curr_adc_position.z()); + const int32_t kReferenceLineProviderSleepTime = 1000; + if (!has_routing_) { + AERROR << "Routing is not ready."; + std::this_thread::sleep_for(std::chrono::duration( + kReferenceLineProviderSleepTime)); + continue; + } + + if (!curr_adc_position.has_x() || !curr_adc_position.has_y()) { + AERROR << "VehicleState is not ready."; + std::this_thread::sleep_for(std::chrono::duration( + kReferenceLineProviderSleepTime)); + } routing::RoutingResponse routing; { diff --git a/modules/planning/reference_line/reference_line_provider.h b/modules/planning/reference_line/reference_line_provider.h index f89c694f76cb3b23a35a9156f83fdbb94a0d76fd..d268045392ef853fce411730f7d23536045daec6 100644 --- a/modules/planning/reference_line/reference_line_provider.h +++ b/modules/planning/reference_line/reference_line_provider.h @@ -77,6 +77,7 @@ class ReferenceLineProvider { const hdmap::PncMap* pnc_map_ = nullptr; + bool has_routing_ = false; std::mutex routing_response_mutex_; routing::RoutingResponse routing_response_; 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 209abbda7c8c1321a42bdd59eadd57b404b41c1b..150f376ff5ab33c584217b1edf94451ece689d23 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 @@ -246,9 +246,22 @@ Status QpSplineStGraph::ApplyConstraint( } else { constexpr double kInitPointAccelRelaxedSpeed = 1.0; constexpr double kInitPointAccelRelaxedRange = 0.5; - if (init_point_.v() > kInitPointAccelRelaxedSpeed) { - accel_lower_bound.front() = init_point_.a() - kInitPointAccelRelaxedRange; - accel_upper_bound.front() = init_point_.a() + kInitPointAccelRelaxedRange; + if (init_point_.v() > kInitPointAccelRelaxedSpeed && + (init_point_.a() > accel_bound.second - kInitPointAccelRelaxedRange || + init_point_.a() < accel_bound.first + kInitPointAccelRelaxedRange)) { + accel_lower_bound.front() = + std::max(accel_lower_bound.front(), + init_point_.a() - kInitPointAccelRelaxedRange); + accel_upper_bound.front() = + std::min(accel_upper_bound.front(), + init_point_.a() + kInitPointAccelRelaxedRange); + } else { + if (!constraint->AddPointSecondDerivativeConstraint(0.0, + init_point_.a())) { + const std::string msg = + "Fail to apply init point acceleration constraints."; + return Status(ErrorCode::PLANNING_ERROR, msg); + } } } 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 cc8db68d786b77cfe38c6ccabaff83c1bd47c18f..609a7ee7f74b572fd9fb8b0f1cbe1ee27056117a 100644 --- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt @@ -9,2252 +9,2252 @@ trajectory_point { y: 4140700.15992 theta: 1.3255010179499997 kappa: -0.026050217221752478 - 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