Planning: used gflag to disable using planning_cycle_time in trajectory...

Planning: used gflag to disable using planning_cycle_time in trajectory stitcher. extended planning time to 8s, distance to 250m to avoid failure at turning.

modules/planning/common/planning_gflags.cc

@@ -33,13 +33,15 @@ DEFINE_double(trajectory_resolution, 0.01,
 
 DEFINE_bool(publish_estop, false, "publish estop decision in planning");
 DEFINE_bool(enable_trajectory_stitcher, true, "enable stitching trajectory");
+DEFINE_bool(use_planning_cycle_time_in_stitcher, false,
+            "Use planning_cycle_time in trajectory stitcher.");
 
 DEFINE_double(
     look_backward_distance, 30,
     "look backward this distance when creating reference line from routing");
 
 DEFINE_double(
-    look_forward_distance, 200,
+    look_forward_distance, 250,
     "look forward this distance when creating reference line from routing");
 DEFINE_bool(enable_smooth_reference_line, true,
             "enable smooth the map reference line");

modules/planning/common/planning_gflags.h

@@ -31,6 +31,7 @@ DECLARE_bool(enable_smooth_reference_line);
 DECLARE_double(max_collision_distance);
 DECLARE_bool(publish_estop);
 DECLARE_bool(enable_trajectory_stitcher);
+DECLARE_bool(use_planning_cycle_time_in_stitcher);
 
 DECLARE_int32(max_history_frame_num);
 

modules/planning/conf/planning_config.pb.txt

@@ -80,8 +80,8 @@ em_planner_config {
         cross_lane_extension_buffer: 0.2
     }
     qp_st_speed_config {
-        total_path_length: 200.0
-        total_time: 6.0
+        total_path_length: 250.0
+        total_time: 8.0
         output_time_resolution: 0.05
         preferred_max_acceleration: 1.2
         preferred_min_deceleration: -2.0

modules/planning/trajectory_stitcher/trajectory_stitcher.cc

@@ -102,7 +102,10 @@ std::vector<TrajectoryPoint> TrajectoryStitcher::ComputeStitchingTrajectory(
     return ComputeReinitStitchingTrajectory();
   }
 
-  double forward_rel_time = veh_rel_time + planning_cycle_time;
+  double forward_rel_time = veh_rel_time;
+  if (FLAGS_use_planning_cycle_time_in_stitcher) {
+    forward_rel_time += planning_cycle_time;
+  }
   std::size_t forward_index =
       prev_trajectory->QueryNearestPoint(forward_rel_time);