Planning: fixed a stop position shaking bug by changing reference line length.

modules/planning/common/planning_gflags.cc

@@ -41,16 +41,13 @@ DEFINE_double(
     look_backward_distance, 30,
     "look backward this distance when creating reference line from routing");
 
-DEFINE_double(look_forward_short_distance, 60,
+DEFINE_double(look_forward_short_distance, 100,
               "short look forward this distance when creating reference line "
               "from routing when ADC is slow");
-DEFINE_double(look_forward_mid_distance, 150,
-              "medium look forward this distance when creating reference line "
-              "from routing");
 DEFINE_double(
     look_forward_long_distance, 250,
     "look forward this distance when creating reference line from routing");
-DEFINE_double(look_forward_time_sec, 8,
+DEFINE_double(look_forward_time_sec, 8.0,
               "look forward time times adc speed to calculate this distance "
               "when creating reference line from routing");
 DEFINE_bool(enable_reference_line_stitching, true,

modules/planning/common/planning_gflags.h

@@ -29,7 +29,6 @@ DECLARE_uint64(rtk_trajectory_forward);
 DECLARE_double(rtk_trajectory_resolution);
 DECLARE_double(look_backward_distance);
 DECLARE_double(look_forward_short_distance);
-DECLARE_double(look_forward_mid_distance);
 DECLARE_double(look_forward_long_distance);
 DECLARE_double(look_forward_time_sec);
 DECLARE_bool(enable_reference_line_stitching);

modules/planning/reference_line/reference_line_provider.cc

@@ -313,12 +313,8 @@ bool ReferenceLineProvider::CreateRouteSegments(
 double ReferenceLineProvider::LookForwardDistance(const VehicleState &state) {
   auto forward_distance = state.linear_velocity() * FLAGS_look_forward_time_sec;
 
-  if (forward_distance > FLAGS_look_forward_mid_distance) {
-    return FLAGS_look_forward_long_distance;
-  }
-
   if (forward_distance > FLAGS_look_forward_short_distance) {
-    return FLAGS_look_forward_mid_distance;
+    return FLAGS_look_forward_long_distance;
   }
 
   return FLAGS_look_forward_short_distance;

modules/planning/tasks/dp_poly_path/dp_road_graph.cc

@@ -216,7 +216,7 @@ bool DPRoadGraph::SamplePathWaypoints(
   constexpr double kSamplePointLookForwardTime = 4.0;
   CHECK_NOTNULL(points);
 
-  const double kMinSampleDistance = 60.0;
+  const double kMinSampleDistance = 100.0;
   const double total_length =
       std::fmin(init_sl_point_.s() +
                     std::fmax(speed_data_.speed_vector().back().s() + 20.0,

modules/planning/tasks/st_graph/st_boundary_mapper.cc

@@ -156,7 +156,6 @@ Status StBoundaryMapper::GetGraphBoundary(PathDecision* path_decision) const {
 bool StBoundaryMapper::MapStopDecision(PathObstacle* stop_obstacle) const {
   const auto& stop_decision = stop_obstacle->LongitudinalDecision();
   DCHECK(stop_decision.has_stop()) << "Must have stop decision";
-
   if (stop_obstacle->perception_sl_boundary().start_s() >
       path_data_.frenet_frame_path().points().back().s()) {
     return true;