diff --git a/modules/planning/integration_tests/huanbaoyuan_bzone_test.cc b/modules/planning/integration_tests/huanbaoyuan_bzone_test.cc index 8cf51d2e2d74f0a4b0bdb12cd9523128d96fa535..1a35624b160bc2871ada9a7f815de45af02bb73a 100644 --- a/modules/planning/integration_tests/huanbaoyuan_bzone_test.cc +++ b/modules/planning/integration_tests/huanbaoyuan_bzone_test.cc @@ -53,5 +53,19 @@ TEST_F(HuangbaoyuanBzoneTest, follow_01) { RUN_GOLDEN_TEST; } +/* + * test yield a vehicle with short distance + * A follow test case + */ +TEST_F(HuangbaoyuanBzoneTest, yield_01) { + std::string seq_num = "2"; + FLAGS_test_routing_response_file = seq_num + "_routing.pb.txt"; + FLAGS_test_prediction_file = seq_num + "_prediction.pb.txt"; + FLAGS_test_localization_file = seq_num + "_localization.pb.txt"; + FLAGS_test_chassis_file = seq_num + "_chassis.pb.txt"; + PlanningTestBase::SetUp(); + RUN_GOLDEN_TEST; +} + } // namespace planning } // namespace apollo diff --git a/modules/planning/testdata/huanbaoyuan_bzone_test/2_chassis.pb.txt b/modules/planning/testdata/huanbaoyuan_bzone_test/2_chassis.pb.txt new file mode 100644 index 0000000000000000000000000000000000000000..c1090e588c4bb9cf0e5b17134c891f0b2a2c2083 --- /dev/null +++ b/modules/planning/testdata/huanbaoyuan_bzone_test/2_chassis.pb.txt @@ -0,0 +1,22 @@ +engine_started: true +engine_rpm: 1754.25 +speed_mps: 7.897222 +odometer_m: 0 +fuel_range_m: 0 +throttle_percentage: 15.666438 +brake_percentage: 16.562141 +steering_percentage: -0.063829787 +steering_torque_nm: -0.125 +parking_brake: false +driving_mode: COMPLETE_AUTO_DRIVE +error_code: NO_ERROR +gear_location: GEAR_DRIVE +header { + timestamp_sec: 1505101393.3468192 + module_name: "chassis" + sequence_num: 282201 +} +signal { + turn_signal: TURN_NONE + horn: false +} diff --git a/modules/planning/testdata/huanbaoyuan_bzone_test/2_localization.pb.txt b/modules/planning/testdata/huanbaoyuan_bzone_test/2_localization.pb.txt new file mode 100644 index 0000000000000000000000000000000000000000..972eb123cefde1da1b94b4616c1e8b319cac2769 --- /dev/null +++ b/modules/planning/testdata/huanbaoyuan_bzone_test/2_localization.pb.txt @@ -0,0 +1,49 @@ +header { + timestamp_sec: 1505101393.3447967 + module_name: "localization" + sequence_num: 339279 +} +pose { + position { + x: 431290.62080435769 + y: 4434163.4986545779 + z: 37.649068114347756 + } + orientation { + qx: 0.013311572863710507 + qy: -0.015911126320045706 + qz: -0.98399622400351683 + qw: 0.17697759528805437 + } + linear_velocity { + x: 2.5814399587564454 + y: -7.628428665599718 + z: 0.037299487377163931 + } + linear_acceleration { + x: -0.18383662202527579 + y: -0.50694497810611439 + z: -0.017856213299102652 + } + angular_velocity { + x: -0.0073818565566837252 + y: -0.020557571246561164 + z: 0.0074780197974178928 + } + heading: -1.2152603056341071 + linear_acceleration_vrf { + x: 0.34940166934072847 + y: 0.41033822782005736 + z: -0.025474909802842449 + } + angular_velocity_vrf { + x: 0.013931754337978606 + y: 0.0169608813469603 + z: 0.0071596820370750493 + } + euler_angles { + x: 0.02058005938950478 + y: -0.036032473302519442 + z: -1.2152603056341069 + } +} diff --git a/modules/planning/testdata/huanbaoyuan_bzone_test/2_prediction.pb.txt b/modules/planning/testdata/huanbaoyuan_bzone_test/2_prediction.pb.txt new file mode 100644 index 0000000000000000000000000000000000000000..1ba2bf269159018fd7c2b2099a6035bcd12c8396 --- /dev/null +++ b/modules/planning/testdata/huanbaoyuan_bzone_test/2_prediction.pb.txt @@ -0,0 +1,428 @@ +header { + timestamp_sec: 1505101393.3019331 + module_name: "prediction" + sequence_num: 28068 +} +prediction_obstacle { + perception_obstacle { + id: 4158 + position { + x: 431296.87429503544 + y: 4434154.3371385094 + z: 36.9573671016528 + } + theta: -1.3921904617986804 + velocity { + x: 2.3102715015411377 + y: -12.797189712524414 + z: 0 + } + length: 3.3672661781311035 + width: 2.0058133602142334 + height: 1.5423381328582764 + polygon_point { + x: 431296.33161370753 + y: 4434155.949719443 + z: 36.924911757003478 + } + polygon_point { + x: 431296.89339112473 + y: 4434156.0083878208 + z: 36.938396735268952 + } + polygon_point { + x: 431297.25667218777 + y: 4434155.97731573 + z: 36.94726413645752 + } + polygon_point { + x: 431297.61403230415 + y: 4434155.88530886 + z: 36.956118026279711 + } + polygon_point { + x: 431297.77263301687 + y: 4434154.6420603916 + z: 36.962611459158339 + } + polygon_point { + x: 431296.8649937968 + y: 4434152.8384185694 + z: 36.944468245431928 + } + polygon_point { + x: 431296.75801689969 + y: 4434152.7424579421 + z: 36.942081157241013 + } + polygon_point { + x: 431296.72408223752 + y: 4434152.7208246123 + z: 36.941305158172746 + } + polygon_point { + x: 431296.4043362916 + y: 4434152.5387077313 + z: 36.93394706810647 + } + polygon_point { + x: 431296.30206146132 + y: 4434152.5320757786 + z: 36.931483415949209 + } + polygon_point { + x: 431296.05896869168 + y: 4434153.2152535506 + z: 36.924137276600639 + } + polygon_point { + x: 431295.74234338262 + y: 4434155.6332200859 + z: 36.911310499179784 + } + polygon_point { + x: 431296.1361018655 + y: 4434155.8770893607 + z: 36.920329999808914 + } + tracking_time: 57.699061155319214 + type: UNKNOWN + timestamp: 0 + } + timestamp: 1505101393.3015127 + predicted_period: 3 + trajectory { + probability: 1 + trajectory_point { + path_point { + x: 431296.87429503544 + y: 4434154.3371385094 + z: 0 + theta: -1.395290767519392 + } + v: 13.004053942873885 + a: 0.85043566191641462 + relative_time: 0 + } + trajectory_point { + path_point { + x: 431297.10111647064 + y: 4434153.058046421 + z: 0 + theta: -1.4015107181298847 + } + v: 12.977022157450948 + a: 0.85043566191641462 + relative_time: 0.1 + } + trajectory_point { + path_point { + x: 431297.31952647591 + y: 4434151.7802080987 + z: 0 + theta: -1.4077561782177936 + } + v: 12.950492423729418 + a: 0.85043566191641462 + relative_time: 0.2 + } + trajectory_point { + path_point { + x: 431297.5295250513 + y: 4434150.5036235414 + z: 0 + theta: -1.414026814844852 + } + v: 12.924467833356795 + a: 0.85043566191641462 + relative_time: 0.30000000000000004 + } + trajectory_point { + path_point { + x: 431297.73111219675 + y: 4434149.22829275 + z: 0 + theta: -1.4203222844643495 + } + v: 12.898951443825853 + a: 0.85043566191641462 + relative_time: 0.4 + } + trajectory_point { + path_point { + x: 431297.92428791232 + y: 4434147.954215724 + z: 0 + theta: -1.4266422329304784 + } + v: 12.873946276926157 + a: 0.85043566191641462 + relative_time: 0.5 + } + trajectory_point { + path_point { + x: 431298.109052198 + y: 4434146.6813924639 + z: 0 + theta: -1.4329862955171528 + } + v: 12.849455317190912 + a: 0.85043566191641462 + relative_time: 0.60000000000000009 + } + trajectory_point { + path_point { + x: 431298.28540505376 + y: 4434145.40982297 + z: 0 + theta: -1.4393540969464997 + } + v: 12.82548151034073 + a: 0.85043566191641462 + relative_time: 0.70000000000000007 + } + trajectory_point { + path_point { + x: 431298.45334647957 + y: 4434144.1395072415 + z: 0 + theta: -1.4457452514272087 + } + v: 12.802027761725844 + a: 0.85043566191641462 + relative_time: 0.8 + } + trajectory_point { + path_point { + x: 431298.6128764755 + y: 4434142.8704452785 + z: 0 + theta: -1.452159362702919 + } + v: 12.779096934768425 + a: 0.85043566191641462 + relative_time: 0.9 + } + trajectory_point { + path_point { + x: 431298.76399504155 + y: 4434141.6026370814 + z: 0 + theta: -1.4585960241107991 + } + v: 12.756691849406627 + a: 0.85043566191641462 + relative_time: 1 + } + trajectory_point { + path_point { + x: 431298.90670217766 + y: 4434140.3360826494 + z: 0 + theta: -1.4650548186504697 + } + v: 12.73481528054209 + a: 0.85043566191641462 + relative_time: 1.1 + } + trajectory_point { + path_point { + x: 431299.04099788383 + y: 4434139.0707819834 + z: 0 + theta: -1.4715353190633953 + } + v: 12.713469956492617 + a: 0.85043566191641462 + relative_time: 1.2000000000000002 + } + trajectory_point { + path_point { + x: 431299.16688216012 + y: 4434137.8067350835 + z: 0 + theta: -1.4780370879228606 + } + v: 12.69265855745177 + a: 0.85043566191641462 + relative_time: 1.3 + } + trajectory_point { + path_point { + x: 431299.28435500647 + y: 4434136.5439419486 + z: 0 + theta: -1.4845596777346275 + } + v: 12.672383713957215 + a: 0.85043566191641462 + relative_time: 1.4000000000000001 + } + trajectory_point { + path_point { + x: 431299.39341642294 + y: 4434135.28240258 + z: 0 + theta: -1.4911026310483504 + } + v: 12.652648005369613 + a: 0.85043566191641462 + relative_time: 1.5 + } + trajectory_point { + path_point { + x: 431299.49406640953 + y: 4434134.0221169768 + z: 0 + theta: -1.4976654805798071 + } + v: 12.6334539583639 + a: 0.85043566191641462 + relative_time: 1.6 + } + trajectory_point { + path_point { + x: 431299.58630496619 + y: 4434132.763085139 + z: 0 + theta: -1.5042477493439925 + } + v: 12.614804045434809 + a: 0.85043566191641462 + relative_time: 1.7000000000000002 + } + trajectory_point { + path_point { + x: 431299.67013209296 + y: 4434131.5053070672 + z: 0 + theta: -1.5108489507990832 + } + v: 12.596700683418559 + a: 0.85043566191641462 + relative_time: 1.8 + } + trajectory_point { + path_point { + x: 431299.74554778979 + y: 4434130.2487827614 + z: 0 + theta: -1.517468589001286 + } + v: 12.579146232032521 + a: 0.85043566191641462 + relative_time: 1.9000000000000001 + } + trajectory_point { + path_point { + x: 431299.81255205668 + y: 4434128.9935122207 + z: 0 + theta: -1.5241061587705427 + } + v: 12.562142992434831 + a: 0.85043566191641462 + relative_time: 2 + } + trajectory_point { + path_point { + x: 431299.8711448937 + y: 4434127.739495446 + z: 0 + theta: -1.5307611458670434 + } + v: 12.545693205805817 + a: 0.85043566191641462 + relative_time: 2.1 + } + trajectory_point { + path_point { + x: 431299.92132630083 + y: 4434126.4867324373 + z: 0 + theta: -1.5374330271784975 + } + v: 12.529799051953153 + a: 0.85043566191641462 + relative_time: 2.2 + } + trajectory_point { + path_point { + x: 431299.963096278 + y: 4434125.2352231937 + z: 0 + theta: -1.5441212709180629 + } + v: 12.514462647942628 + a: 0.85043566191641462 + relative_time: 2.3000000000000003 + } + trajectory_point { + path_point { + x: 431299.99645482533 + y: 4434123.984967716 + z: 0 + theta: -1.550825336832832 + } + v: 12.499686046756434 + a: 0.85043566191641462 + relative_time: 2.4000000000000004 + } + trajectory_point { + path_point { + x: 431300.02140194271 + y: 4434122.7359660044 + z: 0 + theta: -1.5575446764227407 + } + v: 12.485471235980841 + a: 0.85043566191641462 + relative_time: 2.5 + } + trajectory_point { + path_point { + x: 431300.03793763014 + y: 4434121.4882180579 + z: 0 + theta: -1.5642787331697479 + } + v: 12.471820136525123 + a: 0.85043566191641462 + relative_time: 2.6 + } + trajectory_point { + path_point { + x: 431300.0460618877 + y: 4434120.2417238774 + z: 0 + theta: -1.5710269427771091 + } + v: 12.458734601373584 + a: 0.85043566191641462 + relative_time: 2.7 + } + trajectory_point { + path_point { + x: 431300.04577471537 + y: 4434118.9964834619 + z: 0 + theta: -1.577788733418541 + } + v: 12.446216414372458 + a: 0.85043566191641462 + relative_time: 2.8000000000000003 + } + trajectory_point { + path_point { + x: 431300.03707611311 + y: 4434117.7524968134 + z: 0 + theta: -1.577788733418541 + } + v: 12.434267289053528 + a: 0.85043566191641462 + relative_time: 2.9000000000000004 + } + } +} +perception_error_code: OK diff --git a/modules/planning/testdata/huanbaoyuan_bzone_test/2_routing.pb.txt b/modules/planning/testdata/huanbaoyuan_bzone_test/2_routing.pb.txt new file mode 100644 index 0000000000000000000000000000000000000000..75f72624d2ff6e0676155c24d4e57b2f562eac0b --- /dev/null +++ b/modules/planning/testdata/huanbaoyuan_bzone_test/2_routing.pb.txt @@ -0,0 +1,66 @@ +header { + timestamp_sec: 1505101372.3203726 + module_name: "routing" + sequence_num: 29 +} +route { + road_info { + id: "131-72-64" + in_lane { + id: "64_1_-1" + s: 63.683761497934711 + } + out_lane { + id: "72_1_-1" + s: 42.389566612060662 + } + passage_region { + segment { + id: "64_1_-1" + start_s: 63.683761497934711 + end_s: 144.45 + } + segment { + id: "131_1_-1" + start_s: 0 + end_s: 36.9394 + } + segment { + id: "72_1_-1" + start_s: 0 + end_s: 42.389566612060662 + } + } + } +} +measurement { + distance: 160.09520511412595 +} +routing_request { + header { + timestamp_sec: 1505101372.320029 + module_name: "dreamview" + sequence_num: 35 + } + start { + id: "64_1_-1" + s: 63.683761497934711 + pose { + x: 431259.224200729 + y: 4434253.73378437 + } + } + end { + id: "72_1_-1" + s: 42.389566612060662 + pose { + x: 431311.80160710122 + y: 4434102.6230789386 + } + } +} +map_version: "1.400000" +error_code { + error_id: SUCCESS + error_string: "Success!" +} diff --git a/modules/planning/testdata/huanbaoyuan_bzone_test/result_follow_01_0.pb.txt b/modules/planning/testdata/huanbaoyuan_bzone_test/result_follow_01_0.pb.txt index 314e08015c46974320a4b22def893022e38ef5f5..339a180cdaa95aac8e3ac050397943528f837250 100644 --- a/modules/planning/testdata/huanbaoyuan_bzone_test/result_follow_01_0.pb.txt +++ b/modules/planning/testdata/huanbaoyuan_bzone_test/result_follow_01_0.pb.txt @@ -14,2247 +14,2247 @@ trajectory_point { ddkappa: 0 } v: 2.1388888359069824 - a: -0.47672964337296797 + a: -0.476729643372968 relative_time: 0 } trajectory_point { path_point { - x: 431261.70905962924 - y: 4434248.4256328885 - theta: -1.10752193779367 - kappa: -0.00059663641077774233 - s: 0.10634360914577207 + x: 431261.70905852632 + y: 4434248.4256351013 + theta: -1.1075219305531434 + kappa: -0.0005966225451644174 + s: 0.1063411377589486 dkappa: 0 ddkappa: 0 } - v: 2.1147583810902097 - a: -0.48838750341579645 + v: 2.114611993486462 + a: -0.49409214172856253 relative_time: 0.05 } trajectory_point { path_point { - x: 431261.7559743718 - y: 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