From 1ef9e74f6246ebedbf823f54743e27abcd08ccbc Mon Sep 17 00:00:00 2001 From: Jiangtao Hu Date: Fri, 8 Sep 2017 10:52:38 -0700 Subject: [PATCH] planning: change following distance only considers ADC speed. --- modules/planning/common/planning_gflags.cc | 3 +++ modules/planning/common/planning_gflags.h | 2 ++ modules/planning/tasks/dp_st_speed/dp_st_graph.cc | 8 ++------ 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc index 5dcf0a6666..a60c005654 100644 --- a/modules/planning/common/planning_gflags.cc +++ b/modules/planning/common/planning_gflags.cc @@ -113,6 +113,9 @@ DEFINE_double(nudge_distance_obstacle, 0.3, "minimum distance to nudge a obstacle (meters)"); DEFINE_double(follow_min_distance, 10, "min follow distance for vehicles/bicycles/moving objects"); +DEFINE_double( + follow_time_buffer, 4.0, + "follow time buffer (in second) to calculate the following distance."); DEFINE_double(stop_line_min_distance, 0.0, "min distance (meters) to stop line for a valid stop"); diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h index 0c68020c7a..8602970155 100644 --- a/modules/planning/common/planning_gflags.h +++ b/modules/planning/common/planning_gflags.h @@ -75,6 +75,8 @@ DECLARE_double(stop_distance_destination); DECLARE_double(min_driving_width); DECLARE_double(nudge_distance_obstacle); DECLARE_double(follow_min_distance); +DECLARE_double(follow_time_buffer); + DECLARE_double(stop_line_min_distance); DECLARE_string(destination_obstacle_id); diff --git a/modules/planning/tasks/dp_st_speed/dp_st_graph.cc b/modules/planning/tasks/dp_st_speed/dp_st_graph.cc index 2e27d6769a..d9f27c8e13 100644 --- a/modules/planning/tasks/dp_st_speed/dp_st_graph.cc +++ b/modules/planning/tasks/dp_st_speed/dp_st_graph.cc @@ -496,13 +496,9 @@ bool DpStGraph::CreateFollowDecision( auto* follow = follow_decision->mutable_follow(); - // in seconds - constexpr double kFollowTimeBuffer = 4.0; - const auto& velocity = path_obstacle.obstacle()->Perception().velocity(); - const double follow_speed = - std::fmax(init_point_.v(), std::hypot(velocity.x(), velocity.y())); + const double follow_speed = init_point_.v(); const double follow_distance_s = - -std::fmax(follow_speed * kFollowTimeBuffer, FLAGS_follow_min_distance); + -std::fmax(follow_speed * FLAGS_follow_time_buffer, FLAGS_follow_min_distance); follow->set_distance_s(follow_distance_s); -- GitLab