Planning: ready to use acc, dec from vehicle_params

modules/planning/common/speed_profile_generator.cc

@@ -76,8 +76,6 @@ SpeedData SpeedProfileGenerator::GenerateFallbackSpeed(
       0.0, std::fmax(FLAGS_planning_upper_speed_limit, init_v));
   piecewise_jerk_problem.set_ddx_bounds(veh_param.max_deceleration(),
                                         veh_param.max_acceleration());
-  // TODO(Hongyi): Set back to vehicle_params when ready
-  piecewise_jerk_problem.set_ddx_bounds(-4.0, 2.0);
   piecewise_jerk_problem.set_dddx_bound(FLAGS_longitudinal_jerk_lower_bound,
                                         FLAGS_longitudinal_jerk_upper_bound);
 

modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.cc

@@ -204,9 +204,6 @@ Status PiecewiseJerkSpeedNonlinearOptimizer::SetUpStatesAndBounds(
       common::VehicleConfigHelper::GetConfig().vehicle_param();
   s_ddot_max_ = veh_param.max_acceleration();
   s_ddot_min_ = -1.0 * std::abs(veh_param.max_deceleration());
-  // TODO(Hongyi): delete this when ready to use vehicle_params
-  s_ddot_max_ = 2.0;
-  s_ddot_min_ = -4.0;
 
   // Set s_dddot boundary
   // TODO(Jinyun): allow the setting of jerk_lower_bound and move jerk config to
@@ -440,8 +437,7 @@ Status PiecewiseJerkSpeedNonlinearOptimizer::OptimizeByQP(
                                                    init_states);
   piecewise_jerk_problem.set_dx_bounds(
       0.0, std::fmax(FLAGS_planning_upper_speed_limit, init_states[1]));
-  // TODO(Hongyi): delete this when ready to use vehicle_params
-  piecewise_jerk_problem.set_ddx_bounds(-4.0, 2.0);
+  piecewise_jerk_problem.set_ddx_bounds(s_ddot_min_, s_ddot_max_);
   piecewise_jerk_problem.set_dddx_bound(s_dddot_min_, s_dddot_max_);
   piecewise_jerk_problem.set_x_bounds(s_bounds_);
 

modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc

@@ -95,9 +95,6 @@ Status PiecewiseJerkSpeedOptimizer::Process(const PathData& path_data,
   piecewise_jerk_problem.set_dddx_bound(FLAGS_longitudinal_jerk_lower_bound,
                                         FLAGS_longitudinal_jerk_upper_bound);
 
-  // TODO(Hongyi): delete this when ready to use vehicle_params
-  piecewise_jerk_problem.set_ddx_bounds(-4.0, 2.0);
-
   piecewise_jerk_problem.set_dx_ref(piecewise_jerk_speed_config.ref_v_weight(),
                                     reference_line_info_->GetCruiseSpeed());