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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
提交
2c11c0cf
编写于
1月 03, 2018
作者:
L
Liangliang Zhang
提交者:
Jiangtao Hu
1月 04, 2018
浏览文件
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电子邮件补丁
差异文件
Planning: updated nudge for pedestrian and bicycles. (#2352)
上级
1cc92556
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
18 addition
and
5 deletion
+18
-5
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+2
-2
modules/planning/tasks/dp_poly_path/trajectory_cost.cc
modules/planning/tasks/dp_poly_path/trajectory_cost.cc
+8
-1
modules/planning/tasks/path_decider/path_decider.cc
modules/planning/tasks/path_decider/path_decider.cc
+7
-1
modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
...anning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+1
-1
未找到文件。
modules/planning/common/planning_gflags.cc
浏览文件 @
2c11c0cf
...
...
@@ -186,7 +186,7 @@ DEFINE_bool(enable_nudge_slowdown, true,
DEFINE_bool
(
try_history_decision
,
false
,
"try history decision first"
);
DEFINE_double
(
static_decision_nudge_l_buffer
,
0.
3
,
"l buffer for nudge"
);
DEFINE_double
(
static_decision_nudge_l_buffer
,
0.
5
,
"l buffer for nudge"
);
DEFINE_double
(
lateral_ignore_buffer
,
3.0
,
"If an obstacle's lateral distance is further away than this "
"distance, ignore it"
);
...
...
@@ -201,7 +201,7 @@ DEFINE_double(stop_distance_traffic_light, 3.0,
DEFINE_double
(
destination_check_distance
,
5.0
,
"if the distance between destination and ADC is less than this,"
" it is considered to reach destination"
);
DEFINE_double
(
nudge_distance_obstacle
,
0.
3
,
DEFINE_double
(
nudge_distance_obstacle
,
0.
5
,
"minimum distance to nudge a obstacle (meters)"
);
DEFINE_double
(
follow_min_distance
,
3.0
,
"min follow distance for vehicles/bicycles/moving objects"
);
...
...
modules/planning/tasks/dp_poly_path/trajectory_cost.cc
浏览文件 @
2c11c0cf
...
...
@@ -76,10 +76,17 @@ TrajectoryCost::TrajectoryCost(
}
const
auto
ptr_obstacle
=
ptr_path_obstacle
->
obstacle
();
bool
is_bycycle_or_pedestrain
=
(
ptr_obstacle
->
Perception
().
type
()
==
perception
::
PerceptionObstacle
::
BICYCLE
||
ptr_obstacle
->
Perception
().
type
()
==
perception
::
PerceptionObstacle
::
PEDESTRIAN
);
if
(
Obstacle
::
IsVirtualObstacle
(
ptr_obstacle
->
Perception
()))
{
// Virtual obstacle
continue
;
}
else
if
(
Obstacle
::
IsStaticObstacle
(
ptr_obstacle
->
Perception
()))
{
}
else
if
(
Obstacle
::
IsStaticObstacle
(
ptr_obstacle
->
Perception
())
||
is_bycycle_or_pedestrain
)
{
double
left_width
=
0.0
;
double
right_width
=
0.0
;
reference_line_
->
GetLaneWidth
(
sl_boundary
.
start_s
(),
&
left_width
,
...
...
modules/planning/tasks/path_decider/path_decider.cc
浏览文件 @
2c11c0cf
...
...
@@ -88,7 +88,13 @@ bool PathDecider::MakeStaticObstacleDecision(
for
(
const
auto
*
path_obstacle
:
path_decision
->
path_obstacles
().
Items
())
{
const
auto
&
obstacle
=
*
path_obstacle
->
obstacle
();
if
(
!
obstacle
.
IsStatic
())
{
bool
is_bycycle_or_pedestrain
=
(
obstacle
.
Perception
().
type
()
==
perception
::
PerceptionObstacle
::
BICYCLE
||
obstacle
.
Perception
().
type
()
==
perception
::
PerceptionObstacle
::
PEDESTRIAN
);
if
(
!
is_bycycle_or_pedestrain
&&
!
obstacle
.
IsStatic
())
{
continue
;
}
if
(
path_obstacle
->
HasLongitudinalDecision
()
&&
...
...
modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
浏览文件 @
2c11c0cf
...
...
@@ -1572,7 +1572,7 @@ decision {
object_decision {
nudge {
type: RIGHT_NUDGE
distance_l: -0.
3
distance_l: -0.
5
}
}
}
...
...
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