PncMap: fixed nearest laywaypoint bug in get lane segments from routing.

modules/map/pnc_map/pnc_map.cc

@@ -232,7 +232,8 @@ bool PncMap::GetLaneSegmentsFromRouting(
     AERROR << "Failed to find point on routing. Point:" << point.DebugString();
     return false;
   }
-  const auto &start_waypoint = nearest_waypoints[0];
+
+  const auto &start_waypoint = nearest_waypoints.back();
   double min_overlap_distance = std::numeric_limits<double>::infinity();
   double proj_s = 0.0;
   double accumulate_s = 0.0;
@@ -476,9 +477,7 @@ bool PncMap::CreatePathFromLaneSegments(const LaneSegments &segments,
   return true;
 }
 
-const HDMap &PncMap::HDMap() const {
-  return hdmap_;
-}
+const HDMap &PncMap::HDMap() const { return hdmap_; }
 
 }  // namespace hdmap
 }  // namespace apollo

modules/planning/common/planning_gflags.cc

@@ -33,7 +33,7 @@ DEFINE_double(trajectory_resolution, 0.01,
               "output trajectory.");
 
 DEFINE_double(
-    look_backward_distance, 30,
+    look_backward_distance, 10,
     "look backward this distance when creating reference line from routing");
 
 DEFINE_double(

modules/planning/reference_line/reference_line_smoother_test.cc

@@ -74,7 +74,7 @@ TEST_F(ReferenceLineSmootherTest, smooth) {
   ReferenceLine smoothed_reference_line;
   EXPECT_FLOAT_EQ(153.87421, reference_line_->Length());
   EXPECT_TRUE(smoother_.Smooth(*reference_line_, &smoothed_reference_line));
-  EXPECT_FLOAT_EQ(153.64909, smoothed_reference_line.Length());
+  EXPECT_FLOAT_EQ(153.6006, smoothed_reference_line.Length());
 }
 
 }  // namespace planning

modules/planning/testdata/conf/planning.conf

---adapter_config_path=modules/planning/conf/adapter.conf
\ No newline at end of file
+--adapter_config_path=modules/planning/conf/adapter.conf
+--nouse_ros_time
+--noalign_prediction_time