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体验新版 GitCode,发现更多精彩内容 >>
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37d043c8
编写于
9月 02, 2020
作者:
S
Shu Jiang
提交者:
Jinyun Zhou
9月 04, 2020
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差异文件
Planning: disable check ADC within path bounds in hybrid model related scenarios
上级
5bf4d782
变更
3
显示空白变更内容
内联
并排
Showing
3 changed file
with
17 addition
and
7 deletion
+17
-7
modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
...s/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
+1
-1
modules/planning/proto/task_config.proto
modules/planning/proto/task_config.proto
+1
-1
modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
...tasks/deciders/path_bounds_decider/path_bounds_decider.cc
+15
-5
未找到文件。
modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
浏览文件 @
37d043c8
...
...
@@ -58,7 +58,7 @@ stage_config: {
task_type: PATH_BOUNDS_DECIDER
path_bounds_decider_config {
adc_buffer_coeff: 0.0
is_extend_lane_b
a
nds_to_include_adc: false
is_extend_lane_b
ou
nds_to_include_adc: false
}
}
task_config: {
...
...
modules/planning/proto/task_config.proto
浏览文件 @
37d043c8
...
...
@@ -152,7 +152,7 @@ message PathBoundsDeciderConfig {
optional
double
pull_over_approach_lon_distance_adjust_factor
=
6
[
default
=
1.5
];
optional
double
adc_buffer_coeff
=
7
[
default
=
1.0
];
optional
bool
is_extend_lane_b
a
nds_to_include_adc
=
8
[
default
=
true
];
optional
bool
is_extend_lane_b
ou
nds_to_include_adc
=
8
[
default
=
true
];
}
//////////////////////////////////
...
...
modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
浏览文件 @
37d043c8
...
...
@@ -163,8 +163,13 @@ Status PathBoundsDecider::Process(
AERROR
<<
msg
;
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
msg
);
}
// disable this change when not extending lane bounds to include adc
if
(
config_
.
path_bounds_decider_config
()
.
is_extend_lane_bounds_to_include_adc
())
{
CHECK_LE
(
adc_frenet_l_
,
std
::
get
<
2
>
(
lanechange_path_bound
[
0
]));
CHECK_GE
(
adc_frenet_l_
,
std
::
get
<
1
>
(
lanechange_path_bound
[
0
]));
}
// Update the fallback path boundary into the reference_line_info.
std
::
vector
<
std
::
pair
<
double
,
double
>>
lanechange_path_bound_pair
;
for
(
size_t
i
=
0
;
i
<
lanechange_path_bound
.
size
();
++
i
)
{
...
...
@@ -216,8 +221,13 @@ Status PathBoundsDecider::Process(
if
(
regular_path_bound
.
empty
())
{
continue
;
}
// disable this change when not extending lane bounds to include adc
if
(
config_
.
path_bounds_decider_config
()
.
is_extend_lane_bounds_to_include_adc
())
{
CHECK_LE
(
adc_frenet_l_
,
std
::
get
<
2
>
(
regular_path_bound
[
0
]));
CHECK_GE
(
adc_frenet_l_
,
std
::
get
<
1
>
(
regular_path_bound
[
0
]));
}
// Update the path boundary into the reference_line_info.
std
::
vector
<
std
::
pair
<
double
,
double
>>
regular_path_bound_pair
;
for
(
size_t
i
=
0
;
i
<
regular_path_bound
.
size
();
++
i
)
{
...
...
@@ -1194,7 +1204,7 @@ bool PathBoundsDecider::GetBoundaryFromLanesAndADC(
double
curr_right_bound
=
0.0
;
if
(
config_
.
path_bounds_decider_config
()
.
is_extend_lane_b
a
nds_to_include_adc
()
||
.
is_extend_lane_b
ou
nds_to_include_adc
()
||
is_fallback
)
{
// extend path bounds to include ADC in fallback path bounds.
double
curr_left_bound_adc
=
...
...
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