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体验新版 GitCode,发现更多精彩内容 >>
提交
3b6ee8ba
编写于
3月 02, 2018
作者:
D
Dong Li
提交者:
Liangliang Zhang
3月 02, 2018
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电子邮件补丁
差异文件
planning: fix reference line drivable bug
上级
4b46c0ee
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
16 addition
and
14 deletion
+16
-14
modules/planning/common/trajectory/discretized_trajectory.h
modules/planning/common/trajectory/discretized_trajectory.h
+1
-1
modules/planning/planner/em/em_planner.cc
modules/planning/planner/em/em_planner.cc
+5
-1
modules/planning/planning.cc
modules/planning/planning.cc
+10
-12
未找到文件。
modules/planning/common/trajectory/discretized_trajectory.h
浏览文件 @
3b6ee8ba
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/**
* @file
discretized_trajectory.h
* @file
**/
#ifndef MODULES_PLANNING_COMMON_TRAJECTORY_DISCRETIZED_TRAJECTORY_H_
...
...
modules/planning/planner/em/em_planner.cc
浏览文件 @
3b6ee8ba
...
...
@@ -142,9 +142,13 @@ void EMPlanner::RecordDebugInfo(ReferenceLineInfo* reference_line_info,
Status
EMPlanner
::
Plan
(
const
TrajectoryPoint
&
planning_start_point
,
Frame
*
frame
)
{
bool
has_drivable_reference_line
=
false
;
bool
disable_low_priority_path
=
false
;
auto
status
=
Status
(
ErrorCode
::
PLANNING_ERROR
,
"reference line not drivable"
);
for
(
auto
&
reference_line_info
:
frame
->
reference_line_info
())
{
if
(
disable_low_priority_path
)
{
reference_line_info
.
SetDrivable
(
false
);
}
if
(
!
reference_line_info
.
IsDrivable
())
{
continue
;
}
...
...
@@ -154,7 +158,7 @@ Status EMPlanner::Plan(const TrajectoryPoint& planning_start_point,
has_drivable_reference_line
=
true
;
if
(
FLAGS_prioritize_change_lane
&&
reference_line_info
.
IsChangeLanePath
())
{
break
;
disable_low_priority_path
=
true
;
}
}
else
{
reference_line_info
.
SetDrivable
(
false
);
...
...
modules/planning/planning.cc
浏览文件 @
3b6ee8ba
...
...
@@ -411,8 +411,8 @@ Status Planning::Plan(const double current_time_stamp,
ExportReferenceLineDebug
(
ptr_debug
);
const
auto
*
best_ref
erence_line
=
frame_
->
FindDriveReferenceLineInfo
();
if
(
!
best_ref
erence_line
)
{
const
auto
*
best_ref
_info
=
frame_
->
FindDriveReferenceLineInfo
();
if
(
!
best_ref
_info
)
{
std
::
string
msg
(
"planner failed to make a driving plan"
);
AERROR
<<
msg
;
if
(
last_publishable_trajectory_
)
{
...
...
@@ -420,24 +420,23 @@ Status Planning::Plan(const double current_time_stamp,
}
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
msg
);
}
ptr_debug
->
MergeFrom
(
best_ref
erence_line
->
debug
());
ptr_debug
->
MergeFrom
(
best_ref
_info
->
debug
());
trajectory_pb
->
mutable_latency_stats
()
->
MergeFrom
(
best_ref
erence_line
->
latency_stats
());
best_ref
_info
->
latency_stats
());
// set right of way status
trajectory_pb
->
set_right_of_way_status
(
best_reference_line
->
GetRightOfWayStatus
());
for
(
const
auto
&
id
:
best_reference_line
->
TargetLaneId
())
{
trajectory_pb
->
set_right_of_way_status
(
best_ref_info
->
GetRightOfWayStatus
());
for
(
const
auto
&
id
:
best_ref_info
->
TargetLaneId
())
{
trajectory_pb
->
add_lane_id
()
->
CopyFrom
(
id
);
}
best_ref
erence_line
->
ExportDecision
(
trajectory_pb
->
mutable_decision
());
best_ref
_info
->
ExportDecision
(
trajectory_pb
->
mutable_decision
());
// Add debug information.
if
(
FLAGS_enable_record_debug
)
{
auto
*
reference_line
=
ptr_debug
->
mutable_planning_data
()
->
add_path
();
reference_line
->
set_name
(
"planning_reference_line"
);
const
auto
&
reference_points
=
best_ref
erence_line
->
reference_line
().
reference_points
();
best_ref
_info
->
reference_line
().
reference_points
();
double
s
=
0.0
;
double
prev_x
=
0.0
;
double
prev_y
=
0.0
;
...
...
@@ -464,7 +463,7 @@ Status Planning::Plan(const double current_time_stamp,
}
last_publishable_trajectory_
.
reset
(
new
PublishableTrajectory
(
current_time_stamp
,
best_ref
erence_line
->
trajectory
()));
current_time_stamp
,
best_ref
_info
->
trajectory
()));
ADEBUG
<<
"current_time_stamp: "
<<
std
::
to_string
(
current_time_stamp
);
...
...
@@ -482,8 +481,7 @@ Status Planning::Plan(const double current_time_stamp,
last_publishable_trajectory_
->
PopulateTrajectoryProtobuf
(
trajectory_pb
);
best_reference_line
->
ExportEngageAdvice
(
trajectory_pb
->
mutable_engage_advice
());
best_ref_info
->
ExportEngageAdvice
(
trajectory_pb
->
mutable_engage_advice
());
return
status
;
}
...
...
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