Planning: enabled acceleration kernel for qp st opitimizer.

40bbbd73 · Zhang Liangliang · Dong Li · da791b32 · 40bbbd73 · 40bbbd73
7 changed file
--- a/modules/planning/conf/planning_config.pb.txt
+++ b/modules/planning/conf/planning_config.pb.txt
@@ -94,11 +94,11 @@ em_planner_config {
        number_of_evaluated_graph_t: 50
        spline_order: 5
        speed_kernel_weight: 0.0
-        accel_kernel_weight: 0.0
-        jerk_kernel_weight: 1000.0
+        accel_kernel_weight: 500.0
+        jerk_kernel_weight: 500.0
        follow_weight: 2.0
        stop_weight: 0.2
-        cruise_weight: 0.2
+        cruise_weight: 0.1
        max_speed: 20.0
        max_acceleration: 2.5
        max_deceleration: -4.5

--- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt
--- a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
--- a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
--- a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt