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体验新版 GitCode,发现更多精彩内容 >>
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5cb3ac26
编写于
8月 17, 2017
作者:
F
fanhaoyang01
提交者:
Dong Li
8月 17, 2017
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电子邮件补丁
差异文件
update planning test config as well as golden log ground truth
上级
8f6e0eb2
变更
6
展开全部
隐藏空白更改
内联
并排
Showing
6 changed file
with
4628 addition
and
4497 deletion
+4628
-4497
modules/planning/testdata/conf/planning_config.pb.txt
modules/planning/testdata/conf/planning_config.pb.txt
+136
-5
modules/planning/testdata/conf/qp_spline_st_speed_config_file.pb.txt
...nning/testdata/conf/qp_spline_st_speed_config_file.pb.txt
+4
-4
modules/planning/testdata/dp_road_graph_test/result_speed_road_graph_0.pb.txt
...tdata/dp_road_graph_test/result_speed_road_graph_0.pb.txt
+1123
-1123
modules/planning/testdata/dp_st_speed_test/result_dp_st_graph_test_0.pb.txt
...estdata/dp_st_speed_test/result_dp_st_graph_test_0.pb.txt
+1123
-1123
modules/planning/testdata/garage_test/result_follow_0.pb.txt
modules/planning/testdata/garage_test/result_follow_0.pb.txt
+1120
-1120
modules/planning/testdata/garage_test/result_stop_0.pb.txt
modules/planning/testdata/garage_test/result_stop_0.pb.txt
+1122
-1122
未找到文件。
modules/planning/testdata/conf/planning_config.pb.txt
浏览文件 @
5cb3ac26
planner_type : EM em_planner_config {
optimizer : DP_POLY_PATH_OPTIMIZER
optimizer : DP_ST_SPEED_OPTIMIZER
optimizer : QP_SPLINE_PATH_OPTIMIZER
optimizer : QP_SPLINE_ST_SPEED_OPTIMIZER
planner_type : EM
em_planner_config {
optimizer : DP_POLY_PATH_OPTIMIZER
optimizer : DP_ST_SPEED_OPTIMIZER
optimizer : QP_SPLINE_PATH_OPTIMIZER
optimizer : QP_SPLINE_ST_SPEED_OPTIMIZER
dp_poly_path_config {
sample_level: 8
sample_points_num_each_level: 9
step_length_max: 15.0
step_length_min: 8.0
lateral_sample_offset: 0.5
lateral_adjust_coeff: 0.5
eval_time_interval: 0.1
path_resolution: 0.1
}
dp_st_speed_config {
total_path_length: 80
total_time: 8.0
matrix_dimension_s: 200
matrix_dimension_t: 20
speed_weight: 0.0
accel_weight: 10.0
jerk_weight: 10.0
obstacle_weight: 1.0
reference_weight: 0.0
go_down_buffer: 5.0
go_up_buffer: 5.0
default_obstacle_cost: 1e10
obstacle_cost_factor: -300
default_speed_cost: 1.0
exceed_speed_penalty: 10.0
low_speed_penalty: 2.5
accel_penalty: 2.0
decel_penalty: 2.0
positive_jerk_coeff: 1.0
negative_jerk_coeff: 300.0
max_speed: 20.0
max_acceleration: 4.5
max_deceleration: -4.5
st_boundary_config {
boundary_buffer: 0.1
minimal_follow_time: 3.0
follow_buffer: 1.0
follow_coeff:1.0
follow_speed_threshold: 10.0
follow_speed_damping_factor: 0.7
success_tunnel:0.01
expanding_coeff: 1.2
follow_distance_buffer: 5.0
centric_acceleration_limit: 1.0
kappa_threshold: 0.04
minimal_kappa: 0.00001
maximal_speed: 25.0
speed_limit_on_u_turn: 1.5
point_extension: 1.0
speed_multiply_buffer: 0.9
lowest_speed: 2.5
}
}
qp_spline_path_config {
spline_order: 6
number_of_knots: 5
number_of_fx_constraint_knots: 13
time_resolution: 0.1
regularization_weight: 0.1
derivative_weight: 1.0
second_derivative_weight: 0.0
third_derivative_weight: 10.0
reference_line_weight: 0.0
num_refline_point: 10
num_output: 100
}
qp_spline_st_speed_config {
total_path_length: 80.0
total_time: 8.0
output_time_resolution: 0.05
number_of_discrete_graph_s: 80
number_of_discrete_graph_t: 10
number_of_evaluated_graph_t: 20
spline_order: 6
speed_kernel_weight: 0.0
accel_kernel_weight: 0.0
jerk_kernel_weight: 1000.0
follow_weight: 0.2
stop_weight: 0.2
cruise_weight: 0.2
max_speed: 20.0
max_acceleration: 2.5
max_deceleration: -4.5
reference_line_kernel_weight: 0.2
st_boundary_config {
boundary_buffer: 0.1
minimal_follow_time: 3.0
follow_buffer: 1.0
follow_coeff:1.0
follow_speed_threshold: 10.0
follow_speed_damping_factor: 0.7
success_tunnel:0.01
expanding_coeff: 1.2
follow_distance_buffer: 5.0
centric_acceleration_limit: 1.0
kappa_threshold: 0.04
minimal_kappa: 0.00001
maximal_speed: 25.0
speed_limit_on_u_turn: 1.5
point_extension: 1.0
speed_multiply_buffer: 0.9
lowest_speed: 2.5
}
}
}
reference_line_smoother_config {
num_spline: 6
spline_order: 6
num_evaluated_points: 13
boundary_bound: 0.2
derivative_bound: 1.0
second_derivative_bound: 1.0
third_derivative_bound: 1.0
ref_line_weight: 0.0
derivative_weight: 0.0
second_derivative_weight: 0.0
third_derivative_weight: 100
num_of_total_points: 500
}
\ No newline at end of file
modules/planning/testdata/conf/qp_spline_st_speed_config_file.pb.txt
浏览文件 @
5cb3ac26
total_path_length:
8
0.0
total_time:
8
.0
total_path_length:
4
0.0
total_time:
3
.0
output_time_resolution: 0.05
number_of_discrete_graph_s: 80
number_of_discrete_graph_t: 10
...
...
@@ -8,9 +8,9 @@ spline_order: 6
speed_kernel_weight: 0.0
accel_kernel_weight: 0.0
jerk_kernel_weight: 1000.0
follow_weight:
1.0
follow_weight:
0.2
stop_weight: 1.0
cruise_weight:
1.0
cruise_weight:
0.2
max_speed: 20.0
max_acceleration: 4.5
max_deceleration: -4.5
modules/planning/testdata/dp_road_graph_test/result_speed_road_graph_0.pb.txt
浏览文件 @
5cb3ac26
此差异已折叠。
点击以展开。
modules/planning/testdata/dp_st_speed_test/result_dp_st_graph_test_0.pb.txt
浏览文件 @
5cb3ac26
此差异已折叠。
点击以展开。
modules/planning/testdata/garage_test/result_follow_0.pb.txt
浏览文件 @
5cb3ac26
此差异已折叠。
点击以展开。
modules/planning/testdata/garage_test/result_stop_0.pb.txt
浏览文件 @
5cb3ac26
此差异已折叠。
点击以展开。
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