From 5d6a5c1fa6d3edd3a224d6fda38ccc8eda31ebe5 Mon Sep 17 00:00:00 2001 From: Zhang Liangliang Date: Fri, 8 Sep 2017 00:11:06 -0700 Subject: [PATCH] Planning: changes for follow algorithm. (1) make sure acceleration is < 0 when the adc is between the front car and follow fence; (2) only add follow reference point when the point is behind reference line; (3) added parameter follow_drag_distance to adjust following behavior. --- modules/planning/conf/planning_config.pb.txt | 1 + .../proto/qp_spline_st_speed_config.proto | 1 + .../qp_spline_st_speed/qp_spline_st_graph.cc | 51 +- .../qp_spline_st_speed/qp_spline_st_graph.h | 14 +- .../garage_test/result_follow_0.pb.txt | 2244 ++++++++--------- .../garage_test/result_stop_dest_0.pb.txt | 2244 ++++++++--------- .../garage_test/result_stop_obstacle_0.pb.txt | 930 +++---- .../result_cruise_0.pb.txt | 2240 ++++++++-------- 8 files changed, 3873 insertions(+), 3852 deletions(-) diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt index df44bc81d6..46801baa08 100644 --- a/modules/planning/conf/planning_config.pb.txt +++ b/modules/planning/conf/planning_config.pb.txt @@ -102,6 +102,7 @@ em_planner_config { max_speed: 20.0 max_acceleration: 2.5 max_deceleration: -4.5 + follow_drag_distance: 15.0 st_boundary_config { boundary_buffer: 0.1 diff --git a/modules/planning/proto/qp_spline_st_speed_config.proto b/modules/planning/proto/qp_spline_st_speed_config.proto index e1b768ef1f..bc30aa303a 100644 --- a/modules/planning/proto/qp_spline_st_speed_config.proto +++ b/modules/planning/proto/qp_spline_st_speed_config.proto @@ -21,5 +21,6 @@ message QpSplineStSpeedConfig { optional double max_speed = 14 [ default = 20.0 ]; optional double max_acceleration = 15 [ default = 4.5 ]; optional double max_deceleration = 16 [ default = -4.5 ]; + optional double follow_drag_distance = 17 [ default = 15.0 ]; optional apollo.planning.StBoundaryConfig st_boundary_config = 18; } diff --git a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc index 501670b624..5c8604994d 100644 --- a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc +++ b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc @@ -57,9 +57,9 @@ void QpSplineStGraph::Init() { } // init evaluated t positions - curr_t = t_evaluated_resolution_; + curr_t = 0; for (uint32_t i = 0; - i < qp_spline_st_speed_config_.number_of_evaluated_graph_t(); ++i) { + i <= qp_spline_st_speed_config_.number_of_evaluated_graph_t(); ++i) { t_evaluated_.push_back(curr_t); curr_t += t_evaluated_resolution_; } @@ -228,13 +228,26 @@ Status QpSplineStGraph::ApplyConstraint( std::vector accel_lower_bound(t_evaluated_.size(), kAccelLowerBound); std::vector accel_upper_bound(t_evaluated_.size(), kAccelUpperBound); - constexpr double kInitPointAccelRelaxedSpeed = 1.0; - if (init_point_.v() > kInitPointAccelRelaxedSpeed && - !constraint->AddPointSecondDerivativeConstraint(0.0, init_point_.a())) { - const std::string msg = - "add st start point acceleration constraint failed!"; - AERROR << msg; - return Status(ErrorCode::PLANNING_ERROR, msg); + bool has_follow = false; + double delta_s = 1.0; + for (const auto& boundary : boundaries) { + if (boundary.boundary_type() == StBoundary::BoundaryType::FOLLOW) { + has_follow = true; + delta_s = std::fmin( + delta_s, boundary.min_s() - fabs(boundary.characteristic_length())); + } + } + if (has_follow && delta_s < 0.0) { + accel_upper_bound.front() = 0.0; + } else { + constexpr double kInitPointAccelRelaxedSpeed = 1.0; + if (init_point_.v() > kInitPointAccelRelaxedSpeed && + !constraint->AddPointSecondDerivativeConstraint(0.0, init_point_.a())) { + const std::string msg = + "add st start point acceleration constraint failed!"; + AERROR << msg; + return Status(ErrorCode::PLANNING_ERROR, msg); + } } DCHECK_EQ(t_evaluated_.size(), accel_lower_bound.size()); @@ -296,29 +309,28 @@ Status QpSplineStGraph::AddCruiseReferenceLineKernel( const std::vector& evaluate_t, const SpeedLimit& speed_limit, const double weight) { auto* spline_kernel = spline_generator_->mutable_spline_kernel(); - std::vector s_vec; if (speed_limit.speed_limit_points().size() == 0) { std::string msg = "Fail to apply_kernel due to empty speed limits."; AERROR << msg; return Status(ErrorCode::PLANNING_ERROR, msg); } double dist_ref = 0.0; - s_vec.push_back(dist_ref); + cruise_.push_back(dist_ref); for (uint32_t i = 1; i < evaluate_t.size(); ++i) { dist_ref += (evaluate_t[i] - evaluate_t[i - 1]) * speed_limit.GetSpeedLimitByS(dist_ref); - s_vec.push_back(dist_ref); + cruise_.push_back(dist_ref); } - DCHECK_EQ(evaluate_t.size(), s_vec.size()); + DCHECK_EQ(evaluate_t.size(), cruise_.size()); for (std::size_t i = 0; i < evaluate_t.size(); ++i) { - ADEBUG << "Cruise Ref S: " << s_vec[i] + ADEBUG << "Cruise Ref S: " << cruise_[i] << " Relative time: " << evaluate_t[i] << std::endl; } if (evaluate_t.size() > 0) { spline_kernel->AddReferenceLineKernelMatrix( - evaluate_t, s_vec, + evaluate_t, cruise_, weight * qp_spline_st_speed_config_.total_time() / evaluate_t.size()); } spline_kernel->AddRegularization(0.01); @@ -331,7 +343,8 @@ Status QpSplineStGraph::AddFollowReferenceLineKernel( auto* spline_kernel = spline_generator_->mutable_spline_kernel(); std::vector ref_s; std::vector filtered_evaluate_t; - for (const double curr_t : evaluate_t) { + for (size_t i = 0; i < evaluate_t.size(); ++i) { + double curr_t = evaluate_t[i]; double s_min = std::numeric_limits::infinity(); bool success = false; for (const auto& boundary : boundaries) { @@ -345,10 +358,12 @@ Status QpSplineStGraph::AddFollowReferenceLineKernel( double s_lower = 0.0; if (boundary.GetUnblockSRange(curr_t, &s_upper, &s_lower)) { success = true; - s_min = std::min(s_min, s_upper - boundary.characteristic_length()); + s_min = std::min(s_min, + s_upper - boundary.characteristic_length() - + qp_spline_st_speed_config_.follow_drag_distance()); } } - if (success && init_point_.v() * curr_t > s_min) { + if (success && s_min < cruise_[i]) { filtered_evaluate_t.push_back(curr_t); ref_s.push_back(s_min); } diff --git a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h index e13d11b29a..af6154ffb5 100644 --- a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h +++ b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h @@ -33,8 +33,8 @@ #include "modules/planning/common/path/path_data.h" #include "modules/planning/common/planning_util.h" #include "modules/planning/common/speed/speed_data.h" -#include "modules/planning/math/smoothing_spline/spline_1d_generator.h" #include "modules/planning/common/speed/st_boundary.h" +#include "modules/planning/math/smoothing_spline/spline_1d_generator.h" #include "modules/planning/tasks/st_graph/st_graph_data.h" namespace apollo { @@ -66,10 +66,11 @@ class QpSplineStGraph { common::Status Solve(); // extract upper lower bound for constraint; - common::Status GetSConstraintByTime( - const std::vector& boundaries, const double time, - const double total_path_s, double* const s_upper_bound, - double* const s_lower_bound) const; + common::Status GetSConstraintByTime(const std::vector& boundaries, + const double time, + const double total_path_s, + double* const s_upper_bound, + double* const s_lower_bound) const; // generate reference speed profile // common::Status ApplyReferenceSpeedProfile(); @@ -106,6 +107,9 @@ class QpSplineStGraph { // evaluated points std::vector t_evaluated_; + + // reference line kernel + std::vector cruise_; }; } // namespace planning diff --git a/modules/planning/testdata/garage_test/result_follow_0.pb.txt b/modules/planning/testdata/garage_test/result_follow_0.pb.txt index c00f53d406..7dcc785efb 100644 --- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt @@ -9,2252 +9,2252 @@ trajectory_point { y: 4140700.15992 theta: 1.3255010179499997 kappa: -0.026050217221752495 - 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kappa: 5.4462859999367786e-18 - s: 3.3881317890172014e-21 + kappa: 5.4464451464050638e-18 dkappa: 0 ddkappa: 0 } @@ -28,7 +28,7 @@ trajectory_point { ddkappa: 0 } v: 4.3147467965086035 - a: 0.8563184129733199 + a: 0.85631841297331979 relative_time: 0.05 } trajectory_point { @@ -42,7 +42,7 @@ trajectory_point { ddkappa: 0 } v: 4.3470877189104966 - a: 0.44076466462954045 + a: 0.44076466462954034 relative_time: 0.1 } trajectory_point { @@ -56,7 +56,7 @@ trajectory_point { ddkappa: 0 } v: 4.3591678811242724 - a: 0.045888005448661451 + a: 0.045888005448661229 relative_time: 0.15000000000000002 } trajectory_point { @@ -70,7 +70,7 @@ trajectory_point { ddkappa: 0 } v: 4.3520211376080775 - a: -0.32831156456931665 + a: -0.32831156456931709 relative_time: 0.2 } trajectory_point { @@ -84,7 +84,7 @@ trajectory_point { ddkappa: 0 } v: 4.3266813428200557 - a: -0.68183404542439385 + a: -0.6818340454243943 relative_time: 0.25 } trajectory_point { @@ -97,8 +97,8 @@ trajectory_point { dkappa: 0 ddkappa: 0 } - 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