Planning: bug fixes and robustness improvements.

modules/planning/common/planning_gflags.cc

@@ -231,7 +231,7 @@ DEFINE_bool(enable_alwasy_stop_for_pedestrian, true,
 
 DEFINE_bool(enable_side_radar, false,
             "If there is no radar on the side,ignore it");
-DEFINE_double(static_decision_nudge_l_buffer, 0.8, "l buffer for nudge");
+DEFINE_double(static_decision_nudge_l_buffer, 0.3, "l buffer for nudge");
 DEFINE_double(lateral_ignore_buffer, 3.0,
               "If an obstacle's lateral distance is further away than this "
               "distance, ignore it");

modules/planning/tasks/deciders/path_assessment_decider.cc

@@ -199,6 +199,10 @@ Status PathAssessmentDecider::Process(
             });
   ADEBUG << "There are " << valid_path_data.size() << " path(s).";
   ADEBUG << "Using " << valid_path_data.front().path_label() << " path.";
+  if (valid_path_data.front().path_label().find("fallback") !=
+      std::string::npos) {
+    FLAGS_static_decision_nudge_l_buffer = 0.8;
+  }
   *(reference_line_info->mutable_path_data()) = valid_path_data.front();
   reference_line_info->SetBlockingObstacleId(
       valid_path_data.front().blocking_obstacle_id());

modules/planning/tasks/optimizers/piecewise_jerk_path/piecewise_jerk_path_optimizer.cc

@@ -73,7 +73,7 @@ common::Status PiecewiseJerkPathOptimizer::Process(
     int max_iter = 4000;
     // lower max_iter for regular/self/
     if (path_boundary.label().find("self") != std::string::npos) {
-      max_iter = 1000;
+      max_iter = 4000;
     }
 
     CHECK_GT(path_boundary.boundary().size(), 1);