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体验新版 GitCode,发现更多精彩内容 >>
提交
66e716a6
编写于
10月 09, 2018
作者:
J
jmtao
提交者:
Jiaming Tao
10月 09, 2018
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电子邮件补丁
差异文件
planning creep read from conf
上级
babf1c2b
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
20 addition
and
9 deletion
+20
-9
modules/planning/conf/scenario_stop_sign_unprotected_config.pb.txt
...lanning/conf/scenario_stop_sign_unprotected_config.pb.txt
+1
-1
modules/planning/proto/decider_config.proto
modules/planning/proto/decider_config.proto
+5
-4
modules/planning/toolkits/deciders/creep.cc
modules/planning/toolkits/deciders/creep.cc
+11
-4
modules/planning/toolkits/deciders/creep.h
modules/planning/toolkits/deciders/creep.h
+3
-0
未找到文件。
modules/planning/conf/scenario_stop_sign_unprotected_config.pb.txt
浏览文件 @
66e716a6
...
...
@@ -192,7 +192,7 @@ scenario_task_config : {
scenario_task_config : {
task_type : DECIDER_CREEP
decider_creep_config : {
creep_distance_
to
_stop_line: 1.5
creep_distance_
pass
_stop_line: 1.5
stop_distance: 0.3
speed_limit: 1.0
max_valid_stop_distance: 0.4
...
...
modules/planning/proto/decider_config.proto
浏览文件 @
66e716a6
...
...
@@ -3,12 +3,13 @@ syntax = "proto2";
package
apollo
.
planning
;
message
DeciderCreepConfig
{
// stop distance(m)
to the stop line of next lane overlap
while creeping
optional
double
creep_distance_
to
_stop_line
=
1
[
default
=
1.0
];
// meter
// stop distance(m) to the
stop line of next lane overlap
while creeping
// stop distance(m)
pass the current stop line
while creeping
optional
double
creep_distance_
pass
_stop_line
=
1
[
default
=
1.0
];
// meter
// stop distance(m) to the
creeping stop fence
while creeping
optional
double
stop_distance
=
2
[
default
=
0.5
];
// meter
optional
double
speed_limit
=
3
[
default
=
1.0
];
// m/s
// max distance(m) to the stop line to be considered as a valid stop for creap
// max distance(m) to the to the creeping stop fence
// to be considered as a valid stop for creep
optional
double
max_valid_stop_distance
=
4
[
default
=
0.3
];
// meter
// min boundary t to ignore obstacles while creeping
optional
double
min_boundary_t
=
5
[
default
=
6.0
];
// second
...
...
modules/planning/toolkits/deciders/creep.cc
浏览文件 @
66e716a6
...
...
@@ -32,6 +32,13 @@ using apollo::common::ErrorCode;
using
apollo
::
common
::
Status
;
using
apollo
::
hdmap
::
PathOverlap
;
bool
Creep
::
Init
(
const
ScenarioConfig
::
ScenarioTaskConfig
&
config
)
{
CHECK
(
config
.
has_decider_creep_config
());
config_
=
config
.
decider_creep_config
();
is_init_
=
true
;
return
true
;
}
Status
Creep
::
Process
(
Frame
*
frame
,
ReferenceLineInfo
*
reference_line_info
)
{
if
(
!
is_init_
)
{
...
...
@@ -58,7 +65,7 @@ bool Creep::BuildStopDecision(
CHECK_NOTNULL
(
reference_line_info
);
double
adc_front_edge_s
=
reference_line_info
->
AdcSlBoundary
().
end_s
();
const
double
creep_distance
=
1.0
;
// TODO(all)
const
double
creep_distance
=
config_
.
creep_distance_pass_stop_line
();
double
creep_stop_s
=
adc_front_edge_s
+
+
creep_distance
;
// create virtual stop wall
...
...
@@ -78,8 +85,8 @@ bool Creep::BuildStopDecision(
}
// build stop decision
double
stop_buffer
=
0.3
;
// TODO(all)
const
double
stop_s
=
creep_stop_s
-
stop_
buffer
;
const
double
stop_distance
=
config_
.
stop_distance
();
const
double
stop_s
=
creep_stop_s
-
stop_
distance
;
const
auto
&
reference_line
=
reference_line_info
->
reference_line
();
auto
stop_point
=
reference_line
.
GetReferencePoint
(
stop_s
);
double
stop_heading
=
reference_line
.
GetReferencePoint
(
stop_s
).
heading
();
...
...
@@ -87,7 +94,7 @@ bool Creep::BuildStopDecision(
ObjectDecisionType
stop
;
auto
stop_decision
=
stop
.
mutable_stop
();
stop_decision
->
set_reason_code
(
StopReasonCode
::
STOP_REASON_CREEPER
);
stop_decision
->
set_distance_s
(
-
stop_
buffer
);
stop_decision
->
set_distance_s
(
-
stop_
distance
);
stop_decision
->
set_stop_heading
(
stop_heading
);
stop_decision
->
mutable_stop_point
()
->
set_x
(
stop_point
.
x
());
stop_decision
->
mutable_stop_point
()
->
set_y
(
stop_point
.
y
());
...
...
modules/planning/toolkits/deciders/creep.h
浏览文件 @
66e716a6
...
...
@@ -22,6 +22,8 @@
#include "cybertron/common/macros.h"
#include "modules/planning/proto/decider_config.pb.h"
#include "modules/map/pnc_map/path.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/reference_line_info.h"
...
...
@@ -47,6 +49,7 @@ class Creep : public Decider {
private:
static
constexpr
const
char
*
CREEP_VO_ID_PREFIX
=
"CREEP_"
;
DeciderCreepConfig
config_
;
};
}
// namespace planning
...
...
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