planning creep read from conf

modules/planning/conf/scenario_stop_sign_unprotected_config.pb.txt

@@ -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

@@ -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

@@ -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

@@ -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