Planning: fixed a search range issue from finite element method in...

Planning: fixed a search range issue from finite element method in dp_st_graph. added kappa check in constraint check for informative purpose.

modules/planning/constraint_checker/constraint_checker.cc

@@ -59,6 +59,14 @@ bool ConstraintChecker::ValidTrajectory(
              << FLAGS_longitudinal_acceleration_upper_bound << "].";
       return false;
     }
+
+    double kappa = p.path_point().kappa();
+    if (!WithinRange(kappa, -FLAGS_kappa_bound, FLAGS_kappa_bound)) {
+      AERROR << "Kappa at relative time " << t
+             << " exceeds bound, value: " << kappa << ", bound ["
+             << -FLAGS_kappa_bound << ", " << FLAGS_kappa_bound << "].";
+      return false;
+    }
   }
   return true;
 }

modules/planning/tasks/dp_st_speed/dp_st_graph.cc

@@ -196,7 +196,7 @@ void DpStGraph::GetRowRange(const StGraphPoint& point,
   } else {
     v0 = (point.index_s() - point.pre_point()->index_s()) * unit_s_ / unit_t_;
   }
-  const double speed_coeff = 0.5 * unit_t_ * unit_t_;
+  const double speed_coeff = unit_t_ * unit_t_;
 
   const double delta_s_upper_bound =
       v0 * unit_t_ + vehicle_param_.max_acceleration() * speed_coeff;