From 89ea6e4365633134c570ef127c2bec4ab7155abb Mon Sep 17 00:00:00 2001 From: Liangliang Zhang Date: Fri, 29 Sep 2017 14:18:35 -0700 Subject: [PATCH] Planning: use piecewise linear method to solve qp problem when spline (#493) fails. fixed init point printout bug. --- modules/common/vehicle_state/vehicle_state.cc | 6 + modules/planning/common/planning_gflags.cc | 10 +- modules/planning/conf/planning_config.pb.txt | 2 +- .../qp_spline_path_generator.cc | 5 + .../qp_piecewise_st_graph.cc | 7 +- .../qp_spline_st_speed/qp_spline_st_graph.cc | 7 +- .../qp_spline_st_speed_optimizer.cc | 3 +- .../garage_test/result_stop_obstacle_0.pb.txt | 1682 ++++++++--------- 8 files changed, 865 insertions(+), 857 deletions(-) diff --git a/modules/common/vehicle_state/vehicle_state.cc b/modules/common/vehicle_state/vehicle_state.cc index 7a6596474a..3531f93536 100644 --- a/modules/common/vehicle_state/vehicle_state.cc +++ b/modules/common/vehicle_state/vehicle_state.cc @@ -55,6 +55,12 @@ Status VehicleState::Update( InitAdcBoundingBox(); + ADEBUG << x_ << ", " << y_ << ", " << z_ << ", " << roll_ << ", " << pitch_ + << ", " << yaw_ << ", " << heading_ << ", " << kappa_ << ", " + << linear_v_ << ", " << angular_v_ << ", " << timestamp_ << ", " + << linear_a_y_ << ", " << pose_.ShortDebugString() << ", " + << adc_bounding_box_->DebugString(); + return Status::OK(); } diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc index d01dd88934..adff2f66f6 100644 --- a/modules/planning/common/planning_gflags.cc +++ b/modules/planning/common/planning_gflags.cc @@ -134,18 +134,16 @@ DEFINE_bool(enable_rule_layer, true, /// common DEFINE_double(stop_max_distance_buffer, 4.0, "distance buffer of passing stop line"); -DEFINE_double(stop_min_speed, 0.1, - "min speed for computing stop"); -DEFINE_double(stop_max_deceleration, 6.0, - "max deceleration"); +DEFINE_double(stop_min_speed, 0.1, "min speed for computing stop"); +DEFINE_double(stop_max_deceleration, 6.0, "max deceleration"); /// traffic light DEFINE_bool(enable_signal_lights, false, "enable signal_lights"); DEFINE_string(signal_light_virtual_object_id_prefix, "SL_", "prefix for converting signal id to virtual object id"); DEFINE_double(max_deacceleration_for_yellow_light_stop, 2.0, "treat yellow light as red when deceleration (abstract value" - " in m/s^2) is less than this threshold; otherwise treated" - " as green light"); + " in m/s^2) is less than this threshold; otherwise treated" + " as green light"); /// crosswalk DEFINE_bool(enable_crosswalk, false, "enable crosswalk"); DEFINE_string(crosswalk_virtual_object_id_prefix, "CW_", diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt index e5acd27f03..778837c1ca 100644 --- a/modules/planning/conf/planning_config.pb.txt +++ b/modules/planning/conf/planning_config.pb.txt @@ -107,7 +107,7 @@ em_planner_config { qp_piecewise_config { number_of_evaluated_graph_t: 40 accel_kernel_weight: 1000.0 - jerk_kernel_weight: 500.0 + jerk_kernel_weight: 0.0 follow_weight: 8.0 stop_weight: 0.2 cruise_weight: 0.1 diff --git a/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc b/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc index a5925dc3b2..0a23694c7e 100644 --- a/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc +++ b/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc @@ -62,6 +62,11 @@ bool QpSplinePathGenerator::Generate( const std::vector& path_obstacles, const SpeedData& speed_data, const common::TrajectoryPoint& init_point, PathData* const path_data) { + knots_.clear(); + evaluated_s_.clear(); + + ADEBUG << "Init point: " << init_point.DebugString(); + if (!CalculateInitFrenetPoint(init_point, &init_frenet_point_)) { AERROR << "Fail to map init point: " << init_point.ShortDebugString(); return false; diff --git a/modules/planning/tasks/qp_spline_st_speed/qp_piecewise_st_graph.cc b/modules/planning/tasks/qp_spline_st_speed/qp_piecewise_st_graph.cc index 3d5e8ea296..824203b982 100644 --- a/modules/planning/tasks/qp_spline_st_speed/qp_piecewise_st_graph.cc +++ b/modules/planning/tasks/qp_spline_st_speed/qp_piecewise_st_graph.cc @@ -68,17 +68,16 @@ void QpPiecewiseStGraph::SetDebugLogger( Status QpPiecewiseStGraph::Search( const StGraphData& st_graph_data, SpeedData* const speed_data, const std::pair& accel_bound) { - ADEBUG << init_point_.DebugString(); cruise_.clear(); + init_point_ = st_graph_data.init_point(); + ADEBUG << "Init point:" << init_point_.DebugString(); + // reset piecewise linear generator generator_.reset(new PiecewiseLinearGenerator( qp_st_speed_config_.qp_piecewise_config().number_of_evaluated_graph_t(), t_evaluated_resolution_)); - // start to search for best st points - init_point_ = st_graph_data.init_point(); - if (!ApplyConstraint(st_graph_data.init_point(), st_graph_data.speed_limit(), st_graph_data.st_boundaries(), accel_bound) .ok()) { 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 73a521944d..f818976fa8 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 @@ -82,13 +82,13 @@ Status QpSplineStGraph::Search(const StGraphData& st_graph_data, const std::pair& accel_bound) { cruise_.clear(); + init_point_ = st_graph_data.init_point(); + ADEBUG << "init point:" << init_point_.DebugString(); + // reset spline generator spline_generator_.reset(new Spline1dGenerator( t_knots_, qp_st_speed_config_.qp_spline_config().spline_order())); - // start to search for best st points - init_point_ = st_graph_data.init_point(); - if (!ApplyConstraint(st_graph_data.init_point(), st_graph_data.speed_limit(), st_graph_data.st_boundaries(), accel_bound) .ok()) { @@ -142,7 +142,6 @@ Status QpSplineStGraph::ApplyConstraint( AERROR << msg; return Status(ErrorCode::PLANNING_ERROR, msg); } - ADEBUG << "init point constraint:" << init_point.DebugString(); if (!constraint->AddPointDerivativeConstraint(0.0, init_point_.v())) { const std::string msg = "add st start point velocity constraint failed!"; AERROR << msg; diff --git a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc index af50e51286..35041d40f9 100644 --- a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc +++ b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc @@ -121,7 +121,8 @@ Status QpSplineStSpeedOptimizer::Process(const SLBoundary& adc_sl_boundary, accel_bound.first = qp_st_speed_config_.min_deceleration(); accel_bound.second = qp_st_speed_config_.max_acceleration(); - ret = st_graph.Search(st_graph_data, speed_data, accel_bound); + QpPiecewiseStGraph piecewise_st_graph(qp_st_speed_config_, veh_param); + ret = piecewise_st_graph.Search(st_graph_data, speed_data, accel_bound); if (ret != Status::OK()) { std::string msg = common::util::StrCat( diff --git a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt index 497c6394fc..3824424c35 100644 --- a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt @@ -7,1694 +7,1694 @@ trajectory_point { path_point { x: 586343.905893 y: 4140690.05199 + z: 0 theta: 1.6602776953500005 - kappa: -2.5996435455821707e-18 - s: 6.3527471044072525e-22 + kappa: -2.5996221356251808e-18 dkappa: 0 ddkappa: 0 } v: 4.2611112594604492 - a: 1.04254925048 + a: 1.29254925048 relative_time: 0 } trajectory_point { path_point { - x: 586343.88760696992 - y: 4140690.2653398681 - theta: 1.6571258991205793 - kappa: -0.0072166551289949707 - s: 0.21413207413822577 + x: 586343.88912376971 + y: 4140690.2476428058 + theta: 1.6573873393558123 + kappa: -0.006618044035270971 + s: 0.19637012863714939 dkappa: 0 ddkappa: 0 } - v: 4.2997339250071835 - a: 0.50998778760026764 + v: 4.1498750305546288 + a: 0.12012464094786379 relative_time: 0.05 } trajectory_point { path_point { - x: 586343.86921126279 - y: 4140690.4799693795 - theta: 1.653955134205219 - kappa: -0.01447659474310399 - s: 0.429548482418766 + x: 586343.87235453934 + y: 4140690.4432956111 + theta: 1.654496925000692 + kappa: -0.01323608807054194 + s: 0.39274025727429879 dkappa: 0 ddkappa: 0 } - v: 4.3128592120855753 - a: 0.022376756626495631 + v: 4.0386388016488084 + a: -1.0522999685842724 relative_time: 0.1 } trajectory_point { path_point { - x: 586343.85081000836 - y: 4140690.6946636122 - theta: 1.6507834119165985 - kappa: -0.021738723627493867 - s: 0.6450298505702865 + x: 586343.855585309 + y: 4140690.6389484168 + theta: 1.6516065005794331 + kappa: -0.019854132105812911 + s: 0.58911038591144826 dkappa: 0 ddkappa: 0 } - v: 4.3026930390229507 - a: -0.42194797316018851 + v: 3.927402572742988 + a: -2.2247245781164082 relative_time: 0.15000000000000002 } trajectory_point { path_point { - x: 586343.83249809523 - y: 4140690.908315469 - theta: 1.6476271509133456 - kappa: -0.028965593642492061 - s: 0.85946502007442049 + x: 586343.8401966939 + y: 4140690.8184930733 + theta: 1.6489540780628755 + kappa: -0.025927310766333856 + s: 0.76931330817170474 dkappa: 0 ddkappa: 0 } - v: 4.2713581176106938 - a: -0.82465053247865661 + v: 3.8196211968970353 + a: -2.2016922243839558 relative_time: 0.2 } trajectory_point { path_point { - x: 586343.81952180516 - y: 4140691.1202981169 - theta: 1.6391252273606738 - kappa: -0.034226076519194265 - s: 1.0718468878389724 + x: 586343.8268816527 + y: 4140690.9981890582 + theta: 1.6441417191130991 + kappa: -0.031238135901758515 + s: 0.94951623043196121 dkappa: 0 ddkappa: 0 } - v: 4.2208939531042411 - a: -1.1873950520477812 + v: 3.711839821051083 + a: -2.1786598706515039 relative_time: 0.25 } trajectory_point { path_point { - 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