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体验新版 GitCode,发现更多精彩内容 >>
提交
89ea6e43
编写于
9月 29, 2017
作者:
L
Liangliang Zhang
提交者:
Dong Li
9月 29, 2017
浏览文件
操作
浏览文件
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电子邮件补丁
差异文件
Planning: use piecewise linear method to solve qp problem when spline (#493)
fails. fixed init point printout bug.
上级
68da6727
变更
8
隐藏空白更改
内联
并排
Showing
8 changed file
with
865 addition
and
857 deletion
+865
-857
modules/common/vehicle_state/vehicle_state.cc
modules/common/vehicle_state/vehicle_state.cc
+6
-0
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+4
-6
modules/planning/conf/planning_config.pb.txt
modules/planning/conf/planning_config.pb.txt
+1
-1
modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc
...planning/tasks/qp_spline_path/qp_spline_path_generator.cc
+5
-0
modules/planning/tasks/qp_spline_st_speed/qp_piecewise_st_graph.cc
...lanning/tasks/qp_spline_st_speed/qp_piecewise_st_graph.cc
+3
-4
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
...s/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
+3
-4
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
.../tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
+2
-1
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
...anning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+841
-841
未找到文件。
modules/common/vehicle_state/vehicle_state.cc
浏览文件 @
89ea6e43
...
...
@@ -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
();
}
...
...
modules/planning/common/planning_gflags.cc
浏览文件 @
89ea6e43
...
...
@@ -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_"
,
...
...
modules/planning/conf/planning_config.pb.txt
浏览文件 @
89ea6e43
...
...
@@ -107,7 +107,7 @@ em_planner_config {
qp_piecewise_config {
number_of_evaluated_graph_t: 40
accel_kernel_weight: 1000.0
jerk_kernel_weight:
50
0.0
jerk_kernel_weight: 0.0
follow_weight: 8.0
stop_weight: 0.2
cruise_weight: 0.1
...
...
modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc
浏览文件 @
89ea6e43
...
...
@@ -62,6 +62,11 @@ bool QpSplinePathGenerator::Generate(
const
std
::
vector
<
const
PathObstacle
*>&
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
;
...
...
modules/planning/tasks/qp_spline_st_speed/qp_piecewise_st_graph.cc
浏览文件 @
89ea6e43
...
...
@@ -68,17 +68,16 @@ void QpPiecewiseStGraph::SetDebugLogger(
Status
QpPiecewiseStGraph
::
Search
(
const
StGraphData
&
st_graph_data
,
SpeedData
*
const
speed_data
,
const
std
::
pair
<
double
,
double
>&
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
())
{
...
...
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
浏览文件 @
89ea6e43
...
...
@@ -82,13 +82,13 @@ Status QpSplineStGraph::Search(const StGraphData& st_graph_data,
const
std
::
pair
<
double
,
double
>&
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
;
...
...
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
浏览文件 @
89ea6e43
...
...
@@ -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
(
...
...
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
浏览文件 @
89ea6e43
...
...
@@ -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.
04
254925048
a: 1.
29
254925048
relative_time: 0
}
trajectory_point {
path_point {
x: 586343.88
760696992
y: 4140690.2
653398681
theta: 1.657
125899120579
3
kappa: -0.00
72166551289949707
s: 0.
21413207413822577
x: 586343.88
912376971
y: 4140690.2
476428058
theta: 1.657
387339355812
3
kappa: -0.00
6618044035270971
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: 586343.8
6921126279
y: 4140690.4
799693795
theta: 1.65
3955134205219
kappa: -0.01
447659474310399
s: 0.
429548482418766
x: 586343.8
7235453934
y: 4140690.4
432956111
theta: 1.65
4496925000692
kappa: -0.01
323608807054194
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: 586343.85
081000836
y: 4140690.6
946636122
theta: 1.65
07834119165985
kappa: -0.0
21738723627493867
s: 0.
6450298505702865
x: 586343.85
5585309
y: 4140690.6
389484168
theta: 1.65
16065005794331
kappa: -0.0
19854132105812911
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: 586343.8
3249809523
y: 4140690.
908315469
theta: 1.64
76271509133456
kappa: -0.02
8965593642492061
s: 0.
85946502007442049
x: 586343.8
401966939
y: 4140690.
8184930733
theta: 1.64
89540780628755
kappa: -0.02
5927310766333856
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: 586343.8
1952180516
y: 414069
1.1202981169
theta: 1.6
391252273606738
kappa: -0.03
422607651919426
5
s:
1.0718468878389724
x: 586343.8
268816527
y: 414069
0.9981890582
theta: 1.6
441417191130991
kappa: -0.03
123813590175851
5
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 {
x: 586343.8
0692227138
y: 4140691.
329340115
2
theta: 1.63
05363686684153
kappa: -0.03
934121768728991
s: 1.
2812682458711195
x: 586343.8
1604000379
y: 4140691.
178065548
2
theta: 1.63
6751838426554
kappa: -0.03
5639613358146138
s: 1.
1297191526922177
dkappa: 0
ddkappa: 0
}
v:
4.1532568442230895
a: -
1.5118456625864343
v:
3.6040584452051303
a: -
2.1556275169190515
relative_time: 0.3
}
trajectory_point {
path_point {
x: 586343.
79454967333
y: 4140691.
534616963
theta: 1.6
221020551328609
kappa: -0.0
44364227730519581
s: 1.
4869176209506156
x: 586343.
8061385015
y: 4140691.
3423438342
theta: 1.6
300020699510633
kappa: -0.0
39659411441800747
s: 1.
2942955633971021
dkappa: 0
ddkappa: 0
}
v:
4.0703198831507912
a: -
1.7996664948134886
v:
3.4998817015026491
a: -
2.1315966359625769
relative_time: 0.35
}
trajectory_point {
path_point {
x: 586343.7
82447323
y: 4140691.
7354100659
theta: 1.6
13852980600389
4
kappa: -0.04
9277523037102984
s: 1.
6880751143029928
x: 586343.7
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y: 4140691.
50662212
theta: 1.6
23252257969001
4
kappa: -0.04
3679209525455349
s: 1.
4588719741019862
dkappa: 0
ddkappa: 0
}
v: 3.
973872955534953
5
a: -2.
0525216794478149
v: 3.
395704957800167
5
a: -2.
1075657550061018
relative_time: 0.39999999999999997
}
trajectory_point {
path_point {
x: 586343.7
768409352
3
y: 4140691.
9313234249
theta: 1.6
03705850380106
9
kappa: -0.0
52077374706173435
s: 1.
8841082412727663
x: 586343.7
863354969
3
y: 4140691.
6709004063
theta: 1.6
1650301747220
9
kappa: -0.0
47699007609109959
s: 1.
6234483848068706
dkappa: 0
ddkappa: 0
}
v: 3.
8656227404872405
a: -2.
2720753472082875
v: 3.
2915282140976863
a: -2.
0835348740496271
relative_time: 0.44999999999999996
}
trajectory_point {
path_point {
x: 586343.77
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y: 414069
2.1216591019
theta: 1.
5930205074935324
kappa: -0.05
4015130450414853
s:
2.0744677709966339
x: 586343.77
860039938
y: 414069
1.8201905261
theta: 1.
6099431056489397
kappa: -0.05
0945960897110842
s:
1.7729614152312003
dkappa: 0
ddkappa: 0
}
v: 3.
7471927105833744
a: -2.
4599916288137775
v: 3.
1911056788939898
a: -2.
0585068173910623
relative_time: 0.49999999999999994
}
trajectory_point {
path_point {
x: 586343.77
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y: 414069
2.3058518143
theta: 1.
5826785306820357
kappa: -0.05
589034634117783
s:
2.2586835660766837
x: 586343.77
623359475
y: 414069
1.969684822
theta: 1.
6015525041744623
kappa: -0.05
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s:
1.92247444565553
dkappa: 0
ddkappa: 0
}
v: 3.
6201231318631315
a: -2.
617934654983157
v: 3.
0906831436902928
a: -2.
0334787607324976
relative_time: 0.54999999999999993
}
trajectory_point {
path_point {
x: 586343.7
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y: 4140692.
4835064067
theta: 1.5
727043529337217
kappa: -0.05
7698999415573347
s: 2.
4363604222535922
x: 586343.7
7386679023
y: 4140692.
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theta: 1.5
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kappa: -0.05
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s: 2.
07198747607986
dkappa: 0
ddkappa: 0
}
v:
3.4858710638303458
a: -2.
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v:
2.9902606084865964
a: -2.
0084507040739328
relative_time: 0.6
}
trajectory_point {
path_point {
x: 586343.7
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y: 4140692.
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theta: 1.5
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kappa: -0.05
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s: 2.
6071739080798277
x: 586343.7
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y: 4140692.
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theta: 1.5
855788203623622
kappa: -0.05
53644666771878
14
s: 2.
2070226661794812
dkappa: 0
ddkappa: 0
}
v:
3.3458103594529072
a: -
2.8505574638890749
v:
2.8937416729885386
a: -
1.9824267060363394
relative_time: 0.65
}
trajectory_point {
path_point {
x: 586343.769
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y: 4140692.
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theta: 1.5
533704608292087
kappa: -0.05
9856229523420075
s: 2.
7708662045928576
x: 586343.769
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y: 4140692.
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theta: 1.5
779979704364464
kappa: -0.05
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s: 2.
3420578562791023
dkappa: 0
ddkappa: 0
}
v:
3.201231665162763
a: -
2.9285655080633575
v:
2.7972227374904808
a: -
1.956402707998746
relative_time: 0.70000000000000007
}
trajectory_point {
path_point {
x: 586343.7
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y: 4140692.
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theta: 1.5
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kappa: -0.05
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s: 2.
9272419449883458
x: 586343.7
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y: 4140692.
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theta: 1.5
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kappa: -0.05
811363521810445
5
s: 2.
477093046378724
dkappa: 0
ddkappa: 0
}
v:
3.0533424208559148
a: -
2.9832568196770182
v:
2.7007038019924234
a: -
1.9303787099611529
relative_time: 0.75000000000000011
}
trajectory_point {
path_point {
x: 586343.7
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y: 414069
3.122981351
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theta: 1.5
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kappa: -0.059
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s:
3.0761640542933586
x: 586343.7
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decision {
...
...
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