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提交 89ea6e43 编写于 作者: L Liangliang Zhang 提交者： Dong Li
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Planning: use piecewise linear method to solve qp problem when spline (#493) 

fails. fixed init point printout bug.
上级 68da6727
隐藏空白更改
内联 并排
Showing with 865 addition and 857 deletion
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: 500.0
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: 1.04254925048
a: 1.29254925048
relative_time: 0
}
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kappa: -0.0072166551289949707
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y: 4140690.2476428058
theta: 1.6573873393558123
kappa: -0.006618044035270971
s: 0.19637012863714939
dkappa: 0
ddkappa: 0
}
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a: 0.50998778760026764
v: 4.1498750305546288
a: 0.12012464094786379
relative_time: 0.05
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......
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