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体验新版 GitCode,发现更多精彩内容 >>
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9137960c
编写于
8月 28, 2020
作者:
S
Shu Jiang
提交者:
Jinyun Zhou
9月 04, 2020
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差异文件
Planning: disable extending path bounds to include adc in the hybrid scenario
上级
2bc56394
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
26 addition
and
12 deletion
+26
-12
modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
...s/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
+1
-0
modules/planning/proto/task_config.proto
modules/planning/proto/task_config.proto
+1
-0
modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
...tasks/deciders/path_bounds_decider/path_bounds_decider.cc
+24
-12
未找到文件。
modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt
浏览文件 @
9137960c
...
@@ -58,6 +58,7 @@ stage_config: {
...
@@ -58,6 +58,7 @@ stage_config: {
task_type: PATH_BOUNDS_DECIDER
task_type: PATH_BOUNDS_DECIDER
path_bounds_decider_config {
path_bounds_decider_config {
adc_buffer_coeff: 0.0
adc_buffer_coeff: 0.0
is_extend_lane_bands_to_include_adc: false
}
}
}
}
task_config: {
task_config: {
...
...
modules/planning/proto/task_config.proto
浏览文件 @
9137960c
...
@@ -152,6 +152,7 @@ message PathBoundsDeciderConfig {
...
@@ -152,6 +152,7 @@ message PathBoundsDeciderConfig {
optional
double
pull_over_approach_lon_distance_adjust_factor
=
6
optional
double
pull_over_approach_lon_distance_adjust_factor
=
6
[
default
=
1.5
];
[
default
=
1.5
];
optional
double
adc_buffer_coeff
=
7
[
default
=
1.0
];
optional
double
adc_buffer_coeff
=
7
[
default
=
1.0
];
optional
bool
is_extend_lane_bands_to_include_adc
=
8
[
default
=
true
];
}
}
//////////////////////////////////
//////////////////////////////////
...
...
modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
浏览文件 @
9137960c
...
@@ -1181,24 +1181,36 @@ bool PathBoundsDecider::GetBoundaryFromLanesAndADC(
...
@@ -1181,24 +1181,36 @@ bool PathBoundsDecider::GetBoundaryFromLanesAndADC(
curr_lane_left_width
+
(
lane_borrow_info
==
LaneBorrowInfo
::
LEFT_BORROW
curr_lane_left_width
+
(
lane_borrow_info
==
LaneBorrowInfo
::
LEFT_BORROW
?
curr_neighbor_lane_width
?
curr_neighbor_lane_width
:
0.0
);
:
0.0
);
double
curr_left_bound_adc
=
std
::
fmax
(
adc_l_to_lane_center_
,
adc_l_to_lane_center_
+
ADC_speed_buffer
)
+
GetBufferBetweenADCCenterAndEdge
()
+
ADC_buffer
;
double
curr_left_bound
=
std
::
fmax
(
curr_left_bound_lane
,
curr_left_bound_adc
)
-
offset_to_map
;
double
curr_right_bound_lane
=
double
curr_right_bound_lane
=
-
curr_lane_right_width
-
-
curr_lane_right_width
-
(
lane_borrow_info
==
LaneBorrowInfo
::
RIGHT_BORROW
(
lane_borrow_info
==
LaneBorrowInfo
::
RIGHT_BORROW
?
curr_neighbor_lane_width
?
curr_neighbor_lane_width
:
0.0
);
:
0.0
);
double
curr_right_bound_adc
=
std
::
fmin
(
adc_l_to_lane_center_
,
double
curr_left_bound
=
0.0
;
adc_l_to_lane_center_
+
ADC_speed_buffer
)
-
double
curr_right_bound
=
0.0
;
GetBufferBetweenADCCenterAndEdge
()
-
ADC_buffer
;
double
curr_right_bound
=
if
(
config_
.
path_bounds_decider_config
()
std
::
fmin
(
curr_right_bound_lane
,
curr_right_bound_adc
)
-
offset_to_map
;
.
is_extend_lane_bands_to_include_adc
())
{
double
curr_left_bound_adc
=
std
::
fmax
(
adc_l_to_lane_center_
,
adc_l_to_lane_center_
+
ADC_speed_buffer
)
+
GetBufferBetweenADCCenterAndEdge
()
+
ADC_buffer
;
curr_left_bound
=
std
::
fmax
(
curr_left_bound_lane
,
curr_left_bound_adc
)
-
offset_to_map
;
double
curr_right_bound_adc
=
std
::
fmin
(
adc_l_to_lane_center_
,
adc_l_to_lane_center_
+
ADC_speed_buffer
)
-
GetBufferBetweenADCCenterAndEdge
()
-
ADC_buffer
;
curr_right_bound
=
std
::
fmin
(
curr_right_bound_lane
,
curr_right_bound_adc
)
-
offset_to_map
;
}
else
{
curr_left_bound
=
curr_left_bound_lane
-
offset_to_map
;
curr_right_bound
=
curr_right_bound_lane
-
offset_to_map
;
}
ADEBUG
<<
"At s = "
<<
curr_s
ADEBUG
<<
"At s = "
<<
curr_s
<<
", left_lane_bound = "
<<
curr_lane_left_width
<<
", left_lane_bound = "
<<
curr_lane_left_width
...
...
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