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体验新版 GitCode,发现更多精彩内容 >>
提交
965c619b
编写于
7月 20, 2017
作者:
J
jiangyifei
提交者:
Jiangtao Hu
7月 20, 2017
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电子邮件补丁
差异文件
added more flags and error code for planning.
上级
a176ec6e
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
276 addition
and
0 deletion
+276
-0
modules/common/proto/error_code.proto
modules/common/proto/error_code.proto
+10
-0
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+141
-0
modules/planning/common/planning_gflags.h
modules/planning/common/planning_gflags.h
+125
-0
未找到文件。
modules/common/proto/error_code.proto
浏览文件 @
965c619b
...
...
@@ -33,6 +33,16 @@ enum ErrorCode {
// Planning module error codes start from here
PLANNING_ERROR
=
6000
;
PLANNING_SKIP
=
6001
;
PLANNING_OK
=
6002
;
PLANNING_ERROR_NOT_FOUND
=
6003
;
PLANNING_ERROR_OUT_OF_INDEX
=
6004
;
PLANNING_ERROR_SELF_LOOP
=
6005
;
PLANNING_ERROR_DUPLICATE
=
6006
;
PLANNING_ERROR_NULL_POINTER
=
6007
;
PLANNING_ERROR_NAN
=
6008
;
PLANNING_ERROR_TIMEOUT
=
6009
;
PLANNING_ERROR_FAILED
=
60010
;
}
message
StatusPb
{
...
...
modules/planning/common/planning_gflags.cc
浏览文件 @
965c619b
...
...
@@ -110,3 +110,144 @@ DEFINE_double(stgraph_max_deceleration_divide_factor_level_1, 3.0,
"The divide factor for max deceleration at level 1."
);
DEFINE_double
(
stgraph_max_deceleration_divide_factor_level_2
,
2.0
,
"The divide factor for max deceleration at level 2."
);
// Prediction Part
DEFINE_int32
(
adc_id
,
-
1
,
"Obstacle id for the global adc"
);
DEFINE_bool
(
local_debug
,
false
,
"enabling local debug will disabling xlogging"
);
DEFINE_string
(
new_pobs_dump_file
,
"/data/new_pobs_dump.bag"
,
"bag file for newly merged pobs"
);
DEFINE_double
(
pcd_merge_thred
,
0.25
,
"iou threshold for pcd merge"
);
DEFINE_double
(
vehicle_min_l
,
3.5
,
"vehicle min l"
);
DEFINE_double
(
vehicle_min_w
,
2.2
,
"vehicle min w"
);
DEFINE_double
(
vehicle_min_h
,
1.5
,
"vehicle min h"
);
DEFINE_int32
(
good_pcd_size
,
50
,
"at least these many points to make a reasonable pcd"
);
DEFINE_int32
(
good_pcd_labeling_size
,
500
,
"at least these many points for labeling"
);
DEFINE_double
(
front_sector_angle
,
0.5236
,
"40 degree front sector"
);
DEFINE_double
(
max_reasonable_l
,
15.0
,
"max reasonable l"
);
DEFINE_double
(
min_reasonable_l
,
1.5
,
"min reasonable l"
);
DEFINE_double
(
max_reasonable_w
,
3.5
,
"max reasonable w"
);
DEFINE_double
(
min_reasonable_w
,
1.2
,
"min reasonable w"
);
DEFINE_double
(
merge_range
,
30.0
,
"Radius of range for considering obstacle-merge centering at ADC"
);
DEFINE_double
(
pcd_labeling_range
,
30.0
,
"Radius of range for labeling pcd centering at ADC"
);
DEFINE_bool
(
enable_merge_obstacle
,
true
,
"enabling local debug will disabling xlogging"
);
DEFINE_bool
(
enable_new_pobs_dump
,
true
,
"dump merged perception obstacles to a bag file"
);
DEFINE_bool
(
enable_pcd_labeling
,
false
,
"enabling generate pcd labeling image"
);
DEFINE_string
(
pcd_image_file_prefix
,
"/home/liyun/pcd_data/prediction_pcd_"
,
"prefix for prediction generated pcd files"
);
DEFINE_double
(
prediction_total_time
,
5.0
,
"Total prediction time"
);
DEFINE_double
(
prediction_pedestrian_total_time
,
10.0
,
"Total prediction time for pedestrians"
);
DEFINE_double
(
prediction_model_time
,
3.0
,
"Total prediction modeling time"
);
DEFINE_double
(
prediction_freq
,
0.1
,
"Prediction frequency."
);
// The following gflags are for internal use
DEFINE_bool
(
enable_unknown_obstacle
,
true
,
"Disable unknown obstacle."
);
DEFINE_bool
(
enable_output_to_screen
,
false
,
"Enable output to screen"
);
DEFINE_bool
(
enable_EKF_tracking
,
false
,
"Enable tracking based on EKF"
);
DEFINE_bool
(
enable_acc
,
true
,
"Enable calculating speed by acc"
);
DEFINE_bool
(
enable_pedestrian_acc
,
false
,
"Enable calculating speed by acc"
);
// Cyclist UKF
DEFINE_double
(
road_heading_impact
,
0.5
,
"Influence of the road heading (when available) in the state update"
);
DEFINE_double
(
process_noise_diag
,
0.01
,
"Diagonal for process noise of cyclist UKF"
);
DEFINE_double
(
measurement_noise_diag
,
0.01
,
"Diagonal for measurement noise of cyclist UKF"
);
DEFINE_double
(
state_covariance_diag_init
,
0.01
,
"Diagonal for initial state noise of cyclist UKF"
);
DEFINE_double
(
ukf_alpha
,
0.001
,
"Alpha parameter in cyclist UKF model."
);
DEFINE_double
(
ukf_beta
,
2.0
,
"Beta parameter in cyclist UKF model."
);
DEFINE_double
(
ukf_kappa
,
0.0
,
"Kappa parameter in cyclist UKF model."
);
DEFINE_int32
(
stored_frames
,
1
,
"The stored frames before predicting"
);
DEFINE_double
(
min_acc
,
-
4.0
,
"Minimum acceleration"
);
DEFINE_double
(
max_acc
,
2.0
,
"Maximum acceleration"
);
DEFINE_double
(
min_pedestrian_acc
,
-
4.0
,
"minimum pedestrian acceleration"
);
DEFINE_double
(
max_pedestrian_acc
,
2.0
,
"maximum pedestrian acceleration"
);
DEFINE_double
(
default_heading
,
6.2831
,
"Defalut heading"
);
DEFINE_int32
(
max_obstacle_size
,
1000
,
"Maximum number of obstacles"
);
DEFINE_double
(
max_prediction_length
,
100.0
,
"Maximum trajectory length for any obstacle"
);
DEFINE_double
(
lane_search_radius
,
3.0
,
"The radius for searching candidate lanes"
);
DEFINE_double
(
junction_search_radius
,
10.0
,
"The radius for searching candidate junctions."
);
DEFINE_double
(
min_lane_change_distance
,
20.0
,
"The shortest distance for lane change."
);
DEFINE_double
(
proto_double_precision
,
1e-6
,
"Precision of proto double fields"
);
DEFINE_double
(
nearby_obstacle_range
,
60
,
"Search range for considering nearby obstacles as feature"
);
DEFINE_int32
(
nearby_obstacle_num
,
1
,
"Maximal number of nearby obstacles to search."
);
// Kalman Filter
DEFINE_double
(
beta
,
0.99
,
"l coefficient for state transferring of (s,l)"
);
DEFINE_double
(
cut_in_beta
,
0.98
,
"l coefficient for cut in state transition."
);
DEFINE_double
(
q_var
,
0.01
,
"Q variance for processing"
);
DEFINE_double
(
r_var
,
0.01
,
"R variance for measurement"
);
DEFINE_double
(
p_var
,
0.1
,
"p variance for prediction"
);
DEFINE_double
(
kf_endl
,
0.1
,
"Minimum L close enough with lane central reference line"
);
// Trajectory
DEFINE_bool
(
enable_rule_layer
,
true
,
"enable rule for trajectory before model computation"
);
DEFINE_double
(
car_length
,
4.0
,
"Length of car"
);
DEFINE_int32
(
trajectory_num_frame
,
50
,
"Maximum number of frames in trajectory"
);
DEFINE_double
(
trajectory_stretch
,
0.5
,
"Percent of extra stretch of trajectory"
);
DEFINE_double
(
coeff_mul_sigma
,
2.0
,
"coefficient multiply standard deviation"
);
DEFINE_bool
(
enable_velocity_from_history
,
false
,
"whether to ge speed from feature history"
);
DEFINE_int32
(
num_trajectory_still_pedestrian
,
6
,
"number of trajectories for static pedestrian"
);
// Offline model
DEFINE_bool
(
running_middle_mode
,
false
,
"Running middle mode"
);
DEFINE_string
(
feature_middle_file
,
"/data/example_features.label.bin"
,
"Feature middle file with lane seq labels"
);
DEFINE_string
(
hdf5_file
,
"/data/final_feature_label.h5"
,
"Final hdf5 file for neural network training"
);
DEFINE_bool
(
enable_labelling
,
false
,
"Enable labelling data and output result"
);
DEFINE_bool
(
enable_feature_to_file
,
false
,
"Enable to output the extracted feature to txt files"
);
DEFINE_bool
(
enable_evaluation
,
false
,
"Enable dumping evaluational features"
);
DEFINE_int32
(
num_evaluation_frame
,
30
,
"Number of frames for evaluation network"
);
DEFINE_string
(
feature_file_path
,
"/data/features.bin"
,
"Path for feature files"
);
DEFINE_string
(
feature_file_format
,
"binary"
,
"format of the output feature file [binary / json]"
);
DEFINE_double
(
close_time
,
0.1
,
"close in terms of time"
);
DEFINE_double
(
close_dist
,
0.1
,
"close in terms of dist"
);
// Online model
DEFINE_double
(
target_lane_gap
,
5.0
,
"target lane gap length"
);
DEFINE_double
(
model_prob_cutoff
,
0.5
,
"Model probability cutoff"
);
DEFINE_double
(
prediction_feature_timeframe
,
3.0
,
"Timeframe for generating features in modeling"
);
DEFINE_double
(
threshold_label_time_delta
,
2.0
,
"Time threshold to select the labelled feature"
);
DEFINE_double
(
prediction_label_timeframe
,
3.0
,
"Timeframe for generating label in modeling"
);
DEFINE_double
(
prediction_buffer_timeframe
,
1.0
,
"Buffer Timeframe in case of message gets late"
);
DEFINE_int32
(
pedestrian_static_length
,
30
,
"min # of frames to check that a pedestrian is still"
);
DEFINE_double
(
still_speed
,
0.01
,
"speed considered to be still for pedestrian"
);
DEFINE_string
(
default_vehicle_model_file_path
,
"/prediction/parameters/default_model.bin"
,
"default model file path"
);
DEFINE_string
(
user_vehicle_model_name
,
"MlpPlugin"
,
"user model for vehicle"
);
DEFINE_string
(
user_vehicle_model_file_path
,
"/prediction/parameters/mlp_model.bin"
,
"user model file path"
);
DEFINE_double
(
kf_max_speed
,
20.0
,
"Maximum speed for tracking"
);
DEFINE_double
(
kf_min_speed
,
0.5
,
"Minumum speed for tracking"
);
DEFINE_double
(
kf_still_position_diff
,
0.5
,
"Default position difference for still obstacle"
);
DEFINE_double
(
max_angle_diff
,
1.57
,
"Maximum angle diff is Pi/3"
);
DEFINE_double
(
pedestrian_max_speed
,
10.0
,
"speed upper bound for pedestrian"
);
DEFINE_double
(
pedestrian_min_speed
,
0.1
,
"min speed for still pedestrian"
);
DEFINE_int32
(
obstacle_static_length
,
20
,
"stored frames to judge if a obstacle is static"
);
DEFINE_double
(
static_speed_threshold
,
1.0
,
"speed threshold to judge if a obstacle is static"
);
// Setting
DEFINE_bool
(
enable_p_speed_override
,
false
,
"Override p_speed with tracked prediction speed"
);
DEFINE_double
(
threshold_timestamp_diff
,
0.50
,
"Maximum timestamp gap between perception and prediction."
);
DEFINE_double
(
pc_pob_tolerance
,
0.15
,
"Time diff tolerance for pcd and pobs"
);
// Traffic law
DEFINE_bool
(
enable_traffic_light_law
,
true
,
"enable traffic light law."
);
DEFINE_bool
(
enable_crosswalk_law
,
true
,
"enable crosswalk law."
);
DEFINE_bool
(
enable_clear_zone_law
,
true
,
"enable clear zone law."
);
DEFINE_double
(
polygon_length_box_length_max_diff
,
2.0
,
"max length diff of polygon and box for checking sl point is right in uturn"
);
// Traffic light law
DEFINE_double
(
length_of_passing_stop_line_buffer
,
4
,
"passing stop line buffer length"
);
DEFINE_double
(
master_min_speed
,
0.1
,
"min speed when compute deacceleration"
);
DEFINE_double
(
max_deacceleration_for_red_light_stop
,
6.0
,
"treat red light as red when deceleration (abstract value in m/s^2)"
" is less than this threshold, otherwise treated as green light"
);
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"
);
\ No newline at end of file
modules/planning/common/planning_gflags.h
浏览文件 @
965c619b
...
...
@@ -81,5 +81,130 @@ DECLARE_double(stgraph_max_acceleration_divide_factor_level_1);
DECLARE_double
(
stgraph_max_deceleration_divide_factor_level_1
);
DECLARE_double
(
stgraph_max_deceleration_divide_factor_level_2
);
// Predeciton Part
DECLARE_int32
(
adc_id
);
DECLARE_bool
(
local_debug
);
DECLARE_string
(
new_pobs_dump_file
);
DECLARE_double
(
pcd_merge_thred
);
DECLARE_double
(
vehicle_min_l
);
DECLARE_double
(
vehicle_min_w
);
DECLARE_double
(
vehicle_min_h
);
DECLARE_int32
(
good_pcd_size
);
DECLARE_int32
(
good_pcd_labeling_size
);
DECLARE_double
(
front_sector_angle
);
DECLARE_double
(
max_reasonable_l
);
DECLARE_double
(
min_reasonable_l
);
DECLARE_double
(
max_reasonable_w
);
DECLARE_double
(
min_reasonable_w
);
DECLARE_double
(
merge_range
);
DECLARE_double
(
pcd_labeling_range
);
DECLARE_bool
(
enable_merge_obstacle
);
DECLARE_bool
(
enable_new_pobs_dump
);
DECLARE_bool
(
enable_pcd_labeling
);
DECLARE_string
(
pcd_image_file_prefix
);
// The following gflags are for modeling
DECLARE_double
(
prediction_total_time
);
DECLARE_double
(
prediction_pedestrian_total_time
);
DECLARE_double
(
prediction_model_time
);
DECLARE_double
(
prediction_freq
);
// The following gflags are for internal use
DECLARE_bool
(
enable_unknown_obstacle
);
DECLARE_bool
(
enable_output_to_screen
);
DECLARE_bool
(
enable_EKF_tracking
);
DECLARE_bool
(
enable_acc
);
DECLARE_bool
(
enable_pedestrian_acc
);
// Cyclist UKF
DECLARE_double
(
road_heading_impact
);
DECLARE_double
(
process_noise_diag
);
DECLARE_double
(
measurement_noise_diag
);
DECLARE_double
(
state_covariance_diag_init
);
DECLARE_double
(
ukf_alpha
);
DECLARE_double
(
ukf_beta
);
DECLARE_double
(
ukf_kappa
);
DECLARE_int32
(
stored_frames
);
DECLARE_double
(
min_acc
);
DECLARE_double
(
max_acc
);
DECLARE_double
(
min_pedestrian_acc
);
DECLARE_double
(
max_pedestrian_acc
);
DECLARE_double
(
default_heading
);
DECLARE_int32
(
max_obstacle_size
);
DECLARE_double
(
max_prediction_length
);
DECLARE_double
(
lane_search_radius
);
DECLARE_double
(
junction_search_radius
);
DECLARE_double
(
min_lane_change_distance
);
DECLARE_double
(
proto_double_precision
);
DECLARE_double
(
nearby_obstacle_range
);
DECLARE_int32
(
nearby_obstacle_num
);
// Kalman Filter
DECLARE_double
(
beta
);
DECLARE_double
(
cut_in_beta
);
DECLARE_double
(
q_var
);
// for simplicity, Q11=Q22=q_var, Q12=Q21=0
DECLARE_double
(
r_var
);
DECLARE_double
(
p_var
);
DECLARE_double
(
kf_endl
);
// Trajectory
DECLARE_double
(
car_length
);
DECLARE_int32
(
trajectory_num_frame
);
DECLARE_double
(
trajectory_stretch
);
DECLARE_double
(
coeff_mul_sigma
);
DECLARE_bool
(
enable_velocity_from_history
);
DECLARE_int32
(
num_trajectory_still_pedestrian
);
// Offline model
DECLARE_bool
(
running_middle_mode
);
DECLARE_string
(
feature_middle_file
);
DECLARE_string
(
hdf5_file
);
DECLARE_bool
(
enable_labelling
);
DECLARE_bool
(
enable_feature_to_file
);
DECLARE_bool
(
enable_evaluation
);
DECLARE_int32
(
num_evaluation_frame
);
DECLARE_string
(
feature_file_path
);
DECLARE_string
(
feature_file_format
);
DECLARE_double
(
close_time
);
DECLARE_double
(
close_dist
);
// Online model
DECLARE_double
(
target_lane_gap
);
DECLARE_double
(
model_prob_cutoff
);
DECLARE_double
(
prediction_feature_timeframe
);
DECLARE_double
(
threshold_label_time_delta
);
DECLARE_double
(
prediction_label_timeframe
);
DECLARE_double
(
prediction_buffer_timeframe
);
DECLARE_int32
(
pedestrian_static_length
);
DECLARE_double
(
still_speed
);
DECLARE_string
(
default_vehicle_model_file_path
);
DECLARE_string
(
user_vehicle_model_name
);
DECLARE_string
(
user_vehicle_model_file_path
);
DECLARE_double
(
kf_max_speed
);
DECLARE_double
(
kf_min_speed
);
DECLARE_double
(
kf_still_position_diff
);
DECLARE_double
(
max_angle_diff
);
DECLARE_double
(
pedestrian_max_speed
);
DECLARE_double
(
pedestrian_min_speed
);
DECLARE_int32
(
obstacle_static_length
);
DECLARE_double
(
static_speed_threshold
);
// Setting
DECLARE_bool
(
enable_p_speed_override
);
DECLARE_double
(
threshold_timestamp_diff
);
DECLARE_double
(
pc_pob_tolerance
);
// Traffic law
DECLARE_bool
(
enable_traffic_light_law
);
DECLARE_bool
(
enable_crosswalk_law
);
DECLARE_bool
(
enable_clear_zone_law
);
DECLARE_double
(
polygon_length_box_length_max_diff
);
// Traffic light law
DECLARE_double
(
length_of_passing_stop_line_buffer
);
DECLARE_double
(
master_min_speed
);
DECLARE_double
(
max_deacceleration_for_red_light_stop
);
DECLARE_double
(
max_deacceleration_for_yellow_light_stop
);
#endif
/* MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_ */
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