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体验新版 GitCode,发现更多精彩内容 >>
提交
96f2bab5
编写于
11月 07, 2019
作者:
K
kechxu
提交者:
Xiangquan Xiao
11月 07, 2019
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差异文件
Prediction: move a gflag to a constant in prioritization
上级
a1cda728
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
9 addition
and
10 deletion
+9
-10
modules/prediction/common/prediction_gflags.cc
modules/prediction/common/prediction_gflags.cc
+0
-2
modules/prediction/common/prediction_gflags.h
modules/prediction/common/prediction_gflags.h
+0
-1
modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
...ediction/scenario/prioritization/obstacles_prioritizer.cc
+9
-7
未找到文件。
modules/prediction/common/prediction_gflags.cc
浏览文件 @
96f2bab5
...
...
@@ -76,8 +76,6 @@ DEFINE_double(caution_search_distance_backward_for_overlap, 30.0,
"in the case of overlap"
);
DEFINE_double
(
caution_pedestrian_approach_time
,
3.0
,
"The time for a pedestrian to approach adc trajectory"
);
DEFINE_double
(
caution_distance_threshold
,
60.0
,
"The distance threshold for obstacles to be caution"
);
// Obstacle features
DEFINE_int32
(
ego_vehicle_id
,
-
1
,
"The obstacle ID of the ego vehicle."
);
...
...
modules/prediction/common/prediction_gflags.h
浏览文件 @
96f2bab5
...
...
@@ -54,7 +54,6 @@ DECLARE_double(caution_search_distance_backward);
DECLARE_double
(
caution_search_distance_backward_for_merge
);
DECLARE_double
(
caution_search_distance_backward_for_overlap
);
DECLARE_double
(
caution_pedestrian_approach_time
);
DECLARE_double
(
caution_distance_threshold
);
// Obstacle features
DECLARE_int32
(
ego_vehicle_id
);
...
...
modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
浏览文件 @
96f2bab5
...
...
@@ -42,6 +42,8 @@ using hdmap::LaneInfo;
using
hdmap
::
OverlapInfo
;
using
ConstLaneInfoPtr
=
std
::
shared_ptr
<
const
LaneInfo
>
;
constexpr
double
kCautionDistanceThreshold
=
60.0
;
namespace
{
bool
IsLaneSequenceInReferenceLine
(
...
...
@@ -214,7 +216,7 @@ void ObstaclesPrioritizer::AssignCautionLevelInJunction(
continue
;
}
if
(
obstacle_ptr
->
IsInJunction
(
curr_junction_id
))
{
SetCautionIfCloseToEgo
(
ego_vehicle
,
FLAGS_caution_distance_t
hreshold
,
SetCautionIfCloseToEgo
(
ego_vehicle
,
kCautionDistanceT
hreshold
,
obstacle_ptr
);
}
}
...
...
@@ -236,7 +238,7 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseKeepLane(
AERROR
<<
"Obstacle ["
<<
nearest_front_obstacle_id
<<
"] Not found"
;
continue
;
}
SetCautionIfCloseToEgo
(
ego_vehicle
,
FLAGS_caution_distance_t
hreshold
,
SetCautionIfCloseToEgo
(
ego_vehicle
,
kCautionDistanceT
hreshold
,
obstacle_ptr
);
}
}
...
...
@@ -261,7 +263,7 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseChangeLane(
AERROR
<<
"Obstacle ["
<<
nearest_front_obstacle_id
<<
"] Not found"
;
continue
;
}
SetCautionIfCloseToEgo
(
ego_vehicle
,
FLAGS_caution_distance_t
hreshold
,
SetCautionIfCloseToEgo
(
ego_vehicle
,
kCautionDistanceT
hreshold
,
obstacle_ptr
);
}
else
if
(
IsLaneSequenceInReferenceLine
(
lane_sequence
,
ego_trajectory_container
))
{
...
...
@@ -273,7 +275,7 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseChangeLane(
Obstacle
*
front_obstacle_ptr
=
obstacles_container
->
GetObstacle
(
nearest_front_obstacle_id
);
if
(
front_obstacle_ptr
!=
nullptr
)
{
SetCautionIfCloseToEgo
(
ego_vehicle
,
FLAGS_caution_distance_t
hreshold
,
SetCautionIfCloseToEgo
(
ego_vehicle
,
kCautionDistanceT
hreshold
,
front_obstacle_ptr
);
}
}
...
...
@@ -281,7 +283,7 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseChangeLane(
Obstacle
*
backward_obstacle_ptr
=
obstacles_container
->
GetObstacle
(
nearest_backward_obstacle_id
);
if
(
backward_obstacle_ptr
!=
nullptr
)
{
SetCautionIfCloseToEgo
(
ego_vehicle
,
FLAGS_caution_distance_t
hreshold
,
SetCautionIfCloseToEgo
(
ego_vehicle
,
kCautionDistanceT
hreshold
,
backward_obstacle_ptr
);
}
}
...
...
@@ -414,7 +416,7 @@ void ObstaclesPrioritizer::AssignCautionLevelByEgoReferenceLine(
if
(
std
::
fabs
(
start_l
)
<
FLAGS_pedestrian_nearby_lane_search_radius
||
std
::
fabs
(
end_l
)
<
FLAGS_pedestrian_nearby_lane_search_radius
||
start_l
*
end_l
<
0.0
)
{
SetCautionIfCloseToEgo
(
ego_vehicle
,
FLAGS_caution_distance_t
hreshold
,
SetCautionIfCloseToEgo
(
ego_vehicle
,
kCautionDistanceT
hreshold
,
obstacle_ptr
);
}
}
...
...
@@ -509,7 +511,7 @@ void ObstaclesPrioritizer::SetCautionBackward(
AERROR
<<
"Obstacle ["
<<
obstacle_id
<<
"] Not found"
;
continue
;
}
SetCautionIfCloseToEgo
(
ego_vehicle
,
FLAGS_caution_distance_t
hreshold
,
SetCautionIfCloseToEgo
(
ego_vehicle
,
kCautionDistanceT
hreshold
,
obstacle_ptr
);
continue
;
}
...
...
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