planning: add gflag default_cruise_speed to reference_line_info

modules/planning/common/reference_line_info.cc

@@ -103,9 +103,11 @@ bool ReferenceLineInfo::Init(const std::vector<const Obstacle*>& obstacles) {
                                   FLAGS_speed_bump_speed_limit);
   }
 
-  // set lattice planning target speed limit;
   SetCruiseSpeed(FLAGS_default_cruise_speed);
 
+  // set lattice planning target speed limit;
+  SetLatticeCruiseSpeed(FLAGS_default_cruise_speed);
+
   vehicle_signal_.Clear();
 
   return true;
@@ -447,11 +449,11 @@ const DiscretizedTrajectory& ReferenceLineInfo::trajectory() const {
   return discretized_trajectory_;
 }
 
-void ReferenceLineInfo::SetStopPoint(const StopPoint& stop_point) {
+void ReferenceLineInfo::SetLatticeStopPoint(const StopPoint& stop_point) {
   planning_target_.mutable_stop_point()->CopyFrom(stop_point);
 }
 
-void ReferenceLineInfo::SetCruiseSpeed(double speed) {
+void ReferenceLineInfo::SetLatticeCruiseSpeed(double speed) {
   planning_target_.set_cruise_speed(speed);
 }
 

modules/planning/common/reference_line_info.h

@@ -85,10 +85,13 @@ class ReferenceLineInfo {
   double PriorityCost() const { return priority_cost_; }
   void SetPriorityCost(double cost) { priority_cost_ = cost; }
   // For lattice planner'speed planning target
-  void SetStopPoint(const StopPoint& stop_point);
-  void SetCruiseSpeed(double speed);
+  void SetLatticeStopPoint(const StopPoint& stop_point);
+  void SetLatticeCruiseSpeed(double speed);
   const PlanningTarget& planning_target() const { return planning_target_; }
 
+  void SetCruiseSpeed(double speed) { cruise_speed_ = speed; }
+  const double GetCruiseSpeed() const { return cruise_speed_; }
+
   hdmap::LaneInfoConstPtr LocateLaneInfo(const double s) const;
 
   bool GetNeighborLaneInfo(const ReferenceLineInfo::LaneType lane_type,
@@ -322,6 +325,8 @@ class ReferenceLineInfo {
 
   common::VehicleSignal vehicle_signal_;
 
+  double cruise_speed_;
+
   DISALLOW_COPY_AND_ASSIGN(ReferenceLineInfo);
 };
 

modules/planning/planner/lattice/lattice_planner.cc

@@ -173,7 +173,7 @@ Status LatticePlanner::PlanOnReferenceLine(
 
   double speed_limit =
       reference_line_info->reference_line().GetSpeedLimitFromS(init_s[0]);
-  reference_line_info->SetCruiseSpeed(speed_limit);
+  reference_line_info->SetLatticeCruiseSpeed(speed_limit);
 
   PlanningTarget planning_target = reference_line_info->planning_target();
   if (planning_target.has_stop_point()) {

modules/planning/traffic_rules/traffic_decider.cc

@@ -132,7 +132,7 @@ void TrafficDecider::BuildPlanningTarget(
         vehicle_config.vehicle_param().front_edge_to_center();
     stop_point.set_s(min_s - front_edge_to_center +
                      FLAGS_virtual_stop_wall_length / 2.0);
-    reference_line_info->SetStopPoint(stop_point);
+    reference_line_info->SetLatticeStopPoint(stop_point);
   }
 }