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体验新版 GitCode,发现更多精彩内容 >>
提交
ae5d3471
编写于
9月 03, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
9月 03, 2017
浏览文件
操作
浏览文件
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电子邮件补丁
差异文件
Planning: changed acceleration and jerk to 0 when speed is very small to keep consistency.
上级
6552f0e9
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
198 addition
and
196 deletion
+198
-196
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+1
-1
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
...s/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
+4
-2
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
...s/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+63
-63
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
...anning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+123
-123
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
...g/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
+7
-7
未找到文件。
modules/planning/common/planning_gflags.cc
浏览文件 @
ae5d3471
...
...
@@ -151,5 +151,5 @@ DEFINE_double(slowdown_speed_threshold, 8.0,
"this threshold. unit : m/s."
);
DEFINE_double
(
slowdown_profile_deceleration
,
-
1.0
,
"The deceleration to generate slowdown profile. unit: m/s^2."
);
DEFINE_double
(
qp_st_low_velocity_threshold
,
0.0
5
,
DEFINE_double
(
qp_st_low_velocity_threshold
,
0.0
2
,
"The low velocity threshold for control usage. unit: m/s."
);
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
浏览文件 @
ae5d3471
...
...
@@ -116,11 +116,13 @@ Status QpSplineStGraph::Search(const StGraphData& st_graph_data,
while
(
time
<
qp_spline_st_speed_config_
.
total_time
()
+
t_output_resolution
)
{
double
s
=
spline
(
time
);
double
v
=
spline
.
Derivative
(
time
);
double
a
=
spline
.
SecondOrderDerivative
(
time
);
double
da
=
spline
.
ThirdOrderDerivative
(
time
);
if
(
v
<
FLAGS_qp_st_low_velocity_threshold
)
{
v
=
0.0
;
a
=
0.0
;
da
=
0.0
;
}
double
a
=
spline
.
SecondOrderDerivative
(
time
);
double
da
=
spline
.
ThirdOrderDerivative
(
time
);
speed_data
->
AppendSpeedPoint
(
s
,
time
,
v
,
a
,
da
);
time
+=
t_output_resolution
;
}
...
...
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
浏览文件 @
ae5d3471
...
...
@@ -1385,7 +1385,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.046751415328411206
a: -0.15004655270432221
relative_time: 4.8999999999999906
}
...
...
@@ -1399,7 +1399,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.039638545551806792
a: -0.13460565244793782
relative_time: 4.94999999999999
}
...
...
@@ -1413,7 +1413,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.033277108674808986
a: -0.11998923672006201
relative_time: 4.99999999999999
}
...
...
@@ -1427,7 +1427,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.027625880470992181
a: -0.10619730552069484
relative_time: 5.04999999999999
}
...
...
@@ -1441,7 +1441,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.022643636713931048
a: -0.093229858849836256
relative_time: 5.09999999999999
}
...
...
@@ -1456,7 +1456,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.081086896707486311
a:
0
relative_time: 5.14999999999999
}
trajectory_point {
...
...
@@ -1470,7 +1470,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.069768419093644951
a:
0
relative_time: 5.1999999999999895
}
trajectory_point {
...
...
@@ -1484,7 +1484,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.059274426008312231
a:
0
relative_time: 5.2499999999999893
}
trajectory_point {
...
...
@@ -1498,7 +1498,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.049604917451488095
a:
0
relative_time: 5.2999999999999892
}
trajectory_point {
...
...
@@ -1512,7 +1512,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.040759893423172544
a:
0
relative_time: 5.349999999999989
}
trajectory_point {
...
...
@@ -1526,7 +1526,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.032739353923365688
a:
0
relative_time: 5.3999999999999888
}
trajectory_point {
...
...
@@ -1540,7 +1540,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.025543298952067306
a:
0
relative_time: 5.4499999999999886
}
trajectory_point {
...
...
@@ -1554,7 +1554,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.019171728509277619
a:
0
relative_time: 5.4999999999999885
}
trajectory_point {
...
...
@@ -1568,7 +1568,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.013624642594996628
a:
0
relative_time: 5.5499999999999883
}
trajectory_point {
...
...
@@ -1582,7 +1582,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00890204120922411
a:
0
relative_time: 5.5999999999999881
}
trajectory_point {
...
...
@@ -1596,7 +1596,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.0050039243519602872
a:
0
relative_time: 5.6499999999999879
}
trajectory_point {
...
...
@@ -1610,7 +1610,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.0019302920232049381
a:
0
relative_time: 5.6999999999999877
}
trajectory_point {
...
...
@@ -1624,7 +1624,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.00031885577704171553
a: 0
relative_time: 5.7499999999999876
}
trajectory_point {
...
...
@@ -1638,7 +1638,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0017435190487796737
a: 0
relative_time: 5.7999999999999874
}
trajectory_point {
...
...
@@ -1652,7 +1652,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0023436977920091584
a: 0
relative_time: 5.8499999999999872
}
trajectory_point {
...
...
@@ -1666,7 +1666,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0021193920067300587
a: 0
relative_time: 5.899999999999987
}
trajectory_point {
...
...
@@ -1680,7 +1680,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0010706016929422635
a: 0
relative_time: 5.9499999999999869
}
trajectory_point {
...
...
@@ -1694,7 +1694,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00080267314935411616
a:
0
relative_time: 5.9999999999999867
}
trajectory_point {
...
...
@@ -1708,7 +1708,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00074759275150426631
a:
0
relative_time: 6.0499999999999865
}
trajectory_point {
...
...
@@ -1722,7 +1722,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00069430792130068713
a:
0
relative_time: 6.0999999999999863
}
trajectory_point {
...
...
@@ -1736,7 +1736,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00064281865874411923
a:
0
relative_time: 6.1499999999999861
}
trajectory_point {
...
...
@@ -1750,7 +1750,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.0005931249638345625
a:
0
relative_time: 6.199999999999986
}
trajectory_point {
...
...
@@ -1764,7 +1764,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.000545226836572017
a:
0
relative_time: 6.2499999999999858
}
trajectory_point {
...
...
@@ -1778,7 +1778,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00049912427695648258
a:
0
relative_time: 6.2999999999999856
}
trajectory_point {
...
...
@@ -1792,7 +1792,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.0004548172849879596
a:
0
relative_time: 6.3499999999999854
}
trajectory_point {
...
...
@@ -1806,7 +1806,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00041230586066644774
a:
0
relative_time: 6.3999999999999853
}
trajectory_point {
...
...
@@ -1820,7 +1820,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00037159000399194717
a:
0
relative_time: 6.4499999999999851
}
trajectory_point {
...
...
@@ -1834,7 +1834,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00033266971496445771
a:
0
relative_time: 6.4999999999999849
}
trajectory_point {
...
...
@@ -1848,7 +1848,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00029554499358397954
a:
0
relative_time: 6.5499999999999847
}
trajectory_point {
...
...
@@ -1862,7 +1862,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00026021583985051254
a:
0
relative_time: 6.5999999999999845
}
trajectory_point {
...
...
@@ -1876,7 +1876,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00022668225376405683
a:
0
relative_time: 6.6499999999999844
}
trajectory_point {
...
...
@@ -1890,7 +1890,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00019494423532461229
a:
0
relative_time: 6.6999999999999842
}
trajectory_point {
...
...
@@ -1904,7 +1904,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00016500178453217904
a:
0
relative_time: 6.749999999999984
}
trajectory_point {
...
...
@@ -1918,7 +1918,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00013685490138675696
a:
0
relative_time: 6.7999999999999838
}
trajectory_point {
...
...
@@ -1932,7 +1932,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00011050358588834605
a:
0
relative_time: 6.8499999999999837
}
trajectory_point {
...
...
@@ -1946,7 +1946,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-8.5947838036946542e-05
a:
0
relative_time: 6.8999999999999835
}
trajectory_point {
...
...
@@ -1960,7 +1960,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-6.3187657832557988e-05
a:
0
relative_time: 6.9499999999999833
}
trajectory_point {
...
...
@@ -1974,7 +1974,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-4.2223045275180827e-05
a:
0
relative_time: 6.9999999999999831
}
trajectory_point {
...
...
@@ -1988,7 +1988,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-2.3054000364814949e-05
a:
0
relative_time: 7.0499999999999829
}
trajectory_point {
...
...
@@ -2002,7 +2002,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-5.6805231014601379e-06
a:
0
relative_time: 7.0999999999999828
}
trajectory_point {
...
...
@@ -2016,7 +2016,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
9.8973865148832812e-06
a:
0
relative_time: 7.1499999999999826
}
trajectory_point {
...
...
@@ -2030,7 +2030,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
2.3679728484215742e-05
a:
0
relative_time: 7.1999999999999824
}
trajectory_point {
...
...
@@ -2044,7 +2044,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.56665028065367e-05
a:
0
relative_time: 7.2499999999999822
}
trajectory_point {
...
...
@@ -2058,7 +2058,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
4.5857709481846596e-05
a:
0
relative_time: 7.2999999999999821
}
trajectory_point {
...
...
@@ -2072,7 +2072,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
5.4253348510145205e-05
a:
0
relative_time: 7.3499999999999819
}
trajectory_point {
...
...
@@ -2086,7 +2086,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.085341989143264e-05
a:
0
relative_time: 7.3999999999999817
}
trajectory_point {
...
...
@@ -2100,7 +2100,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.5657923625708791e-05
a:
0
relative_time: 7.4499999999999815
}
trajectory_point {
...
...
@@ -2114,7 +2114,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.8666859712973767e-05
a:
0
relative_time: 7.4999999999999813
}
trajectory_point {
...
...
@@ -2128,7 +2128,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.9880228153227459e-05
a:
0
relative_time: 7.5499999999999812
}
trajectory_point {
...
...
@@ -2142,7 +2142,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.92980289464702e-05
a:
0
relative_time: 7.599999999999981
}
trajectory_point {
...
...
@@ -2156,7 +2156,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.6920262092701427e-05
a:
0
relative_time: 7.6499999999999808
}
trajectory_point {
...
...
@@ -2170,7 +2170,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.2746927591921485e-05
a:
0
relative_time: 7.6999999999999806
}
trajectory_point {
...
...
@@ -2184,7 +2184,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
5.6778025444130368e-05
a:
0
relative_time: 7.7499999999999805
}
trajectory_point {
...
...
@@ -2198,7 +2198,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
4.9013555649327968e-05
a:
0
relative_time: 7.79999999999998
}
trajectory_point {
...
...
@@ -2212,7 +2212,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.9453518207514392e-05
a:
0
relative_time: 7.84999999999998
}
trajectory_point {
...
...
@@ -2226,7 +2226,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
2.8097913118689533e-05
a:
0
relative_time: 7.89999999999998
}
trajectory_point {
...
...
@@ -2240,7 +2240,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
1.4946740382853715e-05
a:
0
relative_time: 7.94999999999998
}
trajectory_point {
...
...
@@ -2254,7 +2254,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
6.3967928176644762e-18
a:
0
relative_time: 7.99999999999998
}
decision {
...
...
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
浏览文件 @
ae5d3471
...
...
@@ -545,7 +545,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.0389160079788855
a: -0.73472960556735956
relative_time: 1.900000000000001
}
...
...
@@ -560,7 +560,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.38277324804288804
a:
0
relative_time: 1.9500000000000011
}
trajectory_point {
...
...
@@ -574,7 +574,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.010031977641258405
a:
0
relative_time: 2.0000000000000009
}
trajectory_point {
...
...
@@ -588,7 +588,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.0074028795963318895
a:
0
relative_time: 2.0500000000000007
}
trajectory_point {
...
...
@@ -602,7 +602,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.0049186430226694985
a:
0
relative_time: 2.1000000000000005
}
trajectory_point {
...
...
@@ -616,7 +616,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.0025792679202712382
a:
0
relative_time: 2.1500000000000004
}
trajectory_point {
...
...
@@ -630,7 +630,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
-0.00038475428913710592
a:
0
relative_time: 2.2
}
trajectory_point {
...
...
@@ -644,7 +644,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0016648978707328958
a: 0
relative_time: 2.25
}
trajectory_point {
...
...
@@ -658,7 +658,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.003569688559338766
a: 0
relative_time: 2.3
}
trajectory_point {
...
...
@@ -672,7 +672,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0053296177766805081
a: 0
relative_time: 2.3499999999999996
}
trajectory_point {
...
...
@@ -686,7 +686,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0069446855227581223
a: 0
relative_time: 2.3999999999999995
}
trajectory_point {
...
...
@@ -700,7 +700,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.0084148917975716015
a: 0
relative_time: 2.4499999999999993
}
trajectory_point {
...
...
@@ -714,7 +714,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
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a: 0
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relative_time: 7.3499999999999819
}
trajectory_point {
...
...
@@ -2086,7 +2086,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.2972418731699823e-08
a:
0
relative_time: 7.3999999999999817
}
trajectory_point {
...
...
@@ -2100,7 +2100,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.3431900348367723e-08
a:
0
relative_time: 7.4499999999999815
}
trajectory_point {
...
...
@@ -2114,7 +2114,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.3308257750918691e-08
a:
0
relative_time: 7.4999999999999813
}
trajectory_point {
...
...
@@ -2128,7 +2128,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.2601490939352887e-08
a:
0
relative_time: 7.5499999999999812
}
trajectory_point {
...
...
@@ -2142,7 +2142,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.1311599913670204e-08
a:
0
relative_time: 7.599999999999981
}
trajectory_point {
...
...
@@ -2156,7 +2156,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
2.9438584673870696e-08
a:
0
relative_time: 7.6499999999999808
}
trajectory_point {
...
...
@@ -2170,7 +2170,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
2.6982445219954362e-08
a:
0
relative_time: 7.6999999999999806
}
trajectory_point {
...
...
@@ -2184,7 +2184,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
2.3943181551921149e-08
a:
0
relative_time: 7.7499999999999805
}
trajectory_point {
...
...
@@ -2198,7 +2198,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
2.0320793669771084e-08
a:
0
relative_time: 7.79999999999998
}
trajectory_point {
...
...
@@ -2212,7 +2212,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
1.6115281573504246e-08
a:
0
relative_time: 7.84999999999998
}
trajectory_point {
...
...
@@ -2226,7 +2226,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
1.1326645263120504e-08
a:
0
relative_time: 7.89999999999998
}
trajectory_point {
...
...
@@ -2240,7 +2240,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
5.9548847386199617e-09
a:
0
relative_time: 7.94999999999998
}
trajectory_point {
...
...
@@ -2254,7 +2254,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
2.541098841762901e-21
a:
0
relative_time: 7.99999999999998
}
decision {
...
...
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
浏览文件 @
ae5d3471
...
...
@@ -14,7 +14,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a:
3.3019420531132937e-13
a:
0
relative_time: 0
}
trajectory_point {
...
...
@@ -28,7 +28,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.049836006382971851
a: 0
relative_time: 0.05
}
trajectory_point {
...
...
@@ -42,7 +42,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
.098711190482835179
a: 0
relative_time: 0.1
}
trajectory_point {
...
...
@@ -56,7 +56,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
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a: 0
relative_time: 0.15000000000000002
}
trajectory_point {
...
...
@@ -70,7 +70,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0
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a: 0
relative_time: 0.2
}
trajectory_point {
...
...
@@ -83,7 +83,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.03044690440811414
a: 0.23957180908575532
relative_time: 0.25
}
...
...
@@ -97,7 +97,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0
.0435552956627989
a: 0.28460370405450536
relative_time: 0.3
}
...
...
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