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提交 aee2ea6c 编写于 作者: J JasonZhou404 提交者： Yifei Jiang
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Planning: Running duplicate tasks with different enum definition

上级 10585e8d
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Showing with 246 addition and 114 deletion
modules/planning/conf/planning_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -157,7 +157,7 @@ default_task_config: {
}
}
default_task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
speed_bounds_decider_config {
total_path_length: 149
total_time: 7.0
......@@ -175,3 +175,22 @@ default_task_config: {
centri_jerk_speed_coeff: 1.0
}
}
default_task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
speed_bounds_decider_config {
total_path_length: 250
total_time: 7.0
boundary_buffer: 0.1
high_speed_centric_acceleration_limit: 0.8
low_speed_centric_acceleration_limit: 1.2
high_speed_threshold: 12.58
low_speed_threshold: 7.5
minimal_kappa: 0.00001
point_extension: 1.0
lowest_speed: 2.5
num_points_to_avg_kappa: 2
static_obs_nudge_speed_ratio: 0.6
dynamic_obs_nudge_speed_ratio: 0.8
centri_jerk_speed_coeff: 1.0
}
}
\ No newline at end of file
modules/planning/conf/scenario/lane_follow_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -7,10 +7,10 @@ stage_config: {
task_type: DP_POLY_PATH_OPTIMIZER
# task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_type: DECIDER_RSS
......@@ -27,7 +27,10 @@ stage_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: DP_ST_SPEED_OPTIMIZER
......
modules/planning/conf/scenario/side_pass_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -23,10 +23,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -47,7 +47,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
......@@ -56,10 +59,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -80,7 +83,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
......@@ -88,10 +94,10 @@ stage_config: {
enabled: true
task_type: DECIDER_RULE_BASED_STOP
task_type: SIDE_PASS_PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -109,7 +115,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -119,10 +128,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -143,7 +152,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
......@@ -152,10 +164,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: SIDE_PASS_SAFETY
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -176,17 +188,20 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
stage_type: SIDE_PASS_PASS_OBSTACLE
enabled: true
task_type: DECIDER_RULE_BASED_STOP
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -201,6 +216,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/conf/scenario/stop_sign_unprotected_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -20,10 +20,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -44,7 +44,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -54,10 +57,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -78,7 +81,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -89,10 +95,10 @@ stage_config: {
task_type: DECIDER_CREEP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PROCEED_WITH_CAUTION_SPEED
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -127,7 +133,10 @@ stage_config: {
}
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -137,10 +146,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -161,6 +170,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/conf/scenario/traffic_light_protected_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -13,10 +13,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -37,7 +37,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -47,10 +50,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -71,6 +74,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/conf/scenario/traffic_light_unprotected_left_turn_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -16,10 +16,10 @@ stage_config: {
task_type: DECIDER_CREEP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PROCEED_WITH_CAUTION_SPEED
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -54,7 +54,10 @@ stage_config: {
}
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -64,10 +67,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -88,6 +91,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/conf/scenario/traffic_light_unprotected_right_turn_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -16,10 +16,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -34,13 +34,16 @@ stage_config: {
task_type: DP_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_DECIDER
}
}
......@@ -51,10 +54,10 @@ stage_config: {
task_type: DECIDER_CREEP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PROCEED_WITH_CAUTION_SPEED
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -80,7 +83,10 @@ stage_config: {
task_type: DP_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PROCEED_WITH_CAUTION_SPEED
......@@ -89,7 +95,7 @@ stage_config: {
}
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_DECIDER
}
}
......@@ -99,10 +105,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -117,12 +123,15 @@ stage_config: {
task_type: DP_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_DECIDER
}
}
modules/planning/proto/planning_config.proto
浏览文件 @ aee2ea6c
......@@ -45,7 +45,8 @@ message TaskConfig {
SIDE_PASS_SAFETY = 14;
PROCEED_WITH_CAUTION_SPEED = 15;
DECIDER_RSS = 16;
SPEED_BOUNDS_DECIDER = 17;
SPEED_BOUNDS_PRIORI_DECIDER = 17;
SPEED_BOUNDS_FINAL_DECIDER = 18;
};
optional TaskType task_type = 1;
oneof task_config {
......
modules/planning/tasks/task_factory.cc
浏览文件 @ aee2ea6c
......@@ -104,7 +104,11 @@ void TaskFactory::Init(const PlanningConfig& config) {
task_factory_.Register(
TaskConfig::DECIDER_RSS,
[](const TaskConfig& config) -> Task* { return new RssDecider(config); });
task_factory_.Register(TaskConfig::SPEED_BOUNDS_DECIDER,
task_factory_.Register(TaskConfig::SPEED_BOUNDS_PRIORI_DECIDER,
[](const TaskConfig& config) -> Task* {
return new SpeedBoundsDecider(config);
});
task_factory_.Register(TaskConfig::SPEED_BOUNDS_FINAL_DECIDER,
[](const TaskConfig& config) -> Task* {
return new SpeedBoundsDecider(config);
});
......
modules/planning/testdata/conf/scenario/lane_follow_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -7,10 +7,10 @@ stage_config: {
task_type: DP_POLY_PATH_OPTIMIZER
# task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
# task_type: DECIDER_RSS
......@@ -27,7 +27,10 @@ stage_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: DP_ST_SPEED_OPTIMIZER
......
modules/planning/testdata/conf/scenario/side_pass_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -18,10 +18,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -42,7 +42,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
......@@ -51,10 +54,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -75,7 +78,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
......@@ -83,10 +89,10 @@ stage_config: {
enabled: true
task_type: DECIDER_RULE_BASED_STOP
task_type: SIDE_PASS_PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -104,7 +110,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -114,10 +123,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -138,7 +147,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
......@@ -147,10 +159,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: SIDE_PASS_SAFETY
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -171,17 +183,20 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
stage_config: {
stage_type: SIDE_PASS_PASS_OBSTACLE
enabled: true
task_type: DECIDER_RULE_BASED_STOP
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -196,6 +211,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/testdata/conf/scenario/stop_sign_unprotected_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -20,10 +20,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -44,7 +44,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -54,10 +57,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -78,7 +81,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -89,10 +95,10 @@ stage_config: {
task_type: DECIDER_CREEP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PROCEED_WITH_CAUTION_SPEED
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -127,7 +133,10 @@ stage_config: {
}
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -137,10 +146,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -161,6 +170,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/testdata/conf/scenario/traffic_light_protected_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -13,10 +13,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -37,7 +37,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -47,10 +50,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -71,6 +74,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/testdata/conf/scenario/traffic_light_unprotected_left_turn_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -16,10 +16,10 @@ stage_config: {
task_type: DECIDER_CREEP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PROCEED_WITH_CAUTION_SPEED
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -54,7 +54,10 @@ stage_config: {
}
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -64,10 +67,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -88,6 +91,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
modules/planning/testdata/conf/scenario/traffic_light_unprotected_right_turn_config.pb.txt
浏览文件 @ aee2ea6c
......@@ -16,10 +16,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -40,7 +40,10 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -51,10 +54,10 @@ stage_config: {
task_type: DECIDER_CREEP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PROCEED_WITH_CAUTION_SPEED
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -89,7 +92,10 @@ stage_config: {
}
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
......@@ -99,10 +105,10 @@ stage_config: {
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_config: {
task_type: DECIDER_RULE_BASED_STOP
......@@ -123,6 +129,9 @@ stage_config: {
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
}
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