Skip to content
体验新版
项目
组织
正在加载...
登录
切换导航
打开侧边栏
Pinoxchio
apollo
提交
c106b15c
A
apollo
项目概览
Pinoxchio
/
apollo
与 Fork 源项目一致
从无法访问的项目Fork
通知
2
Star
0
Fork
0
代码
文件
提交
分支
Tags
贡献者
分支图
Diff
Issue
0
列表
看板
标记
里程碑
合并请求
0
Wiki
0
Wiki
分析
仓库
DevOps
项目成员
Pages
A
apollo
项目概览
项目概览
详情
发布
仓库
仓库
文件
提交
分支
标签
贡献者
分支图
比较
Issue
0
Issue
0
列表
看板
标记
里程碑
合并请求
0
合并请求
0
Pages
分析
分析
仓库分析
DevOps
Wiki
0
Wiki
成员
成员
收起侧边栏
关闭侧边栏
动态
分支图
创建新Issue
提交
Issue看板
体验新版 GitCode,发现更多精彩内容 >>
提交
c106b15c
编写于
2月 05, 2018
作者:
K
kechxu
提交者:
Kecheng Xu
2月 06, 2018
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Planning: [lattice] separate yield and ovetake buffer in collision cost function
上级
ee38e7e6
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
10 addition
and
6 deletion
+10
-6
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+4
-1
modules/planning/common/planning_gflags.h
modules/planning/common/planning_gflags.h
+2
-1
modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc
...ning/lattice/trajectory_generator/trajectory_evaluator.cc
+4
-4
未找到文件。
modules/planning/common/planning_gflags.cc
浏览文件 @
c106b15c
...
...
@@ -409,6 +409,9 @@ DEFINE_double(weight_opposite_side_offset, 10.0,
DEFINE_double
(
weight_dist_travelled
,
10.0
,
"Weight of travelled distance cost"
);
DEFINE_double
(
weight_target_speed
,
1.0
,
"Weight of target speed cost"
);
DEFINE_double
(
lat_offset_bound
,
3.0
,
"The bound of lateral offset"
);
DEFINE_double
(
lon_collision_buffer
,
1.0
,
"Longitudinal collision buffer"
);
DEFINE_double
(
lon_collision_yield_buffer
,
1.0
,
"Longitudinal collision buffer for yield"
);
DEFINE_double
(
lon_collision_overtake_buffer
,
5.0
,
"Longitudinal collision buffer for overtake"
);
DEFINE_double
(
lon_collision_cost_std
,
0.5
,
"The standard deviation of logitudinal collision cost function"
);
modules/planning/common/planning_gflags.h
浏览文件 @
c106b15c
...
...
@@ -217,7 +217,8 @@ DECLARE_double(weight_opposite_side_offset);
DECLARE_double
(
weight_dist_travelled
);
DECLARE_double
(
weight_target_speed
);
DECLARE_double
(
lat_offset_bound
);
DECLARE_double
(
lon_collision_buffer
);
DECLARE_double
(
lon_collision_yield_buffer
);
DECLARE_double
(
lon_collision_overtake_buffer
);
DECLARE_double
(
lon_collision_cost_std
);
#endif // MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H
modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc
浏览文件 @
c106b15c
...
...
@@ -233,14 +233,14 @@ double TrajectoryEvaluator::LonCollisionCost(
double
sigma
=
FLAGS_lon_collision_cost_std
;
for
(
const
auto
&
m
:
pt_interval
)
{
double
cost
=
0.0
;
if
(
traj_s
>
m
.
first
-
FLAGS_lon_collision_buffer
&&
traj_s
<
m
.
second
+
FLAGS_lon_collision_buffer
)
{
if
(
traj_s
>
m
.
first
-
FLAGS_lon_collision_
yield_
buffer
&&
traj_s
<
m
.
second
+
FLAGS_lon_collision_
overtake_
buffer
)
{
cost
=
1.0
;
}
else
if
(
traj_s
<
m
.
first
)
{
double
dist
=
traj_s
-
m
.
first
+
FLAGS_lon_collision_buffer
;
double
dist
=
(
m
.
first
-
FLAGS_lon_collision_yield_buffer
)
-
traj_s
;
cost
=
std
::
exp
(
-
dist
*
dist
/
(
2.0
*
sigma
*
sigma
));
}
else
if
(
traj_s
>
m
.
second
)
{
double
dist
=
m
.
second
+
FLAGS_lon_collision_buffer
-
traj_s
;
double
dist
=
traj_s
-
(
m
.
second
+
FLAGS_lon_collision_overtake_buffer
)
;
cost
=
std
::
exp
(
-
dist
*
dist
/
(
2.0
*
sigma
*
sigma
));
}
cost_sqr_sum
+=
cost
*
cost
;
...
...
编辑
预览
Markdown
is supported
0%
请重试
或
添加新附件
.
添加附件
取消
You are about to add
0
people
to the discussion. Proceed with caution.
先完成此消息的编辑!
取消
想要评论请
注册
或
登录