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
c293950b
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
c293950b
编写于
11月 11, 2019
作者:
J
JasonZhou404
提交者:
Calvin Miao
11月 11, 2019
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Planning: add failsafe for speed limit violation and some refactors
上级
8fd40605
变更
4
展开全部
隐藏空白更改
内联
并排
Showing
4 changed file
with
378 addition
and
242 deletion
+378
-242
modules/planning/conf/planning_config.pb.txt
modules/planning/conf/planning_config.pb.txt
+1
-1
modules/planning/conf/scenario/lane_follow_config.pb.txt
modules/planning/conf/scenario/lane_follow_config.pb.txt
+2
-2
modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.cc
...se_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.cc
+328
-233
modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.h
...ise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.h
+47
-6
未找到文件。
modules/planning/conf/planning_config.pb.txt
浏览文件 @
c293950b
...
...
@@ -37,7 +37,7 @@ default_task_config: {
jerk_weight: 300.0
lat_acc_weight: 1000.0
ref_v_weight: 0.0
ref_s_weight: 10.0
ref_s_weight: 10
0
.0
use_warm_start: true
}
}
...
...
modules/planning/conf/scenario/lane_follow_config.pb.txt
浏览文件 @
c293950b
...
...
@@ -16,8 +16,8 @@ stage_config: {
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
#
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
#
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
task_type: DECIDER_RSS
task_config: {
...
...
modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.cc
浏览文件 @
c293950b
此差异已折叠。
点击以展开。
modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.h
浏览文件 @
c293950b
...
...
@@ -40,14 +40,55 @@ class PiecewiseJerkSpeedNonlinearOptimizer : public SpeedOptimizer {
const
common
::
TrajectoryPoint
&
init_point
,
SpeedData
*
const
speed_data
)
override
;
PiecewiseJerkTrajectory1d
SmoothSpeedLimit
(
const
SpeedLimit
&
speed_limit
);
common
::
Status
SetUpStatesAndBounds
(
const
PathData
&
path_data
);
PiecewiseJerkTrajectory1d
SmoothPathCurvature
(
const
PathData
&
path_data
);
bool
CheckSpeedLimitFeasibility
(
);
bool
CheckStBoundFeasibility
(
const
int
num_of_knots
,
const
double
delta_t
,
const
std
::
array
<
double
,
3
>&
init_s
,
const
std
::
vector
<
std
::
pair
<
double
,
double
>>&
s_bounds
);
common
::
Status
SmoothSpeedLimit
();
common
::
Status
SmoothPathCurvature
(
const
PathData
&
path_data
);
common
::
Status
OptimizeByQP
(
SpeedData
*
const
speed_data
,
std
::
vector
<
double
>*
distance
,
std
::
vector
<
double
>*
velocity
,
std
::
vector
<
double
>*
acceleration
);
common
::
Status
OptimizeByNLP
(
std
::
vector
<
double
>*
distance
,
std
::
vector
<
double
>*
velocity
,
std
::
vector
<
double
>*
acceleration
);
// st problem dimensions
double
delta_t_
=
0.0
;
double
total_length_
=
0.0
;
double
total_time_
=
0.0
;
int
num_of_knots_
=
0
;
// st initial values
double
s_init_
=
0.0
;
double
s_dot_init_
=
0.0
;
double
s_ddot_init_
=
0.0
;
// st states dynamically feasibility bounds
double
s_dot_max_
=
0.0
;
double
s_ddot_max_
=
0.0
;
double
s_ddot_min_
=
0.0
;
double
s_dddot_abs_max_
=
0.0
;
// st safety bounds
std
::
vector
<
std
::
pair
<
double
,
double
>>
s_bounds_
;
// speed limits
SpeedLimit
speed_limit_
;
PiecewiseJerkTrajectory1d
smoothed_speed_limit_
;
// smoothed path curvature profile as a function of traversal distance
PiecewiseJerkTrajectory1d
smoothed_path_curvature_
;
// reference speed profile
SpeedData
reference_speed_data_
;
// reference cruise speed
double
cruise_speed_
;
};
}
// namespace planning
...
...
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