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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
提交
c3bec4f9
编写于
1月 03, 2018
作者:
D
Dong Li
提交者:
Jiangtao Hu
1月 04, 2018
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电子邮件补丁
差异文件
planning: add protected mode when have priority in junction
上级
2c11c0cf
变更
1
隐藏空白更改
内联
并排
Showing
1 changed file
with
17 addition
and
11 deletion
+17
-11
modules/planning/common/reference_line_info.cc
modules/planning/common/reference_line_info.cc
+17
-11
未找到文件。
modules/planning/common/reference_line_info.cc
浏览文件 @
c3bec4f9
...
...
@@ -122,13 +122,19 @@ ADCTrajectory::RightOfWayStatus ReferenceLineInfo::GetRightOfWayStatus() const {
}
else
if
(
WithinOverlap
(
overlap
,
adc_sl_boundary_
.
end_s
()))
{
auto
*
is_protected
=
junction_store
->
Get
(
junction_dropbox_id
(
overlap
.
object_id
));
if
(
!
is_protected
)
{
continue
;
}
if
(
*
is_protected
)
{
if
(
is_protected
!=
nullptr
&&
*
is_protected
)
{
return
ADCTrajectory
::
PROTECTED
;
}
else
{
return
ADCTrajectory
::
UNPROTECTED
;
double
junction_s
=
(
overlap
.
end_s
+
overlap
.
start_s
)
/
2.0
;
auto
ref_point
=
reference_line_
.
GetReferencePoint
(
junction_s
);
if
(
ref_point
.
lane_waypoints
().
empty
())
{
return
ADCTrajectory
::
PROTECTED
;
}
for
(
const
auto
&
waypoint
:
ref_point
.
lane_waypoints
())
{
if
(
waypoint
.
lane
->
lane
().
turn
()
==
hdmap
::
Lane
::
NO_TURN
)
{
return
ADCTrajectory
::
PROTECTED
;
}
}
}
}
}
...
...
@@ -574,13 +580,13 @@ void ReferenceLineInfo::ExportEngageAdvice(EngageAdvice* engage_advice) const {
}
engage_advice
->
set_reason
(
"Vehicle heading is not aligned"
);
}
else
{
if
(
vehicle_state_
.
driving_mode
()
!=
Chassis
::
DrivingMode
::
Chassis_DrivingMode_COMPLETE_AUTO_DRIVE
)
{
engage_advice
->
set_advice
(
EngageAdvice
::
READY_TO_ENGAGE
);
}
else
{
engage_advice
->
set_advice
(
EngageAdvice
::
KEEP_ENGAGED
);
}
if
(
vehicle_state_
.
driving_mode
()
!=
Chassis
::
DrivingMode
::
Chassis_DrivingMode_COMPLETE_AUTO_DRIVE
)
{
engage_advice
->
set_advice
(
EngageAdvice
::
READY_TO_ENGAGE
);
}
else
{
engage_advice
->
set_advice
(
EngageAdvice
::
KEEP_ENGAGED
);
}
}
}
*
prev_advice
=
*
engage_advice
;
}
...
...
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