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体验新版 GitCode,发现更多精彩内容 >>
提交
c769fd73
编写于
7月 30, 2019
作者:
K
kechxu
提交者:
PAN Jiacheng
7月 30, 2019
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电子邮件补丁
差异文件
Prediction: refactor some junction related parameters
上级
fb259f4f
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
6 addition
and
10 deletion
+6
-10
modules/prediction/common/junction_analyzer.cc
modules/prediction/common/junction_analyzer.cc
+1
-1
modules/prediction/common/prediction_gflags.cc
modules/prediction/common/prediction_gflags.cc
+1
-1
modules/prediction/conf/prediction_conf.pb.txt
modules/prediction/conf/prediction_conf.pb.txt
+1
-1
modules/prediction/container/obstacles/obstacle.cc
modules/prediction/container/obstacles/obstacle.cc
+2
-2
modules/prediction/evaluator/vehicle/junction_mlp_evaluator.cc
...es/prediction/evaluator/vehicle/junction_mlp_evaluator.cc
+1
-5
未找到文件。
modules/prediction/common/junction_analyzer.cc
浏览文件 @
c769fd73
...
...
@@ -90,7 +90,7 @@ void JunctionAnalyzer::SetAllJunctionExits() {
std
::
vector
<
JunctionExit
>
JunctionAnalyzer
::
GetJunctionExits
(
const
std
::
string
&
start_lane_id
)
{
// TODO(hongyi) make this a gflag
int
max_search_level
=
5
;
int
max_search_level
=
6
;
std
::
vector
<
JunctionExit
>
junction_exits
;
std
::
queue
<
std
::
pair
<
ConstLaneInfoPtr
,
int
>>
lane_info_queue
;
...
...
modules/prediction/common/prediction_gflags.cc
浏览文件 @
c769fd73
...
...
@@ -25,7 +25,7 @@ DEFINE_double(prediction_trajectory_time_length, 8.0,
"Time length of predicted trajectory (in seconds)"
);
DEFINE_double
(
prediction_trajectory_time_resolution
,
0.1
,
"Time resolution of predicted trajectory (in seconds"
);
DEFINE_double
(
min_prediction_trajectory_spatial_length
,
2
0.0
,
DEFINE_double
(
min_prediction_trajectory_spatial_length
,
10
0.0
,
"Minimal spatial length of predicted trajectory"
);
DEFINE_bool
(
enable_trajectory_validation_check
,
false
,
"If check the validity of prediction trajectory."
);
...
...
modules/prediction/conf/prediction_conf.pb.txt
浏览文件 @
c769fd73
...
...
@@ -24,7 +24,7 @@ obstacle_conf {
obstacle_status: IN_JUNCTION
priority_type: NORMAL
evaluator_type: JUNCTION_MLP_EVALUATOR
predictor_type:
INTERACTION
_PREDICTOR
predictor_type:
LANE_SEQUENCE
_PREDICTOR
}
obstacle_conf {
obstacle_type: VEHICLE
...
...
modules/prediction/container/obstacles/obstacle.cc
浏览文件 @
c769fd73
...
...
@@ -1028,7 +1028,7 @@ void Obstacle::BuildLaneGraph() {
double
road_graph_search_distance
=
std
::
fmax
(
estimated_move_distance
,
FLAGS_min_prediction_trajectory_spatial_length
);
bool
is_in_junction
=
feature
->
has_junction_feature
();
bool
is_in_junction
=
HasJunctionFeatureWithExits
();
std
::
unordered_set
<
std
::
string
>
exit_lane_id_set
;
if
(
is_in_junction
)
{
for
(
const
auto
&
exit
:
feature
->
junction_feature
().
junction_exit
())
{
...
...
@@ -1212,7 +1212,7 @@ void Obstacle::BuildLaneGraphFromLeftToRight() {
return
;
}
bool
is_in_junction
=
feature
->
has_junction_feature
();
bool
is_in_junction
=
HasJunctionFeatureWithExits
();
std
::
unordered_set
<
std
::
string
>
exit_lane_id_set
;
if
(
is_in_junction
)
{
for
(
const
auto
&
exit
:
feature
->
junction_feature
().
junction_exit
())
{
...
...
modules/prediction/evaluator/vehicle/junction_mlp_evaluator.cc
浏览文件 @
c769fd73
...
...
@@ -144,11 +144,7 @@ bool JunctionMLPEvaluator::Evaluate(Obstacle* obstacle_ptr) {
latest_feature_ptr
->
raw_velocity
().
x
());
double
d_idx
=
(
angle
/
(
2.0
*
M_PI
)
+
1.0
/
24.0
)
*
12.0
;
int
idx
=
static_cast
<
int
>
(
floor
(
d_idx
>=
0
?
d_idx
:
d_idx
+
12
));
int
prev_idx
=
idx
==
0
?
11
:
idx
-
1
;
int
post_idx
=
idx
==
11
?
0
:
idx
+
1
;
junction_exit_prob
[
junction_exit
.
exit_lane_id
()]
=
probability
[
idx
]
*
0.5
+
probability
[
prev_idx
]
*
0.25
+
probability
[
post_idx
]
*
0.25
;
junction_exit_prob
[
junction_exit
.
exit_lane_id
()]
=
probability
[
idx
];
}
for
(
int
i
=
0
;
i
<
lane_graph_ptr
->
lane_sequence_size
();
++
i
)
{
...
...
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