Planning: reduced the number of average point of kappa from 10 to 4 to reduce...

Planning: reduced the number of average point of kappa from 10 to 4 to reduce speed and vehicle shaking. (#1412)

modules/planning/conf/planning_config.pb.txt

@@ -71,7 +71,7 @@ em_planner_config {
         spline_order: 4
         max_spline_length: 20.0
         time_resolution: 0.1
-        regularization_weight: 1.0
+        regularization_weight: 1.0e-5
         first_spline_weight_factor: 0.0
         derivative_weight: 500.0
         second_derivative_weight: 1000.0
@@ -126,7 +126,7 @@ em_planner_config {
             minimal_kappa: 0.00001
             point_extension: 1.0
             lowest_speed: 2.5
-            num_points_to_avg_kappa: 10
+            num_points_to_avg_kappa: 4
         }
     }
 }

modules/planning/proto/st_boundary_config.proto

@@ -11,5 +11,5 @@ message StBoundaryConfig {
   optional double minimal_kappa = 6 [ default = 0.00001 ];
   optional double point_extension = 7 [ default = 1.0 ];
   optional double lowest_speed = 8 [ default = 2.5 ];
-  optional uint32 num_points_to_avg_kappa = 9 [ default = 20 ];
+  optional uint32 num_points_to_avg_kappa = 9 [ default = 4 ];
 }

modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc

@@ -98,7 +98,6 @@ bool QpSplinePathGenerator::Generate(
   if (is_change_lane_path_) {
     ref_l_ = init_frenet_point_.l();
   }
-
   double start_s = init_frenet_point_.s();
 
   constexpr double kDefaultPathLength = 50.0;
@@ -312,12 +311,13 @@ bool QpSplinePathGenerator::AddConstraint(const QpFrenetFrame& qp_frenet_frame,
 
   ADEBUG << "lat_shift = " << lat_shift;
   const double kEndPointBoundaryEpsilon = 1e-2;
-  constexpr double kReservedDistance = 10.0;
-  spline_constraint->AddPointConstraintInRange(
+  constexpr double kReservedDistance = 20.0;
+  const double target_s =
       std::fmin(qp_spline_path_config_.point_constraint_s_position(),
                 kReservedDistance + init_frenet_point_.s() +
-                    init_trajectory_point_.v() * FLAGS_look_forward_time_sec),
-      lat_shift, kEndPointBoundaryEpsilon);
+                    init_trajectory_point_.v() * FLAGS_look_forward_time_sec);
+  spline_constraint->AddPointConstraintInRange(target_s, lat_shift,
+                                               kEndPointBoundaryEpsilon);
   if (!is_change_lane_path_) {
     spline_constraint->AddPointDerivativeConstraintInRange(
         evaluated_s_.back(), 0.0, kEndPointBoundaryEpsilon);