Planning: adjusted qp_spline_path parameter for better robustness.

modules/planning/conf/planning_config.pb.txt

@@ -74,7 +74,7 @@ em_planner_config {
     }
     qp_spline_path_config {
         spline_order: 6
-        number_of_knots: 5
+        number_of_knots: 6
         number_of_fx_constraint_knots: 13
         time_resolution: 0.1
         regularization_weight: 0.1

modules/planning/reference_line/reference_line_provider.cc

@@ -81,20 +81,14 @@ void ReferenceLineProvider::Generate() {
         common::VehicleState::instance()->pose().position();
     const auto adc_point_enu = common::util::MakePointENU(
         curr_adc_position.x(), curr_adc_position.y(), curr_adc_position.z());
-    const int32_t kReferenceLineProviderSleepTime = 1000;
     if (!has_routing_) {
       AERROR << "Routing is not ready.";
-      std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(
-          kReferenceLineProviderSleepTime));
+      constexpr int32_t kRoutingNotReadySleepTime = 1000;
+      std::this_thread::sleep_for(
+          std::chrono::duration<double, std::milli>(kRoutingNotReadySleepTime));
       continue;
     }
 
-    if (!curr_adc_position.has_x() || !curr_adc_position.has_y()) {
-      AERROR << "VehicleState is not ready.";
-      std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(
-          kReferenceLineProviderSleepTime));
-    }
-
     routing::RoutingResponse routing;
     {
       std::lock_guard<std::mutex> lock(routing_response_mutex_);
@@ -108,6 +102,10 @@ void ReferenceLineProvider::Generate() {
     }
     ADEBUG << "ReferenceLine smoothed with adc position: "
            << curr_adc_position.ShortDebugString();
+
+    constexpr int32_t kReferenceLineProviderSleepTime = 200;
+    std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(
+        kReferenceLineProviderSleepTime));
   }
 }