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提交 dcb4ab56 编写于 作者: J Jinyun 提交者： Liu Jiaming
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Planning: align test settings and constraint check of sunnyvale_big_loop_test... 

Planning: align test settings and constraint check of sunnyvale_big_loop_test with planning algorithm
上级 227dcdb7
隐藏空白更改
内联 并排
Showing with 71 addition and 71 deletion
modules/planning/common/planning_gflags.cc
浏览文件 @ dcb4ab56
......@@ -196,7 +196,7 @@ DEFINE_bool(enable_trajectory_check, false,
DEFINE_double(speed_lower_bound, -0.1, "The lowest speed allowed.");
DEFINE_double(speed_upper_bound, 40.0, "The highest speed allowed.");
DEFINE_double(longitudinal_acceleration_lower_bound, -4.5,
DEFINE_double(longitudinal_acceleration_lower_bound, -6.0,
"The lowest longitudinal acceleration allowed.");
DEFINE_double(longitudinal_acceleration_upper_bound, 4.0,
"The highest longitudinal acceleration allowed.");
......
modules/planning/integration_tests/sunnyvale_big_loop_test.cc
浏览文件 @ dcb4ab56
......@@ -48,7 +48,7 @@ class SunnyvaleBigLoopTest : public PlanningTestBase {
FLAGS_map_dir = "modules/map/data/sunnyvale_big_loop";
FLAGS_test_base_map_filename = "base_map.bin";
FLAGS_test_data_dir = "modules/planning/testdata/sunnyvale_big_loop_test";
FLAGS_planning_upper_speed_limit = 12.5;
FLAGS_planning_upper_speed_limit = 20.0;
FLAGS_enable_scenario_pull_over = false;
FLAGS_enable_scenario_stop_sign = false;
......
modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_01_0.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_CROSSWALK
reason: "stop by CW_2832"
stop_point {
x: 586261.33054620528
y: 4141304.5678338786
x: 586261.32841311616
y: 4141304.5687306495
}
stop_heading: -1.7949095101125847
stop_heading: -1.7966564290127005
change_lane_type: FORWARD
}
}
......@@ -28,11 +28,11 @@ decision {
reason_code: STOP_REASON_CROSSWALK
distance_s: -1
stop_point {
x: 586261.33054620528
y: 4141304.5678338786
x: 586261.32841311616
y: 4141304.5687306495
z: 0
}
stop_heading: -1.7949095101125847
stop_heading: -1.7966564290127005
wait_for_obstacle: "11720"
}
}
......@@ -45,11 +45,11 @@ decision {
reason_code: STOP_REASON_SIGNAL
distance_s: -1
stop_point {
x: 586261.316496803
y: 4141304.5056512705
x: 586261.31446336233
y: 4141304.5065256646
z: 0
}
stop_heading: -1.7949095101125847
stop_heading: -1.7928850222566806
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_0.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_CROSSWALK
reason: "stop by CW_2832"
stop_point {
x: 586261.32728367555
y: 4141304.5688100113
x: 586261.32915069442
y: 4141304.56869029
}
stop_heading: -1.7951855150751495
stop_heading: -1.7978120795609951
change_lane_type: FORWARD
}
}
......@@ -27,11 +27,11 @@ decision {
yield {
distance_s: -5
fence_point {
x: 586260.355368626
y: 4141284.1422478016
x: 586260.39542419114
y: 4141284.1379236
z: 0
}
fence_heading: -1.3338289826636047
fence_heading: -1.3175529905840133
}
}
}
......@@ -42,11 +42,11 @@ decision {
yield {
distance_s: -5
fence_point {
x: 586260.30678834254
y: 4141284.3362579974
x: 586260.3467864691
y: 4141284.3319181586
z: 0
}
fence_heading: -1.3338289826636047
fence_heading: -1.3341987005216187
}
}
}
......@@ -58,11 +58,11 @@ decision {
reason_code: STOP_REASON_CROSSWALK
distance_s: -1
stop_point {
x: 586261.32728367555
y: 4141304.5688100113
x: 586261.32915069442
y: 4141304.56869029
z: 0
}
stop_heading: -1.7951855150751495
stop_heading: -1.7978120795609951
wait_for_obstacle: "11652"
}
}
......@@ -75,11 +75,11 @@ decision {
reason_code: STOP_REASON_SIGNAL
distance_s: -1
stop_point {
x: 586261.31321803678
y: 4141304.5066310731
x: 586261.31514344038
y: 4141304.5064982041
z: 0
}
stop_heading: -1.7951855150751495
stop_heading: -1.7940426778582335
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_1.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_SIGNAL
reason: "stop by TL_2516"
stop_point {
x: 586261.31321803678
y: 4141304.5066310731
x: 586261.31514344038
y: 4141304.5064982041
}
stop_heading: -1.7951855150751495
stop_heading: -1.7940426778582335
change_lane_type: FORWARD
}
}
......@@ -27,11 +27,11 @@ decision {
yield {
distance_s: -5
fence_point {
x: 586260.355368626
y: 4141284.1422478016
x: 586260.39542419114
y: 4141284.1379236
z: 0
}
fence_heading: -1.3338289826636047
fence_heading: -1.3175529905840133
}
}
}
......@@ -42,11 +42,11 @@ decision {
yield {
distance_s: -5
fence_point {
x: 586260.30678834254
y: 4141284.3362579974
x: 586260.3467864691
y: 4141284.3319181586
z: 0
}
fence_heading: -1.3338289826636047
fence_heading: -1.3341987005216187
}
}
}
......@@ -58,11 +58,11 @@ decision {
reason_code: STOP_REASON_SIGNAL
distance_s: -1
stop_point {
x: 586261.31321803678
y: 4141304.5066310731
x: 586261.31514344038
y: 4141304.5064982041
z: 0
}
stop_heading: -1.7951855150751495
stop_heading: -1.7940426778582335
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_destination_stop_01_0.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_DESTINATION
reason: "stop by DEST"
stop_point {
x: 587095.80889309058
y: 4141213.84193085
x: 587095.80899340415
y: 4141213.842325462
}
stop_heading: 2.8934581837970028
stop_heading: 2.8934583126623985
change_lane_type: FORWARD
}
}
......@@ -28,11 +28,11 @@ decision {
reason_code: STOP_REASON_DESTINATION
distance_s: -0.5
stop_point {
x: 587095.80889309058
y: 4141213.84193085
x: 587095.80899340415
y: 4141213.842325462
z: 0
}
stop_heading: 2.8934581837970028
stop_heading: 2.8934583126623985
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_03_0.pb.txt
浏览文件 @ dcb4ab56
......@@ -20,11 +20,11 @@ decision {
follow {
distance_s: -3
fence_point {
x: 586437.407446284
y: 4140728.3336737519
x: 586437.398381711
y: 4140728.3364840685
z: 0
}
fence_heading: 1.328308715223566
fence_heading: 1.3287040549205817
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_01_0.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
reason: "stop by SS_1017"
stop_point {
x: 586395.24501439068
y: 4140150.420841597
x: 586395.27298821311
y: 4140150.4145827373
}
stop_heading: -1.5813726415328468
stop_heading: -1.5434982628389444
change_lane_type: FORWARD
}
}
......@@ -28,11 +28,11 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
distance_s: -1
stop_point {
x: 586395.24501439068
y: 4140150.420841597
x: 586395.27298821311
y: 4140150.4145827373
z: 0
}
stop_heading: -1.5813726415328468
stop_heading: -1.5434982628389444
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_02_0.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
reason: "stop by SS_1017"
stop_point {
x: 586395.2238866539
y: 4140150.4020630261
x: 586395.26942692848
y: 4140150.3769826111
}
stop_heading: -1.5834712595605636
stop_heading: -1.5424184224071673
change_lane_type: FORWARD
}
}
......@@ -28,11 +28,11 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
distance_s: -1
stop_point {
x: 586395.2238866539
y: 4140150.4020630261
x: 586395.26942692848
y: 4140150.3769826111
z: 0
}
stop_heading: -1.5834712595605636
stop_heading: -1.5424184224071673
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_03_0.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
reason: "stop by SS_1017"
stop_point {
x: 586395.2238866539
y: 4140150.4020630261
x: 586395.26942692848
y: 4140150.3769826111
}
stop_heading: -1.5834712595605636
stop_heading: -1.5424184224071673
change_lane_type: FORWARD
}
}
......@@ -28,11 +28,11 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
distance_s: -1
stop_point {
x: 586395.2238866539
y: 4140150.4020630261
x: 586395.26942692848
y: 4140150.3769826111
z: 0
}
stop_heading: -1.5834712595605636
stop_heading: -1.5424184224071673
}
}
}
......
modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_03_1.pb.txt
浏览文件 @ dcb4ab56
......@@ -12,10 +12,10 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
reason: "stop by SS_1017"
stop_point {
x: 586395.2238866539
y: 4140150.4020630261
x: 586395.26942692848
y: 4140150.3769826111
}
stop_heading: -1.5834712595605636
stop_heading: -1.5424184224071673
change_lane_type: FORWARD
}
}
......@@ -28,11 +28,11 @@ decision {
reason_code: STOP_REASON_STOP_SIGN
distance_s: -1
stop_point {
x: 586395.2238866539
y: 4140150.4020630261
x: 586395.26942692848
y: 4140150.3769826111
z: 0
}
stop_heading: -1.5834712595605636
stop_heading: -1.5424184224071673
}
}
}
......
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