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提交 e7d0e62d 编写于 作者: Z Zhang Liangliang 提交者： Jiangtao Hu
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Planning: added flag to put all speed under this flag value to 0.0.

上级 17ddd0ae
展开全部 隐藏空白更改
内联 并排
Showing with 200 addition and 194 deletion
modules/planning/common/planning_gflags.cc
浏览文件 @ e7d0e62d
......@@ -151,3 +151,5 @@ DEFINE_double(slowdown_speed_threshold, 8.0,
"this threshold. unit : m/s.");
DEFINE_double(slowdown_profile_deceleration, -1.0,
"The deceleration to generate slowdown profile. unit: m/s^2.");
DEFINE_double(qp_st_low_velocity_threshold, 0.05,
"The low velocity threshold for control usage. unit: m/s.");
modules/planning/common/planning_gflags.h
浏览文件 @ e7d0e62d
......@@ -93,5 +93,6 @@ DECLARE_bool(enable_prediction);
DECLARE_bool(enable_slowdown_profile_generator);
DECLARE_double(slowdown_speed_threshold);
DECLARE_double(slowdown_profile_deceleration);
DECLARE_double(qp_st_low_velocity_threshold);
#endif // MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
浏览文件 @ e7d0e62d
......@@ -26,6 +26,7 @@
#include <utility>
#include "modules/common/log.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
......@@ -115,6 +116,9 @@ Status QpSplineStGraph::Search(const StGraphData& st_graph_data,
while (time < qp_spline_st_speed_config_.total_time() + t_output_resolution) {
double s = spline(time);
double v = spline.Derivative(time);
if (v < FLAGS_qp_st_low_velocity_threshold) {
v = 0.0;
}
double a = spline.SecondOrderDerivative(time);
double da = spline.ThirdOrderDerivative(time);
speed_data->AppendSpeedPoint(s, time, v, a, da);
......@@ -211,7 +215,6 @@ Status QpSplineStGraph::ApplyConstraint(
DCHECK_EQ(t_evaluated_.size(), speed_upper_bound.size());
DCHECK_EQ(t_evaluated_.size(), speed_lower_bound.size());
for (size_t i = 0; i < t_evaluated_.size(); ++i) {
auto speed_constraint = st_graph_debug->mutable_speed_constraint()->Add();
speed_constraint->add_t(t_evaluated_[i]);
......
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
浏览文件 @ e7d0e62d
......@@ -1385,7 +1385,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.046751415328411206
v: 0
a: -0.15004655270432221
relative_time: 4.8999999999999906
}
......@@ -1399,7 +1399,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.039638545551806792
v: 0
a: -0.13460565244793782
relative_time: 4.94999999999999
}
......@@ -1413,7 +1413,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.033277108674808986
v: 0
a: -0.11998923672006201
relative_time: 4.99999999999999
}
......@@ -1427,7 +1427,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.027625880470992181
v: 0
a: -0.10619730552069484
relative_time: 5.04999999999999
}
......@@ -1441,7 +1441,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.022643636713931048
v: 0
a: -0.093229858849836256
relative_time: 5.09999999999999
}
......@@ -1455,7 +1455,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.01828915317720009
v: 0
a: -0.081086896707486311
relative_time: 5.14999999999999
}
......@@ -1469,7 +1469,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.014521205634373979
v: 0
a: -0.069768419093644951
relative_time: 5.1999999999999895
}
......@@ -1483,7 +1483,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.011298569859027108
v: 0
a: -0.059274426008312231
relative_time: 5.2499999999999893
}
......@@ -1497,7 +1497,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0085800216247342576
v: 0
a: -0.049604917451488095
relative_time: 5.2999999999999892
}
......@@ -1511,7 +1511,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0063243367050698218
v: 0
a: -0.040759893423172544
relative_time: 5.349999999999989
}
......@@ -1525,7 +1525,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0044902908736085823
v: 0
a: -0.032739353923365688
relative_time: 5.3999999999999888
}
......@@ -1539,7 +1539,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0030366599039248765
v: 0
a: -0.025543298952067306
relative_time: 5.4499999999999886
}
......@@ -1553,7 +1553,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0019222195695932642
v: 0
a: -0.019171728509277619
relative_time: 5.4999999999999885
}
......@@ -1567,7 +1567,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0011057456441886382
v: 0
a: -0.013624642594996628
relative_time: 5.5499999999999883
}
......@@ -1581,7 +1581,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00054601390128516947
v: 0
a: -0.00890204120922411
relative_time: 5.5999999999999881
}
......@@ -1595,7 +1595,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00020180011445763979
v: 0
a: -0.0050039243519602872
relative_time: 5.6499999999999879
}
......@@ -1609,7 +1609,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.1880057280775365e-05
v: 0
a: -0.0019302920232049381
relative_time: 5.6999999999999877
}
......@@ -1623,7 +1623,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: -4.970496671252711e-06
v: 0
a: 0.00031885577704171553
relative_time: 5.7499999999999876
}
......@@ -1637,7 +1637,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 5.0024226176392794e-05
v: 0
a: 0.0017435190487796737
relative_time: 5.7999999999999874
}
......@@ -1651,7 +1651,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00015563999939832707
v: 0
a: 0.0023436977920091584
relative_time: 5.8499999999999872
}
......@@ -1665,7 +1665,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00027065259656883223
v: 0
a: 0.0021193920067300587
relative_time: 5.899999999999987
}
......@@ -1679,7 +1679,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00035383779126269
v: 0
a: 0.0010706016929422635
relative_time: 5.9499999999999869
}
......@@ -1693,7 +1693,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00036397135705468209
v: 0
a: -0.00080267314935411616
relative_time: 5.9999999999999867
}
......@@ -1707,7 +1707,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00032522219106492106
v: 0
a: -0.00074759275150426631
relative_time: 6.0499999999999865
}
......@@ -1721,7 +1721,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00028918215577665988
v: 0
a: -0.00069430792130068713
relative_time: 6.0999999999999863
}
......@@ -1735,7 +1735,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00025576147280740241
v: 0
a: -0.00064281865874411923
relative_time: 6.1499999999999861
}
......@@ -1749,7 +1749,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.000224870363774798
v: 0
a: -0.0005931249638345625
relative_time: 6.199999999999986
}
......@@ -1763,7 +1763,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00019641905029649617
v: 0
a: -0.000545226836572017
relative_time: 6.2499999999999858
}
......@@ -1777,7 +1777,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00017031775399014632
v: 0
a: -0.00049912427695648258
relative_time: 6.2999999999999856
}
......@@ -1791,7 +1791,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0001464766964733979
v: 0
a: -0.0004548172849879596
relative_time: 6.3499999999999854
}
......@@ -1805,7 +1805,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00012480609936390034
v: 0
a: -0.00041230586066644774
relative_time: 6.3999999999999853
}
......@@ -1819,7 +1819,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.00010521618427930307
v: 0
a: -0.00037159000399194717
relative_time: 6.4499999999999851
}
......@@ -1833,7 +1833,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 8.7617172837255587e-05
v: 0
a: -0.00033266971496445771
relative_time: 6.4999999999999849
}
......@@ -1847,7 +1847,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 7.1919286655407243e-05
v: 0
a: -0.00029554499358397954
relative_time: 6.5499999999999847
}
......@@ -1861,7 +1861,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 5.80327473514075e-05
v: 0
a: -0.00026021583985051254
relative_time: 6.5999999999999845
}
......@@ -1875,7 +1875,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 4.5867776542905879e-05
v: 0
a: -0.00022668225376405683
relative_time: 6.6499999999999844
}
......@@ -1889,7 +1889,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.533459584755173e-05
v: 0
a: -0.00019494423532461229
relative_time: 6.6999999999999842
}
......@@ -1903,7 +1903,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 2.6343426882994517e-05
v: 0
a: -0.00016500178453217904
relative_time: 6.749999999999984
}
......@@ -1917,7 +1917,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 1.8804491266883705e-05
v: 0
a: -0.00013685490138675696
relative_time: 6.7999999999999838
}
......@@ -1931,7 +1931,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 1.26280106168687e-05
v: 0
a: -0.00011050358588834605
relative_time: 6.8499999999999837
}
......@@ -1945,7 +1945,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 7.7242065505989132e-06
v: 0
a: -8.5947838036946542e-05
relative_time: 6.8999999999999835
}
......@@ -1959,7 +1959,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 4.0033006857239143e-06
v: 0
a: -6.3187657832557988e-05
relative_time: 6.9499999999999833
}
......@@ -1973,7 +1973,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 1.3755146398929498e-06
v: 0
a: -4.2223045275180827e-05
relative_time: 6.9999999999999831
}
......@@ -1987,7 +1987,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: -2.4892996924430043e-07
v: 0
a: -2.3054000364814949e-05
relative_time: 7.0499999999999829
}
......@@ -2001,7 +2001,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: -9.598115240386988e-07
v: 0
a: -5.6805231014601379e-06
relative_time: 7.0999999999999828
}
......@@ -2015,7 +2015,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: -8.4690840684056553e-07
v: 0
a: 9.8973865148832812e-06
relative_time: 7.1499999999999826
}
......@@ -2029,7 +2029,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 9.9999950811321958e-13
v: 0
a: 2.3679728484215742e-05
relative_time: 7.1999999999999824
}
......@@ -2043,7 +2043,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 1.4911383141308224e-06
v: 0
a: 3.56665028065367e-05
relative_time: 7.2499999999999822
}
......@@ -2057,7 +2057,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.5367251532028403e-06
v: 0
a: 4.5857709481846596e-05
relative_time: 7.2999999999999821
}
......@@ -2071,7 +2071,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 6.0469831348652957e-06
v: 0
a: 5.4253348510145205e-05
relative_time: 7.3499999999999819
}
......@@ -2085,7 +2085,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 8.93213387676711e-06
v: 0
a: 6.085341989143264e-05
relative_time: 7.3999999999999817
}
......@@ -2099,7 +2099,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 1.2102398996558341e-05
v: 0
a: 6.5657923625708791e-05
relative_time: 7.4499999999999815
}
......@@ -2113,7 +2113,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 1.5468000111887965e-05
v: 0
a: 6.8666859712973767e-05
relative_time: 7.4999999999999813
}
......@@ -2127,7 +2127,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 1.893915884040539e-05
v: 0
a: 6.9880228153227459e-05
relative_time: 7.5499999999999812
}
......@@ -2141,7 +2141,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 2.242609679976046e-05
v: 0
a: 6.92980289464702e-05
relative_time: 7.599999999999981
}
......@@ -2155,7 +2155,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 2.5839035607602202e-05
v: 0
a: 6.6920262092701427e-05
relative_time: 7.6499999999999808
}
......@@ -2169,7 +2169,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 2.9088196881580459e-05
v: 0
a: 6.2746927591921485e-05
relative_time: 7.6999999999999806
}
......@@ -2183,7 +2183,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.2083802239344262e-05
v: 0
a: 5.6778025444130368e-05
relative_time: 7.7499999999999805
}
......@@ -2197,7 +2197,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.4736073298543071e-05
v: 0
a: 4.9013555649327968e-05
relative_time: 7.79999999999998
}
......@@ -2211,7 +2211,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.6955231676826894e-05
v: 0
a: 3.9453518207514392e-05
relative_time: 7.84999999999998
}
......@@ -2225,7 +2225,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.8651498991844379e-05
v: 0
a: 2.8097913118689533e-05
relative_time: 7.89999999999998
}
......@@ -2239,7 +2239,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 3.9735096861245585e-05
v: 0
a: 1.4946740382853715e-05
relative_time: 7.94999999999998
}
......@@ -2253,7 +2253,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 4.0116246902679759e-05
v: 0
a: 6.3967928176644762e-18
relative_time: 7.99999999999998
}
......
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
浏览文件 @ e7d0e62d
......@@ -13,7 +13,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 7.3080430595950929e-14
v: 0
a: 3.3019420531132937e-13
relative_time: 0
}
......@@ -27,7 +27,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0012499035858338746
v: 0
a: 0.049836006382971851
relative_time: 0.05
}
......@@ -41,7 +41,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0049675869336572934
v: 0
a: 0.098711190482835179
relative_time: 0.1
}
......@@ -55,7 +55,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.011105008929404424
v: 0
a: 0.14662555229992019
relative_time: 0.15000000000000002
}
......@@ -69,7 +69,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.019614128458936342
v: 0
a: 0.19357909183422695
relative_time: 0.2
}
......@@ -83,7 +83,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.03044690440811414
v: 0
a: 0.23957180908575532
relative_time: 0.25
}
......@@ -97,7 +97,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0.0435552956627989
v: 0
a: 0.28460370405450536
relative_time: 0.3
}
......
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