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提交 e7d6fd0a 编写于 作者: J Jiangtao Hu 提交者： Liangliang Zhang
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planning: abort change lane in case fast backward vehicles block change lane region.

上级 69062c8d
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Showing with 4360 addition and 0 deletion
modules/planning/integration_tests/sunnyvale_big_loop_test.cc
浏览文件 @ e7d6fd0a
......@@ -315,6 +315,19 @@ TEST_F(SunnyvaleBigLoopTest, traffic_light_green) {
FLAGS_enable_prediction = true;
}
TEST_F(SunnyvaleBigLoopTest, abort_change_lane_for_fast_back_vehicle) {
std::string seq_num = "11";
FLAGS_enable_traffic_light = true;
FLAGS_enable_keep_clear = false;
FLAGS_test_routing_response_file = seq_num + "_routing.pb.txt";
FLAGS_test_localization_file = seq_num + "_localization.pb.txt";
FLAGS_test_chassis_file = seq_num + "_chassis.pb.txt";
FLAGS_test_prediction_file = seq_num + "_prediction.pb.txt";
PlanningTestBase::SetUp();
RUN_GOLDEN_TEST(0);
}
} // namespace planning
} // namespace apollo
......
modules/planning/tasks/speed_decider/speed_decider.cc
浏览文件 @ e7d6fd0a
......@@ -203,6 +203,11 @@ Status SpeedDecider::MakeObjectDecision(
path_obstacle->AddLongitudinalDecision("dp_st_graph/cross",
stop_decision);
}
const std::string msg =
"Failed to find a solution for crossing obstacle:" +
obstacle->Id();
AERROR << msg;
return Status(ErrorCode::PLANNING_ERROR, msg);
}
break;
default:
......
modules/planning/testdata/sunnyvale_big_loop_test/11_chassis.pb.txt 0 → 100755
浏览文件 @ e7d6fd0a
engine_started: true
engine_rpm: 0
speed_mps: 15.675
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 26.564432
brake_percentage: 14.959945
steering_percentage: -1.2978723
steering_torque_nm: -2
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1518648377.319916
module_name: "chassis"
sequence_num: 247176
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.416343999999995
longitude: -122.01127466666665
gps_valid: true
year: 18
month: 2
day: 14
hours: 22
minutes: 46
seconds: 16
compass_direction: 270
pdop: 1.2000000000000002
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 280.79
hdop: 0.60000000000000009
vdop: 1
quality: FIX_3D
num_satellites: 15
gps_speed: 15.6464
}
engage_advice {
advice: READY_TO_ENGAGE
}
modules/planning/testdata/sunnyvale_big_loop_test/11_localization.pb.txt 0 → 100755
浏览文件 @ e7d6fd0a
header {
timestamp_sec: 1518648377.318433
}
pose {
position {
x: 587484.83465911169
y: 4141516.1493382631
z: -31.054244682315154
}
orientation {
qx: -0.040942574445715293
qy: -0.014721659937242887
qz: 0.64633749625859693
qw: 0.76181022522450914
}
linear_velocity {
x: -15.653488587347258
y: 2.7232072309594466
z: 0.0389828765207829
}
linear_acceleration {
x: -0.081311947742334745
y: -0.33353668174305978
z: -0.19380108962625364
}
angular_velocity {
x: 0.026114438606160528
y: -0.021704208479890529
z: -0.0032407417076273865
}
heading: 2.9792000682148903
linear_acceleration_vrf {
x: -0.635143369436264
y: -0.75582414865493774
z: 9.56149771809578
}
angular_velocity_vrf {
x: -0.017016663098035602
y: -0.028918964590953212
z: -0.0061372339261415885
}
euler_angles {
x: -0.08150146416476374
y: 0.030601559067132196
z: 1.4084037414199937
}
}
uncertainty {
position_std_dev {
x: 0.040671955381023875
y: 0.018467040459102767
z: 0.01216545095810509
}
orientation_std_dev {
x: 0.076589186909105891
y: 0.076741187330964841
z: 0.05053614958913609
}
linear_velocity_std_dev {
x: 0.027532722769003766
y: 0.01751289443884721
z: 0.0061467432555478117
}
}
measurement_time: 1518648377.3248789
modules/planning/testdata/sunnyvale_big_loop_test/11_prediction.pb.txt 0 → 100755
浏览文件 @ e7d6fd0a
header {
timestamp_sec: 1518648377.2489274
module_name: "prediction"
sequence_num: 22421
}
prediction_obstacle {
perception_obstacle {
id: 9099
position {
x: 587499.01100828883
y: 4141510.6121053016
z: -31.788609421753417
}
theta: 2.9482207125994213
velocity {
x: -16.463579502969996
y: 3.224101176331041
z: 0
}
length: 4.6487603187561035
width: 1.9675694704055786
height: 1.2520534992218018
polygon_point {
x: 587500.12889798253
y: 4141509.8400453958
z: -31.780001749682135
}
polygon_point {
x: 587499.58627894509
y: 4141509.7755013248
z: -31.774393057678562
}
polygon_point {
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y: 4141509.6659686323
z: -31.764349385390826
}
polygon_point {
x: 587497.08541240834
y: 4141510.0011689449
z: -31.761834610059619
}
polygon_point {
x: 587496.614834307
y: 4141510.4710345594
z: -31.770330423153851
}
polygon_point {
x: 587496.65982819092
y: 4141510.589390398
z: -31.773666548868555
}
polygon_point {
x: 587497.00682514813
y: 4141511.4141321317
z: -31.797158522022904
}
polygon_point {
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y: 4141511.78365799
z: -31.812050350214385
}
polygon_point {
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y: 4141511.1872928175
z: -31.821980073759395
}
polygon_point {
x: 587501.35360810161
y: 4141510.4918677364
z: -31.805520210036018
}
tracking_time: 2.8014459609985352
type: VEHICLE
timestamp: 1518648377.2048476
confidence: 0.8642655611038208
confidence_type: CONFIDENCE_CNN
}
timestamp: 1518648377.2048476
predicted_period: 5
trajectory {
probability: 0.35692847273361905
trajectory_point {
path_point {
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y: 4141510.6121293772
z: 0
theta: 2.9301381707821958
lane_id: "3143_1_-1"
}
v: 16.77355842684053
a: 1.5713588540747896
relative_time: 0
}
trajectory_point {
path_point {
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z: 0
theta: 2.9333734535217388
lane_id: "3143_1_-1"
}
v: 16.933774175601997
a: 1.6323275776128914
relative_time: 0.1
}
trajectory_point {
path_point {
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z: 0
theta: 2.9250440326487555
lane_id: "3143_1_-1"
}
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relative_time: 0.2
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trajectory_point {
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relative_time: 0.30000000000000004
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trajectory_point {
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relative_time: 0.4
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trajectory_point {
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relative_time: 0.5
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trajectory_point {
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}
prediction_obstacle {
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start_timestamp: 1518648377.2372673
end_timestamp: 1518648377.2489269
modules/planning/testdata/sunnyvale_big_loop_test/11_routing.pb.txt 0 → 100755
浏览文件 @ e7d6fd0a
header {
timestamp_sec: 1518718246.4781277
module_name: "routing"
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modules/planning/testdata/sunnyvale_big_loop_test/result_abort_change_lane_for_fast_back_vehicle_0.pb.txt 0 → 100644
浏览文件 @ e7d6fd0a
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decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1518718246.4781277
module_name: "routing"
sequence_num: 1
}
right_of_way_status: UNPROTECTED
lane_id {
id: "3143_1_-2"
}
engage_advice {
advice: PREPARE_DISENGAGE
reason: "Not on reference line"
}
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