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体验新版 GitCode,发现更多精彩内容 >>
提交
fe788f91
编写于
12月 03, 2018
作者:
J
Jiaming Tao
提交者:
Jiangtao Hu
12月 13, 2018
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电子邮件补丁
差异文件
planning: enable pnc_junction, mainly for keep-clear inside junction
上级
06978875
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
23 addition
and
20 deletion
+23
-20
modules/planning/conf/traffic_rule_config.pb.txt
modules/planning/conf/traffic_rule_config.pb.txt
+1
-1
modules/planning/traffic_rules/keep_clear.cc
modules/planning/traffic_rules/keep_clear.cc
+13
-11
modules/planning/traffic_rules/pull_over.cc
modules/planning/traffic_rules/pull_over.cc
+9
-8
未找到文件。
modules/planning/conf/traffic_rule_config.pb.txt
浏览文件 @
fe788f91
...
...
@@ -49,7 +49,7 @@ config: {
enabled: true
keep_clear {
enable_keep_clear_zone: true
enable_junction:
fals
e
enable_junction:
tru
e
min_pass_s_distance: 2.0
}
}
...
...
modules/planning/traffic_rules/keep_clear.cc
浏览文件 @
fe788f91
...
...
@@ -60,18 +60,20 @@ Status KeepClear::ApplyRule(Frame* const frame,
// junction
if
(
config_
.
keep_clear
().
enable_junction
())
{
const
std
::
vector
<
PathOverlap
>&
junction_overlaps
=
reference_line_info
->
reference_line
().
map_path
().
junction_overlaps
();
for
(
const
auto
&
junction_overlap
:
junction_overlaps
)
{
const
std
::
vector
<
PathOverlap
>&
pnc_junction_overlaps
=
reference_line_info
->
reference_line
()
.
map_path
().
pnc_junction_overlaps
();
for
(
const
auto
&
pnc_junction_overlap
:
pnc_junction_overlaps
)
{
const
auto
obstacle_id
=
KEEP_CLEAR_JUNCTION_VO_ID_PREFIX
+
junction_overlap
.
object_id
;
if
(
BuildKeepClearObstacle
(
frame
,
reference_line_info
,
const_cast
<
PathOverlap
*>
(
&
junction_overlap
),
obstacle_id
))
{
ADEBUG
<<
"KEEP_CLAER for junction["
<<
junction_overlap
.
object_id
<<
"] s["
<<
junction_overlap
.
start_s
<<
", "
<<
junction_overlap
.
end_s
<<
"] BUILD"
;
KEEP_CLEAR_JUNCTION_VO_ID_PREFIX
+
pnc_junction_overlap
.
object_id
;
if
(
BuildKeepClearObstacle
(
frame
,
reference_line_info
,
const_cast
<
PathOverlap
*>
(
&
pnc_junction_overlap
),
obstacle_id
))
{
ADEBUG
<<
"KEEP_CLAER for junction["
<<
pnc_junction_overlap
.
object_id
<<
"] s["
<<
pnc_junction_overlap
.
start_s
<<
", "
<<
pnc_junction_overlap
.
end_s
<<
"] BUILD"
;
}
}
}
...
...
modules/planning/traffic_rules/pull_over.cc
浏览文件 @
fe788f91
...
...
@@ -256,14 +256,15 @@ bool PullOver::OnOverlap(const double start_s, const double end_s) {
}
// junction
const
std
::
vector
<
PathOverlap
>&
junction_overlaps
=
reference_line
.
map_path
().
junction_overlaps
();
for
(
const
auto
&
junction_overlap
:
junction_overlaps
)
{
if
(
start_s
<=
junction_overlap
.
end_s
&&
end_s
>=
junction_overlap
.
start_s
)
{
ADEBUG
<<
"s["
<<
start_s
<<
", "
<<
end_s
<<
"] on junction_overlap["
<<
junction_overlap
.
object_id
<<
"] s["
<<
junction_overlap
.
start_s
<<
", "
<<
junction_overlap
.
end_s
<<
"]"
;
const
std
::
vector
<
PathOverlap
>&
pnc_junction_overlaps
=
reference_line
.
map_path
().
pnc_junction_overlaps
();
for
(
const
auto
&
pnc_junction_overlap
:
pnc_junction_overlaps
)
{
if
(
start_s
<=
pnc_junction_overlap
.
end_s
&&
end_s
>=
pnc_junction_overlap
.
start_s
)
{
ADEBUG
<<
"s["
<<
start_s
<<
", "
<<
end_s
<<
"] on pnc_junction_overlap["
<<
pnc_junction_overlap
.
object_id
<<
"] s["
<<
pnc_junction_overlap
.
start_s
<<
", "
<<
pnc_junction_overlap
.
end_s
<<
"]"
;
return
true
;
}
}
...
...
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