apollo::planning::NaviSpeedDecider类 参考

NaviSpeedDecider is used to generate an appropriate speed curve of the vehicle in navigation mode. 更多...

#include <navi_speed_decider.h>

类 apollo::planning::NaviSpeedDecider 继承关系图:

apollo::planning::NaviSpeedDecider 的协作图:

Public 成员函数
	NaviSpeedDecider ()
virtual	~NaviSpeedDecider ()=default
bool	Init (const PlannerNaviConfig &config) override
apollo::common::Status	Execute (Frame *frame, ReferenceLineInfo *reference_line_info) override
	Overrided implementation of the virtual function "Execute" in the base class "Task".
Public 成员函数 继承自 apollo::planning::NaviTask
	NaviTask (const std::string &name)
virtual	~NaviTask ()=default
virtual const std::string &	Name () const

额外继承的成员函数
Protected 属性 继承自 apollo::planning::NaviTask
bool	is_init_ = false
Frame *	frame_ = nullptr
ReferenceLineInfo *	reference_line_info_ = nullptr

详细描述

NaviSpeedDecider is used to generate an appropriate speed curve of the vehicle in navigation mode.

Note that NaviSpeedDecider is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode.

在文件 navi_speed_decider.h 第 52 行定义.

构造及析构函数说明

NaviSpeedDecider()

apollo::planning::NaviSpeedDecider::NaviSpeedDecider

(

)

在文件 navi_speed_decider.cc 第 52 行定义.

: NaviTask("NaviSpeedDecider") {}

~NaviSpeedDecider()

virtual apollo::planning::NaviSpeedDecider::~NaviSpeedDecider ( )

virtualdefault

成员函数说明

Execute()

Status apollo::planning::NaviSpeedDecider::Execute ( Frame *  frame, ReferenceLineInfo *  reference_line_info  )

overridevirtual

Overrided implementation of the virtual function "Execute" in the base class "Task".

参数

frame	Current planning frame.
reference_line_info	Currently available reference line information.

返回

Status::OK() if a suitable path is created; error otherwise.

重载 apollo::planning::NaviTask .

在文件 navi_speed_decider.cc 第 118 行定义.

                                                                         {
  NaviTask::Execute(frame, reference_line_info);
 
  // get cruise speed
  const auto& planning_target = reference_line_info_->planning_target();
  preferred_speed_ = planning_target.has_cruise_speed()
                         ? std::abs(planning_target.cruise_speed())
                         : 0.0;
  preferred_speed_ = std::min(max_speed_, preferred_speed_);
 
  // expected status of vehicle
  const auto& planning_start_point = frame->PlanningStartPoint();
  auto expected_v =
      planning_start_point.has_v() ? planning_start_point.v() : 0.0;
  auto expected_a =
      planning_start_point.has_a() ? planning_start_point.a() : 0.0;
 
  // current status of vehicle
  const auto& vehicle_state = frame->vehicle_state();
  auto current_v = vehicle_state.has_linear_velocity()
                       ? vehicle_state.linear_velocity()
                       : 0.0;
  auto current_a = vehicle_state.has_linear_acceleration()
                       ? vehicle_state.linear_acceleration()
                       : 0.0;
 
  // get the start point
  double start_v;
  double start_a;
  double start_da;
 
  if (enable_planning_start_point_) {
    start_v = std::max(0.0, expected_v);
    start_a = expected_a;
    start_da = 0.0;
  } else {
    start_v = std::max(0.0, current_v);
    start_a = current_a;
    start_da = 0.0;
  }
 
  // acceleration auto compensation
  if (enable_accel_auto_compensation_) {
    if (prev_v_ > 0.0 && current_v > 0.0 && prev_v_ > expected_v) {
      auto raw_ratio = (prev_v_ - expected_v) / (prev_v_ - current_v);
      raw_ratio = Clamp(raw_ratio, 0.0, kDecelCompensationLimit);
      decel_compensation_ratio_ = (decel_compensation_ratio_ + raw_ratio) / 2.0;
      decel_compensation_ratio_ =
          Clamp(decel_compensation_ratio_, 1.0, kDecelCompensationLimit);
      ADEBUG << "change decel_compensation_ratio: " << decel_compensation_ratio_
             << " raw: " << raw_ratio;
    }
    prev_v_ = current_v;
  }
 
  // get the path
  auto& discretized_path = reference_line_info_->path_data().discretized_path();
 
  auto ret = MakeSpeedDecision(
      start_v, start_a, start_da, discretized_path, frame_->obstacles(),
      [&](const std::string& id) { return frame_->Find(id); },
      reference_line_info_->mutable_speed_data());
  RecordDebugInfo(reference_line_info->speed_data());
  if (ret != Status::OK()) {
    reference_line_info->SetDrivable(false);
    AERROR << "Reference Line " << reference_line_info->Lanes().Id()
           << " is not drivable after " << Name();
  }
 
  return ret;
}

Init()

bool apollo::planning::NaviSpeedDecider::Init ( const PlannerNaviConfig &  config )

overridevirtual

重载 apollo::planning::NaviTask .

在文件 navi_speed_decider.cc 第 54 行定义.

                                                           {
  CHECK_GT(FLAGS_planning_upper_speed_limit, 0.0);
  ACHECK(config.has_navi_speed_decider_config());
  ACHECK(config.navi_speed_decider_config().has_preferred_accel());
  ACHECK(config.navi_speed_decider_config().has_preferred_decel());
  ACHECK(config.navi_speed_decider_config().has_max_accel());
  ACHECK(config.navi_speed_decider_config().has_max_decel());
  ACHECK(config.navi_speed_decider_config().has_preferred_jerk());
  ACHECK(config.navi_speed_decider_config().has_obstacle_buffer());
  ACHECK(config.navi_speed_decider_config().has_safe_distance_base());
  ACHECK(config.navi_speed_decider_config().has_safe_distance_ratio());
  ACHECK(config.navi_speed_decider_config().has_following_accel_ratio());
  ACHECK(config.navi_speed_decider_config().has_soft_centric_accel_limit());
  ACHECK(config.navi_speed_decider_config().has_hard_centric_accel_limit());
  ACHECK(config.navi_speed_decider_config().has_hard_speed_limit());
  ACHECK(config.navi_speed_decider_config().has_hard_accel_limit());
  ACHECK(config.navi_speed_decider_config().has_enable_safe_path());
  ACHECK(config.navi_speed_decider_config().has_enable_planning_start_point());
  ACHECK(
      config.navi_speed_decider_config().has_enable_accel_auto_compensation());
  ACHECK(config.navi_speed_decider_config().has_kappa_preview());
  ACHECK(config.navi_speed_decider_config().has_kappa_threshold());
 
  max_speed_ = FLAGS_planning_upper_speed_limit;
  preferred_accel_ =
      std::abs(config.navi_speed_decider_config().preferred_accel());
  preferred_decel_ =
      std::abs(config.navi_speed_decider_config().preferred_decel());
  preferred_jerk_ =
      std::abs(config.navi_speed_decider_config().preferred_jerk());
  max_accel_ = std::abs(config.navi_speed_decider_config().max_accel());
  max_decel_ = std::abs(config.navi_speed_decider_config().max_decel());
  preferred_accel_ = std::min(max_accel_, preferred_accel_);
  preferred_decel_ = std::min(max_decel_, preferred_accel_);
 
  obstacle_buffer_ =
      std::abs(config.navi_speed_decider_config().obstacle_buffer());
  safe_distance_base_ =
      std::abs(config.navi_speed_decider_config().safe_distance_base());
  safe_distance_ratio_ =
      std::abs(config.navi_speed_decider_config().safe_distance_ratio());
  following_accel_ratio_ =
      std::abs(config.navi_speed_decider_config().following_accel_ratio());
  soft_centric_accel_limit_ =
      std::abs(config.navi_speed_decider_config().soft_centric_accel_limit());
  hard_centric_accel_limit_ =
      std::abs(config.navi_speed_decider_config().hard_centric_accel_limit());
  soft_centric_accel_limit_ =
      std::min(hard_centric_accel_limit_, soft_centric_accel_limit_);
  hard_speed_limit_ =
      std::abs(config.navi_speed_decider_config().hard_speed_limit());
  hard_accel_limit_ =
      std::abs(config.navi_speed_decider_config().hard_accel_limit());
  enable_safe_path_ = config.navi_speed_decider_config().enable_safe_path();
  enable_planning_start_point_ =
      config.navi_speed_decider_config().enable_planning_start_point();
  enable_accel_auto_compensation_ =
      config.navi_speed_decider_config().enable_accel_auto_compensation();
  kappa_preview_ = config.navi_speed_decider_config().kappa_preview();
  kappa_threshold_ = config.navi_speed_decider_config().kappa_threshold();
 
  return obstacle_decider_.Init(config);
}

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该类的文档由以下文件生成:

• modules/planning/planners/navi/decider/navi_speed_decider.h
• modules/planning/planners/navi/decider/navi_speed_decider.cc