Apollo 10.0
自动驾驶开放平台
control_gflags.cc
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1/******************************************************************************
2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
18
19DEFINE_string(pipeline_file,
20 "modules/control/control_component/conf/pipeline.pb.txt",
21 "default control conf data file");
22
23DEFINE_string(control_conf_file,
24 "modules/control/conf/control_conf.pb.txt",
25 "default control conf data file");
26
27DEFINE_string(mpc_controller_conf_file,
28 "modules/control/conf/mpc_controller_conf.pb.txt",
29 "mpc controller conf data file");
30
31DEFINE_string(lateral_controller_conf_file,
32 "modules/control/conf/lateral_controller_conf.pb.txt",
33 "lateral controller conf data file");
34
36 longitudinal_controller_conf_file,
37 "modules/control/conf/longitudinal_controller_conf.pb.txt",
38 "longitudinal controller conf data file");
39
41 calibration_table_file,
42 "modules/control/control_component/conf/calibration_table.pb.txt",
43 "calibration table file");
44
45DEFINE_double(control_test_duration, -1.0, "control test duration");
46
47DEFINE_bool(enable_csv_debug, false, "True to write out csv debug file.");
48
49DEFINE_string(preprocessor_submodule_name, "PreprocessorSubmodule",
50 "preprocessor submodule name in proto");
51
52DEFINE_string(mpc_controller_submodule_name, "MPCControllerSubmodule",
53 "MPC controller node name in proto");
54
55DEFINE_string(lat_lon_controller_submodule_name, "LatLonControllerSubmodule",
56 "lateral+longitudinal controller node name in proto");
57
58DEFINE_string(postprocessor_submodule_name, "PostprocessorSubmodule",
59 "postprocessor submodule name in proto");
60
61DEFINE_bool(is_control_test_mode, false, "True to run control in test mode");
62DEFINE_bool(use_preview_speed_for_table, false,
63 "True to use preview speed for table lookup");
64
65DEFINE_double(steer_angle_rate, 100.0,
66 "Steer angle change rate in percentage.");
67DEFINE_bool(enable_gain_scheduler, false,
68 "Enable gain scheduler for higher vehicle speed");
69DEFINE_bool(set_steer_limit, false, "Set steer limit");
70
71DEFINE_int32(chassis_pending_queue_size, 10, "Max chassis pending queue size");
72DEFINE_int32(planning_pending_queue_size, 10,
73 "Max planning pending queue size");
74DEFINE_int32(planning_status_msg_pending_queue_size, 10,
75 "Max planning status message pending queue size");
76DEFINE_int32(localization_pending_queue_size, 10,
77 "Max localization pending queue size");
78DEFINE_int32(pad_msg_pending_queue_size, 10,
79 "Max pad message pending queue size");
80
81DEFINE_bool(reverse_heading_control, false, "test vehicle reverse control");
82
83DEFINE_bool(query_forward_time_point_only, false,
84 "only use the trajectory point in future");
85
87 enable_gear_drive_negative_speed_protection, false,
88 "Enable estop to prevent following negative speed during gear drive");
89
90DEFINE_bool(use_control_submodules, false,
91 "use control submodules instead of controller agent");
92
93DEFINE_bool(enable_input_timestamp_check, false,
94 "enable input timestamp check");
95
96DEFINE_int32(max_localization_miss_num, 20, "max localization miss num");
97
98DEFINE_int32(max_chassis_miss_num, 20, "max chassis miss num");
99
100DEFINE_int32(max_planning_miss_num, 20, "max planning miss num");
101
102DEFINE_double(max_acceleration_when_stopped, 0.01,
103 "max acceleration when stopped.");
104
105DEFINE_double(max_path_remain_when_stopped, 0.3,
106 "max path remain when stopped.");
107
108DEFINE_bool(enable_persistent_estop, true, "enable persistent estop");
109
110DEFINE_double(control_period, 0.01, "control period");
111
112DEFINE_double(soft_estop_brake, 50.0, "soft estop brake.");
113
114DEFINE_double(trajectory_period, 0.1, "trajectory period.");
115
116DEFINE_double(chassis_period, 0.01, "chassis period.");
117
118DEFINE_double(localization_period, 0.01, "localization period.");
119
120DEFINE_double(minimum_speed_resolution, 0.2, "minimum speed resolution.");
121
122DEFINE_double(minimum_speed_protection, 0.1, "minimum speed protection.");
123
124DEFINE_int32(action, 1, "START = 1; RESET = 2; VIN_REQ = 3");
125
126DEFINE_bool(use_vehicle_epb, false, "enable epb brake for vehicle.");
127
128DEFINE_double(pitch_offset_deg, 0.0, "vehicle pitch offset when in horizon.");
129
130DEFINE_bool(is_control_ut_test_mode, false,
131 "True to run control in ut test mode");
132
133DEFINE_bool(publish_control_debug_info, false,
134 "True to run control in ut test mode");
135
136DEFINE_bool(query_forward_station_point_only, false,
137 "only use the trajectory point in future");
138
139DEFINE_bool(use_speed_filter, false, "use speed smooth filter");
140
141DEFINE_bool(use_throttle_filter, false, "use throttle smooth filter");
142
143DEFINE_double(speed_smoothing_factor, 0.05, "speed smooth factor");
144
145DEFINE_double(throttle_smoothing_factor, 0.05, "speed smooth factor");
146
147DEFINE_bool(use_calibration_dimension_equal_check, false,
148 "use calibration dimension equal check");
DEFINE_string(pipeline_file, "modules/control/control_component/conf/pipeline.pb.txt", "default control conf data file")
DEFINE_double(control_test_duration, -1.0, "control test duration")
DEFINE_int32(chassis_pending_queue_size, 10, "Max chassis pending queue size")
DEFINE_bool(enable_csv_debug, false, "True to write out csv debug file.")