Apollo 11.0
自动驾驶开放平台
open_space_rt_optimizer.pb.txt
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1optimizer_config {
2 traj_resolution: 16
3 wei_sta_obs: 1000.0
4 wei_dyn_obs: 5000.0
5 wei_feas: 2500.0
6 wei_sqrvar: 500.0
7 wei_time: 500.0
8 dyn_obs_clearance: 0.4
9 max_forward_acc: 8.0
10 max_backward_acc: 4.0
11 max_frontend_cur: 1.0
12 traj_piece_duration: 1.0
13 half_margin: 0.15
14 des_traj_resolution: 32
15 max_phidot: 10000.0
16 max_forward_vel: 5.0
17 max_backward_vel: 2.0
18 max_forward_cur: 1.0
19 max_backward_cur: 1.0
20 max_latacc: 5.0
21 max_nonsv: 0.1
22 gearopt: true
23 lbfgs_memsize: 256
24 lbfgs_past: 3
25 lbfgs_delta: 0.0001
26 mini_t: 0.1
27
28 max_frontend_forward_vel: 5.0
29 max_frontend_forward_acc: 8.0
30 max_frontend_backward_vel: 2.0
31 max_frontend_backward_acc: 4.0
32
33 non_sinv: 0.05
34 wei_smooth: 1.0
35}