Apollo 11.0
自动驾驶开放平台
open_space_standard_parking_lot.pb.txt
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1delta_t : 0.5
2near_destination_threshold : 0.05
3
4roi_config : {
5 roi_longitudinal_range_start : 15.0
6 roi_longitudinal_range_end : 15.0
7 parking_start_range : 12.0
8 parking_inwards : false
9}
10
11warm_start_config : {
12 xy_grid_resolution : 0.3
13 phi_grid_resolution : 0.1
14 next_node_num : 10
15 step_size : 0.5
16 traj_forward_penalty : 1.0
17 traj_back_penalty : 1.0
18 traj_gear_switch_penalty : 10.0
19 traj_steer_penalty : 0.0
20 traj_steer_change_penalty : 0.0
21 grid_a_star_xy_resolution : 1.0
22 node_radius : 0.5
23}
24
25dual_variable_warm_start_config : {
26 weight_d : 1.0
27 ipopt_config : {
28 ipopt_print_level : 0
29 mumps_mem_percent : 6000
30 mumps_pivtol : 1e-6
31 ipopt_max_iter : 100
32 ipopt_tol : 1e-5
33 ipopt_acceptable_constr_viol_tol : 1e-1
34 ipopt_min_hessian_perturbation : 1e-12
35 ipopt_jacobian_regularization_value : 1e-7
36 ipopt_print_timing_statistics : "yes"
37 ipopt_alpha_for_y : "min"
38 ipopt_recalc_y : "yes"
39 }
40 qp_format: OSQP
41 min_safety_distance: 0.0
42}
43
44distance_approach_config : {
45 weight_steer : 0.0
46 weight_a : 0.0
47 weight_steer_rate : 0.02
48 weight_a_rate : 0.02
49 weight_x : 1.0
50 weight_y : 1.0
51 weight_phi : 2.0
52 weight_v : 0.0
53 weight_steer_stitching : 0.02
54 weight_a_stitching : 0.02
55 weight_first_order_time : 8.0
56 weight_second_order_time : 16.0
57 min_safety_distance : 0.0
58 max_speed_forward : 2.0
59 max_speed_reverse : 1.0
60 max_acceleration_forward : 2.0
61 max_acceleration_reverse : 1.0
62 min_time_sample_scaling : 0.8
63 max_time_sample_scaling : 1.2
64 use_fix_time : false
65 ipopt_config : {
66 ipopt_print_level : 0
67 mumps_mem_percent : 6000
68 mumps_pivtol : 1e-6
69 ipopt_max_iter : 1000
70 ipopt_tol : 1e-4
71 ipopt_acceptable_constr_viol_tol : 1e-1
72 ipopt_min_hessian_perturbation : 1e-12
73 ipopt_jacobian_regularization_value : 1e-7
74 ipopt_print_timing_statistics : "yes"
75 ipopt_alpha_for_y : "min"
76 ipopt_recalc_y : "yes"
77 }
78}