piecewise_jerk_speed_nonlinear.proto

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syntax = "proto2";
 
package apollo.planning;
 
// PiecewiseJerkNonlinearSpeedOptimizerConfig
 
message PiecewiseJerkNonlinearSpeedOptimizerConfig {
  // Driving comfort weights
  optional double acc_weight = 1 [default = 500.0];
  optional double jerk_weight = 2 [default = 100.0];
  optional double lat_acc_weight = 3 [default = 500.0];
 
  // Minimal traversal time weight
  optional double s_potential_weight = 4 [default = 10.0];
 
  // Preferred cruising speed weight
  optional double ref_v_weight = 5 [default = 10.0];
 
  // Optional reference speed profile weight
  optional double ref_s_weight = 6 [default = 10.0];
 
  // Task specific end point weight
  optional double end_s_weight = 7 [default = 10.0];
  optional double end_v_weight = 8 [default = 10.0];
  optional double end_a_weight = 9 [default = 10.0];
 
  // soft safety boundary constraint violation weight
  optional double soft_s_bound_weight = 10 [default = 10.0];
 
  // Solver settings
  optional bool use_warm_start = 100 [default = true];
  // True to penalize speed optimization result to be close to dp guide line
  optional bool use_smoothed_dp_guide_line = 101 [default = false];
  // False to disallow soft bound in nonlinear speed opt
  optional bool use_soft_bound_in_nonlinear_speed_opt = 102 [default = true];
}