Apollo 10.0
自动驾驶开放平台
planner_open_space_config.pb.txt
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1roi_config {
2 roi_longitudinal_range_start: 15.0
3 roi_longitudinal_range_end: 15.0
4 parking_start_range: 12.0
5 parking_inwards: false
6}
7warm_start_config {
8 xy_grid_resolution: 0.3
9 phi_grid_resolution: 0.1
10 next_node_num: 10
11 step_size: 0.5
12 traj_forward_penalty: 1.0
13 traj_back_penalty: 1.0
14 traj_gear_switch_penalty: 10.0
15 traj_steer_penalty: 0.0
16 traj_steer_change_penalty: 0.0
17 grid_a_star_xy_resolution: 0.5
18 node_radius: 0.25
19 s_curve_config {
20 acc_weight: 1.0
21 jerk_weight: 0.0
22 kappa_penalty_weight: 100.0
23 ref_s_weight: 0.1
24 ref_v_weight: 0.0
25 }
26}
27dual_variable_warm_start_config {
28 weight_d: 1.0
29 ipopt_config {
30 ipopt_print_level: 0
31 mumps_mem_percent: 6000
32 mumps_pivtol: 1e-06
33 ipopt_max_iter: 100
34 ipopt_tol: 1e-05
35 ipopt_acceptable_constr_viol_tol: 0.1
36 ipopt_min_hessian_perturbation: 1e-12
37 ipopt_jacobian_regularization_value: 1e-07
38 ipopt_print_timing_statistics: "yes"
39 ipopt_alpha_for_y: "min"
40 ipopt_recalc_y: "yes"
41 }
42 qp_format: OSQP
43 min_safety_distance: 0.01
44 debug_osqp: false
45 beta: 1.0
46 osqp_config {
47 alpha: 1.0
48 eps_abs: 1.0e-3
49 eps_rel: 1.0e-3
50 max_iter: 10000
51 polish: true
52 osqp_debug_log: false
53 }
54}
55distance_approach_config {
56 weight_steer: 0.3
57 weight_a: 1.1
58 weight_steer_rate: 2.0
59 weight_a_rate: 2.5
60 weight_x: 18.0
61 weight_y: 14.0
62 weight_phi: 10.0
63 weight_v: 0.0
64 weight_steer_stitching: 1.75
65 weight_a_stitching: 3.25
66 weight_first_order_time: 1.0
67 weight_second_order_time: 2.0
68 weight_end_state: 1.0
69 weight_slack: 1.0
70 min_safety_distance: 0.01
71 max_speed_forward: 2.0
72 max_speed_reverse: 1.0
73 max_acceleration_forward: 2.0
74 max_acceleration_reverse: 1.0
75 min_time_sample_scaling: 0.5
76 max_time_sample_scaling: 1.5
77 use_fix_time: false
78 ipopt_config {
79 ipopt_print_level: 0
80 mumps_mem_percent: 6000
81 mumps_pivtol: 1e-06
82 ipopt_max_iter: 1000
83 ipopt_tol: 0.0001
84 ipopt_acceptable_constr_viol_tol: 0.1
85 ipopt_min_hessian_perturbation: 1e-12
86 ipopt_jacobian_regularization_value: 1e-07
87 ipopt_print_timing_statistics: "yes"
88 ipopt_alpha_for_y: "min"
89 ipopt_recalc_y: "yes"
90 ipopt_mu_init: 0.1
91 }
92 enable_constraint_check: false
93 enable_hand_derivative: false
94 enable_derivative_check: false
95 enable_initial_final_check: false
96 distance_approach_mode: DISTANCE_APPROACH_IPOPT
97 enable_check_initial_state: false
98}
99iterative_anchoring_smoother_config {
100 interpolated_delta_s: 0.1
101 reanchoring_trails_num: 50
102 reanchoring_pos_stddev: 0.25
103 reanchoring_length_stddev: 1.0
104 estimate_bound: false
105 default_bound: 2.0
106 vehicle_shortest_dimension: 1.04
107 fem_pos_deviation_smoother_config {
108 weight_fem_pos_deviation: 1e8
109 weight_path_length: 1.0
110 weight_ref_deviation: 1e3
111 apply_curvature_constraint: false
112 weight_curvature_constraint_slack_var: 1e8
113 curvature_constraint: 0.2
114 max_iter: 500
115 time_limit: 0.0
116 verbose: false
117 scaled_termination: true
118 warm_start: true
119 }
120 collision_decrease_ratio: 0.9
121 max_forward_v: 2.0
122 max_reverse_v: 2.0
123 max_forward_acc: 3.0
124 max_reverse_acc: 2.0
125 max_acc_jerk: 4.0
126 delta_t: 0.2
127 s_curve_config {
128 acc_weight: 1.0
129 jerk_weight: 1.0
130 kappa_penalty_weight: 100.0
131 ref_s_weight: 10.0
132 ref_v_weight: 0.0
133 }
134}
135delta_t: 0.5
136near_destination_threshold: 0.05
137enable_linear_interpolation: false