Apollo 11.0
自动驾驶开放平台
default_conf.pb.txt
浏览该文件的文档.
1default_speed_config {
2 unit_t: 1.0
3 dense_dimension_s: 101
4 dense_unit_s: 0.1
5 sparse_unit_s: 1.0
6 speed_weight: 0.0
7 accel_weight: 10.0
8 jerk_weight: 10.0
9 obstacle_weight: 1.0
10 reference_weight: 0.0
11 go_down_buffer: 5.0
12 go_up_buffer: 5.0
13
14 default_obstacle_cost: 1e4
15
16 default_speed_cost: 1.0e3
17 exceed_speed_penalty: 1.0e3
18 low_speed_penalty: 10.0
19 reference_speed_penalty: 10.0
20 keep_clear_low_speed_penalty: 10.0
21 accel_penalty: 1.0
22 decel_penalty: 1.0
23
24 positive_jerk_coeff: 1.0
25 negative_jerk_coeff: 1.0
26
27 max_acceleration: 2.0
28 max_deceleration: -4.0
29 spatial_potential_penalty: 1.0e2
30 enable_multi_thread_in_dp_st_graph: false
31 enable_dp_reference_speed: true
32}
33lane_change_speed_config {
34 unit_t: 1.0
35 dense_dimension_s: 21
36 dense_unit_s: 0.25
37 sparse_unit_s: 1.0
38 speed_weight: 0.0
39 accel_weight: 10.0
40 jerk_weight: 10.0
41 obstacle_weight: 1.0
42 reference_weight: 0.0
43 go_down_buffer: 5.0
44 go_up_buffer: 5.0
45
46 default_obstacle_cost: 1e4
47
48 default_speed_cost: 1.0e3
49 exceed_speed_penalty: 1.0e3
50 low_speed_penalty: 10.0
51 reference_speed_penalty: 10.0
52 keep_clear_low_speed_penalty: 10.0
53 accel_penalty: 1.0
54 decel_penalty: 1.0
55
56 positive_jerk_coeff: 1.0
57 negative_jerk_coeff: 1.0
58
59 max_acceleration: 2.0
60 max_deceleration: -2.5
61 spatial_potential_penalty: 1.0e5
62 is_lane_changing: true
63 enable_multi_thread_in_dp_st_graph: false
64 enable_dp_reference_speed: true
65}