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Apollo 11.0
自动驾驶开放平台
|
函数 | |
| DEFINE_int32 (planning_loop_rate, 10, "Loop rate for planning node") | |
| DEFINE_int32 (history_max_record_num, 5, "the number of planning history frame to keep") | |
| DEFINE_int32 (max_frame_history_num, 1, "The maximum history frame number") | |
| DEFINE_bool (enable_scenario_side_pass_multiple_parked_obstacles, true, "enable ADC to side-pass multiple parked obstacles without" "worrying if the obstacles are blocked by others.") | |
| DEFINE_bool (enable_force_pull_over_open_space_parking_test, false, "enable force_pull_over_open_space_parking_test") | |
| DEFINE_string (traffic_rule_config_filename, "modules/planning/planning_component/conf/traffic_rule_config.pb.txt", "Traffic rule config filename") | |
| DEFINE_string (smoother_config_filename, "/apollo/modules/planning/planning_component/conf/" "qp_spline_smoother_config.pb.txt", "The configuration file for qp_spline smoother") | |
| DEFINE_string (rtk_trajectory_filename, "modules/planning/planning_base/data/garage.csv", "Loop rate for planning node") | |
| DEFINE_uint64 (rtk_trajectory_forward, 800, "The number of points to be included in RTK trajectory " "after the matched point") | |
| DEFINE_double (rtk_trajectory_resolution, 0.01, "The time resolution of output trajectory for rtk planner.") | |
| DEFINE_string (planner_config_path, "modules/planning/planning_component/conf/" "public_road_planner_config.pb.txt", "The configuration for planner.") | |
| DEFINE_bool (publish_estop, false, "publish estop decision in planning") | |
| DEFINE_bool (enable_trajectory_stitcher, true, "enable stitching trajectory") | |
| DEFINE_bool (enable_reference_line_stitching, true, "Enable stitching reference line, which can reducing computing " "time and improve stability") | |
| DEFINE_double (look_forward_extend_distance, 50, "The step size when extending reference line.") | |
| DEFINE_double (reference_line_stitch_overlap_distance, 20, "The overlap distance with the existing reference line when " "stitching the existing reference line") | |
| DEFINE_bool (enable_smooth_reference_line, true, "enable smooth the map reference line") | |
| DEFINE_bool (prioritize_change_lane, false, "change lane strategy has higher priority, always use a valid " "change lane path if such path exists") | |
| DEFINE_double (change_lane_min_length, 30.0, "meters. If the change lane target has longer length than this " "threshold, it can shortcut the default lane.") | |
| DEFINE_bool (enable_reference_line_provider_thread, true, "Enable reference line provider thread.") | |
| DEFINE_double (default_reference_line_width, 4.0, "Default reference line width") | |
| DEFINE_double (smoothed_reference_line_max_diff, 5.0, "Maximum position difference between the smoothed and the raw " "reference lines.") | |
| DEFINE_double (reference_line_endpoint_extend_length, 10.0, "Extended length of reference line endpoint") | |
| DEFINE_double (planning_upper_speed_limit, 31.3, "Maximum speed (m/s) in planning.") | |
| DEFINE_double (trajectory_time_length, 8.0, "Trajectory time length") | |
| DEFINE_double (trajectory_time_min_interval, 0.02, "(seconds) Trajectory time interval when publish. The is the min value.") | |
| DEFINE_double (trajectory_time_max_interval, 0.1, "(seconds) Trajectory time interval when publish. The is the max value.") | |
| DEFINE_double (trajectory_time_high_density_period, 1.0, "(seconds) Keep high density in the next this amount of seconds. ") | |
| DEFINE_bool (enable_trajectory_check, false, "Enable sanity check for planning trajectory.") | |
| DEFINE_double (speed_lower_bound, -0.1, "The lowest speed allowed.") | |
| DEFINE_double (speed_upper_bound, 40.0, "The highest speed allowed.") | |
| DEFINE_double (longitudinal_acceleration_lower_bound, -6.0, "The lowest longitudinal acceleration allowed.") | |
| DEFINE_double (longitudinal_acceleration_upper_bound, 4.0, "The highest longitudinal acceleration allowed.") | |
| DEFINE_double (lateral_acceleration_bound, 4.0, "Bound of lateral acceleration; symmetric for left and right") | |
| DEFINE_double (longitudinal_jerk_lower_bound, -4.0, "The lower bound of longitudinal jerk.") | |
| DEFINE_double (longitudinal_jerk_upper_bound, 2.0, "The upper bound of longitudinal jerk.") | |
| DEFINE_double (lateral_jerk_bound, 4.0, "Bound of lateral jerk; symmetric for left and right") | |
| DEFINE_double (kappa_bound, 0.1979, "The bound for trajectory curvature") | |
| DEFINE_double (st_max_s, 100, "the maximum s of st boundary") | |
| DEFINE_double (st_max_t, 8, "the maximum t of st boundary") | |
| DEFINE_double (static_obstacle_nudge_l_buffer, 0.3, "minimum l-distance to nudge a static obstacle (meters)") | |
| DEFINE_double (nonstatic_obstacle_nudge_l_buffer, 0.4, "minimum l-distance to nudge a non-static obstacle (meters)") | |
| DEFINE_double (lateral_ignore_buffer, 3.0, "If an obstacle's lateral distance is further away than this " "distance, ignore it") | |
| DEFINE_double (max_stop_distance_obstacle, 10.0, "max stop distance from in-lane obstacle (meters)") | |
| DEFINE_double (min_stop_distance_obstacle, 6.0, "min stop distance from in-lane obstacle (meters)") | |
| DEFINE_double (follow_min_distance, 3.0, "min follow distance for vehicles/bicycles/moving objects") | |
| DEFINE_double (yield_distance, 5.0, "min yield distance for vehicles/moving objects " "other than pedestrians/bicycles") | |
| DEFINE_double (follow_time_buffer, 2.5, "time buffer in second to calculate the following distance.") | |
| DEFINE_double (signal_expire_time_sec, 5.0, "traffic light signal info read expire time in sec") | |
| DEFINE_string (destination_obstacle_id, "DEST", "obstacle id for converting destination to an obstacle") | |
| DEFINE_double (destination_check_distance, 5.0, "if the distance between destination and ADC is less than this," " it is considered to reach destination") | |
| DEFINE_double (passed_destination_threshold, 0.05, "check adc whether has passed destination") | |
| DEFINE_double (passed_referenceline_end_threshold, 1.5, "check adc whether has passed reference line end") | |
| DEFINE_double (virtual_stop_wall_length, 0.1, "virtual stop wall length (meters)") | |
| DEFINE_double (virtual_stop_wall_height, 2.0, "virtual stop wall height (meters)") | |
| DEFINE_bool (enable_skip_path_tasks, false, "skip all path tasks and use trimmed previous path") | |
| DEFINE_double (obstacle_lat_buffer, 0.4, "obstacle lateral buffer (meters) for deciding path boundaries") | |
| DEFINE_double (obstacle_lon_start_buffer, 3.0, "obstacle longitudinal start buffer (meters) for deciding " "path boundaries") | |
| DEFINE_double (obstacle_lon_end_buffer, 2.0, "obstacle longitudinal end buffer (meters) for deciding " "path boundaries") | |
| DEFINE_double (obstacle_lon_ignore_buffer, 0.0, "obstacle longitudinal ignore buffer (meters) for deciding " "backside obstacles") | |
| DEFINE_double (static_obstacle_speed_threshold, 0.5, "The speed threshold to decide whether an obstacle is static " "or not.") | |
| DEFINE_double (prediction_total_time, 5.0, "Total prediction time") | |
| DEFINE_bool (align_prediction_time, false, "enable align prediction data based planning time") | |
| DEFINE_double (turn_signal_distance, 100.00, "In meters. If there is a turn within this distance, use turn signal") | |
| DEFINE_int32 (trajectory_point_num_for_debug, 10, "number of output trajectory points for debugging") | |
| DEFINE_double (slowdown_profile_deceleration, -4.0, "The deceleration to generate slowdown profile. unit: m/s^2.") | |
| DEFINE_double (speed_fallback_distance, 3.0, "Distance to speed fallback. unit: m.") | |
| DEFINE_bool (use_multi_thread_to_add_obstacles, false, "use multiple thread to add obstacles.") | |
| thread pool | |
| DEFINE_double (numerical_epsilon, 1e-6, "Epsilon in lattice planner.") | |
| Lattice Planner | |
| DEFINE_double (default_cruise_speed, 5.0, "default cruise speed") | |
| DEFINE_double (trajectory_time_resolution, 0.1, "Trajectory time resolution in planning") | |
| DEFINE_double (trajectory_space_resolution, 1.0, "Trajectory space resolution in planning") | |
| DEFINE_double (speed_lon_decision_horizon, 200.0, "Longitudinal horizon for speed decision making (meter)") | |
| DEFINE_uint64 (num_velocity_sample, 6, "The number of velocity samples in end condition sampler.") | |
| DEFINE_bool (enable_backup_trajectory, true, "If generate backup trajectory when planning fail") | |
| DEFINE_double (backup_trajectory_cost, 1000.0, "Default cost of backup trajectory") | |
| DEFINE_double (min_velocity_sample_gap, 1.0, "Minimal sampling gap for velocity") | |
| DEFINE_double (lon_collision_buffer, 2.0, "The longitudinal buffer to keep distance to other vehicles") | |
| DEFINE_double (lat_collision_buffer, 0.1, "The lateral buffer to keep distance to other vehicles") | |
| DEFINE_uint64 (num_sample_follow_per_timestamp, 3, "The number of sample points for each timestamp to follow") | |
| DEFINE_double (weight_lon_objective, 10.0, "Weight of longitudinal travel cost") | |
| DEFINE_double (weight_lon_jerk, 1.0, "Weight of longitudinal jerk cost") | |
| DEFINE_double (weight_lon_collision, 5.0, "Weight of longitudinal collision cost") | |
| DEFINE_double (weight_lat_offset, 2.0, "Weight of lateral offset cost") | |
| DEFINE_double (weight_lat_comfort, 10.0, "Weight of lateral comfort cost") | |
| DEFINE_double (weight_centripetal_acceleration, 1.5, "Weight of centripetal acceleration") | |
| DEFINE_double (cost_non_priority_reference_line, 5.0, "The cost of planning on non-priority reference line.") | |
| DEFINE_double (weight_same_side_offset, 1.0, "Weight of same side lateral offset cost") | |
| DEFINE_double (weight_opposite_side_offset, 10.0, "Weight of opposite side lateral offset cost") | |
| DEFINE_double (weight_dist_travelled, 10.0, "Weight of travelled distance cost") | |
| DEFINE_double (weight_target_speed, 1.0, "Weight of target speed cost") | |
| DEFINE_double (lat_offset_bound, 3.0, "The bound of lateral offset") | |
| DEFINE_double (lon_collision_yield_buffer, 1.0, "Longitudinal collision buffer for yield") | |
| DEFINE_double (lon_collision_overtake_buffer, 5.0, "Longitudinal collision buffer for overtake") | |
| DEFINE_double (lon_collision_cost_std, 0.5, "The standard deviation of longitudinal collision cost function") | |
| DEFINE_double (default_lon_buffer, 5.0, "Default longitudinal buffer to sample path-time points.") | |
| DEFINE_double (time_min_density, 1.0, "Minimal time density to search sample points.") | |
| DEFINE_double (comfort_acceleration_factor, 0.5, "Factor for comfort acceleration.") | |
| DEFINE_double (polynomial_minimal_param, 0.01, "Minimal time parameter in polynomials.") | |
| DEFINE_double (lattice_stop_buffer, 0.02, "The buffer before the stop s to check trajectories.") | |
| DEFINE_bool (lateral_optimization, true, "whether using optimization for lateral trajectory generation") | |
| DEFINE_double (weight_lateral_offset, 1.0, "weight for lateral offset " "in lateral trajectory optimization") | |
| DEFINE_double (weight_lateral_derivative, 500.0, "weight for lateral derivative " "in lateral trajectory optimization") | |
| DEFINE_double (weight_lateral_second_order_derivative, 1000.0, "weight for lateral second order derivative " "in lateral trajectory optimization") | |
| DEFINE_double (weight_lateral_third_order_derivative, 1000.0, "weight for lateral third order derivative " "in lateral trajectory optimization") | |
| DEFINE_double (weight_lateral_obstacle_distance, 0.0, "weight for lateral obstacle distance in lateral trajectory optimization") | |
| DEFINE_double (lateral_third_order_derivative_max, 0.1, "the maximal allowance for lateral third order derivative") | |
| DEFINE_double (max_s_lateral_optimization, 60.0, "The maximal s for lateral optimization.") | |
| DEFINE_double (default_delta_s_lateral_optimization, 1.0, "The default delta s for lateral optimization.") | |
| DEFINE_double (bound_buffer, 0.1, "buffer to boundary for lateral optimization") | |
| DEFINE_double (nudge_buffer, 0.3, "buffer to nudge for lateral optimization") | |
| DEFINE_double (fallback_total_time, 3.0, "total fallback trajectory time") | |
| DEFINE_double (fallback_time_unit, 0.1, "fallback trajectory unit time in seconds") | |
| DEFINE_double (speed_bump_speed_limit, 4.4704, "the speed limit when passing a speed bump, m/s. The default " "speed limit is 10 mph.") | |
| DEFINE_double (default_city_road_speed_limit, 15.67, "default speed limit (m/s) for city road. 35 mph.") | |
| DEFINE_double (default_highway_speed_limit, 29.06, "default speed limit (m/s) for highway. 65 mph.") | |
| DEFINE_bool (enable_planning_pad_msg, false, "To control whether to enable planning pad message.") | |
| DEFINE_string (planner_open_space_config_filename, "/apollo/modules/planning/planning_component/conf/" "planner_open_space_config.pb.txt", "The open space planner configuration file") | |
| DEFINE_bool (use_dual_variable_warm_start, true, "whether or not enable dual variable warm start ") | |
| DEFINE_bool (enable_smoother_failsafe, false, "whether to use warm start result as final output when smoother fails") | |
| DEFINE_bool (use_s_curve_speed_smooth, false, "Whether use s-curve (piecewise_jerk) for smoothing Hybrid Astar " "speed/acceleration.") | |
| DEFINE_bool (use_iterative_anchoring_smoother, false, "Whether use iterative_anchoring_smoother for open space planning ") | |
| DEFINE_bool (enable_parallel_trajectory_smoothing, false, "Whether to partition the trajectory first and do smoothing in parallel") | |
| DEFINE_double (path_speed_osqp_setting_time_limit, 0.09, "Run time limit for OSQP in seconds.") | |
| DEFINE_bool (enable_osqp_debug, false, "True to turn on OSQP verbose debug output in log.") | |
| DEFINE_bool (export_chart, false, "export chart in planning") | |
| DEFINE_bool (enable_record_debug, true, "True to enable record debug info in chart format") | |
| DEFINE_bool (enable_print_curve, false, "True to enable print curve info into log") | |
| DEFINE_double (default_front_clear_distance, 300.0, "default front clear distance value in case there is no obstacle around.") | |
| DEFINE_bool (enable_rss_info, true, "enable rss_info in trajectory_pb") | |
| DEFINE_bool (enable_planning_smoother, false, "True to enable planning smoother among different planning cycles.") | |
| DEFINE_double (smoother_stop_distance, 10.0, "(unit: meter) for ADC stop, if it is close to the stop point " "within this threshold, current planning will be smoothed.") | |
| DEFINE_bool (enable_parallel_hybrid_a, false, "True to enable hybrid a* parallel implementation.") | |
| DEFINE_double (message_latency_threshold, 0.02, "Threshold for message delay") | |
| DEFINE_uint64 (trajectory_stitching_preserved_length, 20, "preserved points number in trajectory stitching") | |
| DEFINE_double (side_pass_driving_width_l_buffer, 0.1, "(unit: meter) for side pass driving width l buffer") | |
| DEFINE_bool (use_st_drivable_boundary, false, "True to use st_drivable boundary in speed planning") | |
| DEFINE_bool (use_front_axe_center_in_path_planning, false, "If using front axe center in path planning, the path can be " "more agile.") | |
| DEFINE_bool (planning_offline_learning, false, "offline learning. read record files and dump learning_data") | |
| DEFINE_string (planning_data_dir, "/apollo/modules/planning/planning_base/data/", "Prefix of files to store feature data") | |
| DEFINE_string (planning_offline_bags, "", "a list of source files or directories for offline mode. " "The items need to be separated by colon ':'. ") | |
| DEFINE_int32 (learning_data_obstacle_history_time_sec, 3.0, "time sec (second) of history trajectory points for a obstacle") | |
| DEFINE_int32 (learning_data_frame_num_per_file, 100, "number of learning_data_frame to write out in one data file.") | |
| DEFINE_string (planning_birdview_img_feature_renderer_config_file, "/apollo/modules/planning/planning_component/conf/" "planning_semantic_map_config.pb.txt", "config file for renderer singleton") | |
| DEFINE_int32 (min_past_history_points_len, 0, "minimun past history points length for trainsition from " "rule-based planning to learning-based planning") | |
| DEFINE_double (path_bounds_decider_resolution, 0.5, "The distance along s direction.") | |
| DEFINE_double (path_bounds_horizon, 100, "path bounds horizon") | |
| DEFINE_double (num_extra_tail_bound_point, 20, "The extra tail point number.") | |
| DEFINE_bool (enable_pull_over_at_destination, false, "Whether to pull over at destination") | |
| DEFINE_double (replan_lateral_distance_threshold, 0.5, "The lateral distance threshold of replan") | |
| DEFINE_double (replan_longitudinal_distance_threshold, 2.5, "The longitudinal distance threshold of replan") | |
| DEFINE_double (replan_time_threshold, 7.0, "The time threshold of replan") | |
| DEFINE_double (trajectory_check_collision_time_step, 1.0, "checks collision time step for trajectory") | |
| DEFINE_double (obstacle_pass_check_distance, 3.0, "at the distance, the obstacle goes around left or right" "consider ego and obstacle position") | |
| DEFINE_bool (speed_optimize_fail_relax_velocity_constraint, true, "When the speed optimization fails," "relax the speed upper bound constraint and try to optimize again") | |
| DEFINE_bool (check_collision_freespace_obstacle_vertices, false, "Detect vehicle collisions with map projection obstacles") | |
| DEFINE_double (near_stop_speed, 0.5, "Set deceleration as near_stop_deceleration when vehicle speed is smaller " "than this value before stopping so that control can keep up.") | |
| DEFINE_double (near_stop_deceleration, -1.0, "Set deceleration as near_stop_deceleration when vehicle deceleration is " "smaller than this value before stopping so that control can keep up.") | |
| DEFINE_double (reference_line_max_forward_heading_diff, 2.5, "max angle difference between the forward reference line and ego heading") | |
| DEFINE_double (reference_line_max_backward_heading_diff, 3.1415926536, "max angle difference between the backward reference line and ego heading") | |
| DEFINE_double (sqp_obstacle_weight, 100, "sqp_obstacle_weight") | |
| DEFINE_bool (enable_obstacle_potential_field, true, "enable_obstacle_potential_field") | |
| DEFINE_double (open_space_delta_t, 1.0, "open space sample time for speed planning") | |
| DEFINE_double (open_space_acc_weight, 1.0, "weight of open space acceleration in the cost function") | |
| DEFINE_double (open_space_jerk_weight, 10.0, "weight of open space jerk in the cost function") | |
| DEFINE_double (open_space_kappa_weight, 1000.0, "weight of open space kappa in the cost function") | |
| DEFINE_double (open_space_reference_s_weight, 10.0, "weight of open space reference s in the cost function") | |
| DEFINE_double (open_space_reference_v_weight, 10.0, "weight of open space reference v in the cost function") | |
| DEFINE_double (open_space_max_forward_v, 2.0, "the max forward velocity for open space planning") | |
| DEFINE_double (open_space_max_reverse_v, 2.0, "the max reverse velocity for open space planning") | |
| DEFINE_double (open_space_max_forward_acc, 3.0, "the max forward acceleration for open space planning") | |
| DEFINE_double (open_space_max_reverse_acc, 2.0, "the max reverse acceleration for open space planning") | |
| DEFINE_double (open_space_max_jerk, 4.0, "the max jerk for open space planning") | |
| DEFINE_bool (enable_nudge_decider, true, "Enable use nudge decider") | |
| DEFINE_double (max_nudge_check_distance_in_lk, 4.0, "Max nudge check distance in kane keep path boundary decider") | |
| DEFINE_double (max_nudge_check_distance_in_lc, 3.0, "Max nudge check distance in lane change path boundary decider") | |
| DEFINE_double (path_trim_destination_threshold, 20.0, "Distance threshold to destination in path trim operation") | |
| DEFINE_double (edge_follow_buffer, 0.3, "Edge follow buffer") | |
| DEFINE_bool (disable_perception_edge_info, false, "Disable perception edge info") | |
| DEFINE_bool (enable_edge_follow_curvature_buffer, false, "Enable add curvature buffer in edge follow map") | |
| DEFINE_bool (enable_smooth_edge_follow_buffer, false, "Enable smooth edge follow buffer") | |
| DEFINE_bool (enable_print_edge_follow_log, false, "Enable print edge follow log") | |
| DEFINE_double (normal_look_forward_short_distance, 180, "normal look forward short distance in reference line") | |
| DEFINE_double (normal_look_forward_long_distance, 250, "normal look forward long distance in reference line") | |
| DEFINE_double (normal_look_backward_distance, 50, "normal look backward distance in reference line") | |
| DEFINE_double (edge_follow_look_forward_short_distance, 20, "edge follow look forward short distance in reference line") | |
| DEFINE_double (edge_follow_look_forward_long_distance, 50, "edge follow look forward long distance in reference line") | |
| DEFINE_double (edge_follow_look_backward_distance, 50, "edge follow look backward distance in reference line") | |
| DEFINE_bool (enable_lane_escape, true, "Enable lane escape") | |
| DEFINE_bool (use_zigzag_type_path_lane, false, "use arc type path when in zone cover stage") | |
| DEFINE_bool (change_end_pose, false, "change end pose when in zone cover stage") | |
| DEFINE_bool (calculate_next_trajectory, false, "calculate next trajectory when in zone cover stage") | |
| DEFINE_bool (enable_non_drivablle_roi, false, "enable non drivable roi when in zone cover stage") | |
| DEFINE_double (ego_front_slack_buffer, 0.25, "the lateral threshold to relaxing the solution space") | |
| DEFINE_double (relax_ego_radius_buffer, 10.0, "relax_ego_radius buffer") | |
| DEFINE_double (relax_path_s_threshold, 5.0, "relax path boundary s threshold") | |
| DEFINE_bool (enable_corner_constraint, false, "enable use obstacle corner constraint") | |
| DEFINE_bool (enable_expand_obs_corner, false, "enable expand_obs_corner") | |
| DEFINE_double (expand_obs_corner_lon_buffer, 0.6, "expand obs corner lon buffer") | |
| DEFINE_bool (enable_adc_vertex_constraint, false, "enable use adc vertex constraint") | |
| DEFINE_double (obstacle_lon_end_buffer_park, 0.6, "obstacle longitudinal end buffer (meters) for deciding " "path boundaries") | |
| DEFINE_bool (enable_control_interactive_replan, true, "enable replan with control interactive masg") | |
| DEFINE_int32 (close_range_obstacle_nudge_range_remain_farmes, 5, "remain the nudge range in frames") | |
| DEFINE_double (close_range_obstacle_nudge_pedestrian_waiting_time, 2.0, "waiting time for pedestrians") | |
| DEFINE_double (path_obs_ref_shift_distance, 0.8, "shift the reference to avoid obstacle for path") | |
| DEFINE_double (driving_state_nudge_check_l, 0.2, "uudge lateral check threshold for the ego's driving status") | |
| DEFINE_bool | ( | align_prediction_time | , |
| false | , | ||
| "enable align prediction data based planning time" | |||
| ) |
| DEFINE_bool | ( | calculate_next_trajectory | , |
| false | , | ||
| "calculate next trajectory when in zone cover stage" | |||
| ) |
| DEFINE_bool | ( | change_end_pose | , |
| false | , | ||
| "change end pose when in zone cover stage" | |||
| ) |
| DEFINE_bool | ( | check_collision_freespace_obstacle_vertices | , |
| false | , | ||
| "Detect vehicle collisions with map projection obstacles" | |||
| ) |
| DEFINE_bool | ( | disable_perception_edge_info | , |
| false | , | ||
| "Disable perception edge info" | |||
| ) |
| DEFINE_bool | ( | enable_adc_vertex_constraint | , |
| false | , | ||
| "enable use adc vertex constraint" | |||
| ) |
| DEFINE_bool | ( | enable_backup_trajectory | , |
| true | , | ||
| "If generate backup trajectory when planning fail" | |||
| ) |
| DEFINE_bool | ( | enable_control_interactive_replan | , |
| true | , | ||
| "enable replan with control interactive masg" | |||
| ) |
| DEFINE_bool | ( | enable_corner_constraint | , |
| false | , | ||
| "enable use obstacle corner constraint" | |||
| ) |
| DEFINE_bool | ( | enable_edge_follow_curvature_buffer | , |
| false | , | ||
| "Enable add curvature buffer in edge follow map" | |||
| ) |
| DEFINE_bool | ( | enable_expand_obs_corner | , |
| false | , | ||
| "enable expand_obs_corner" | |||
| ) |
| DEFINE_bool | ( | enable_force_pull_over_open_space_parking_test | , |
| false | , | ||
| "enable force_pull_over_open_space_parking_test" | |||
| ) |
| DEFINE_bool | ( | enable_lane_escape | , |
| true | , | ||
| "Enable lane escape" | |||
| ) |
| DEFINE_bool | ( | enable_non_drivablle_roi | , |
| false | , | ||
| "enable non drivable roi when in zone cover stage" | |||
| ) |
| DEFINE_bool | ( | enable_nudge_decider | , |
| true | , | ||
| "Enable use nudge decider" | |||
| ) |
| DEFINE_bool | ( | enable_obstacle_potential_field | , |
| true | , | ||
| "enable_obstacle_potential_field" | |||
| ) |
| DEFINE_bool | ( | enable_osqp_debug | , |
| false | , | ||
| "True to turn on OSQP verbose debug output in log." | |||
| ) |
| DEFINE_bool | ( | enable_parallel_hybrid_a | , |
| false | , | ||
| "True to enable hybrid a* parallel implementation." | |||
| ) |
| DEFINE_bool | ( | enable_parallel_trajectory_smoothing | , |
| false | , | ||
| "Whether to partition the trajectory first and do smoothing in parallel" | |||
| ) |
| DEFINE_bool | ( | enable_planning_pad_msg | , |
| false | , | ||
| "To control whether to enable planning pad message." | |||
| ) |
| DEFINE_bool | ( | enable_planning_smoother | , |
| false | , | ||
| "True to enable planning smoother among different planning cycles." | |||
| ) |
| DEFINE_bool | ( | enable_print_curve | , |
| false | , | ||
| "True to enable print curve info into log" | |||
| ) |
| DEFINE_bool | ( | enable_print_edge_follow_log | , |
| false | , | ||
| "Enable print edge follow log" | |||
| ) |
| DEFINE_bool | ( | enable_pull_over_at_destination | , |
| false | , | ||
| "Whether to pull over at destination" | |||
| ) |
| DEFINE_bool | ( | enable_record_debug | , |
| true | , | ||
| "True to enable record debug info in chart format" | |||
| ) |
| DEFINE_bool | ( | enable_reference_line_provider_thread | , |
| true | , | ||
| "Enable reference line provider thread." | |||
| ) |
| DEFINE_bool | ( | enable_reference_line_stitching | , |
| true | , | ||
| "Enable stitching reference | line, | ||
| which can reducing computing " "time and improve stability" | |||
| ) |
| DEFINE_bool | ( | enable_rss_info | , |
| true | , | ||
| "enable rss_info in trajectory_pb" | |||
| ) |
| DEFINE_bool | ( | enable_scenario_side_pass_multiple_parked_obstacles | , |
| true | , | ||
| "enable ADC to side-pass multiple parked obstacles without" "worrying if the obstacles are blocked by others." | |||
| ) |
| DEFINE_bool | ( | enable_skip_path_tasks | , |
| false | , | ||
| "skip all path tasks and use trimmed previous path" | |||
| ) |
| DEFINE_bool | ( | enable_smooth_edge_follow_buffer | , |
| false | , | ||
| "Enable smooth edge follow buffer" | |||
| ) |
| DEFINE_bool | ( | enable_smooth_reference_line | , |
| true | , | ||
| "enable smooth the map reference line" | |||
| ) |
| DEFINE_bool | ( | enable_smoother_failsafe | , |
| false | , | ||
| "whether to use warm start result as final output when smoother fails" | |||
| ) |
| DEFINE_bool | ( | enable_trajectory_check | , |
| false | , | ||
| "Enable sanity check for planning trajectory." | |||
| ) |
| DEFINE_bool | ( | enable_trajectory_stitcher | , |
| true | , | ||
| "enable stitching trajectory" | |||
| ) |
| DEFINE_bool | ( | export_chart | , |
| false | , | ||
| "export chart in planning" | |||
| ) |
| DEFINE_bool | ( | lateral_optimization | , |
| true | , | ||
| "whether using optimization for lateral trajectory generation" | |||
| ) |
| DEFINE_bool | ( | planning_offline_learning | , |
| false | , | ||
| "offline learning. read record files and dump learning_data" | |||
| ) |
| DEFINE_bool | ( | prioritize_change_lane | , |
| false | , | ||
| "change lane strategy has higher | priority, | ||
| always use a valid " "change lane path if such path exists" | |||
| ) |
| DEFINE_bool | ( | publish_estop | , |
| false | , | ||
| "publish estop decision in planning" | |||
| ) |
| DEFINE_bool | ( | speed_optimize_fail_relax_velocity_constraint | , |
| true | , | ||
| "When the speed optimization | fails, | ||
| " "relax the speed upper bound constraint and try to optimize again" | |||
| ) |
| DEFINE_bool | ( | use_dual_variable_warm_start | , |
| true | , | ||
| "whether or not enable dual variable warm start " | |||
| ) |
| DEFINE_bool | ( | use_front_axe_center_in_path_planning | , |
| false | , | ||
| "If using front axe center in path | planning, | ||
| the path can be " "more agile." | |||
| ) |
| DEFINE_bool | ( | use_iterative_anchoring_smoother | , |
| false | , | ||
| "Whether use iterative_anchoring_smoother for open space planning " | |||
| ) |
| DEFINE_bool | ( | use_multi_thread_to_add_obstacles | , |
| false | , | ||
| "use multiple thread to add obstacles." | |||
| ) |
thread pool
| DEFINE_bool | ( | use_s_curve_speed_smooth | , |
| false | , | ||
| "Whether use s-curve (piecewise_jerk) for smoothing Hybrid Astar " "speed/acceleration." | |||
| ) |
| DEFINE_bool | ( | use_st_drivable_boundary | , |
| false | , | ||
| "True to use st_drivable boundary in speed planning" | |||
| ) |
| DEFINE_bool | ( | use_zigzag_type_path_lane | , |
| false | , | ||
| "use arc type path when in zone cover stage" | |||
| ) |
| DEFINE_double | ( | backup_trajectory_cost | , |
| 1000. | 0, | ||
| "Default cost of backup trajectory" | |||
| ) |
| DEFINE_double | ( | bound_buffer | , |
| 0. | 1, | ||
| "buffer to boundary for lateral optimization" | |||
| ) |
| DEFINE_double | ( | change_lane_min_length | , |
| 30. | 0, | ||
| "meters. If the change lane target has longer length than this " " | threshold, | ||
| it can shortcut the default lane." | |||
| ) |
| DEFINE_double | ( | close_range_obstacle_nudge_pedestrian_waiting_time | , |
| 2. | 0, | ||
| "waiting time for pedestrians" | |||
| ) |
| DEFINE_double | ( | comfort_acceleration_factor | , |
| 0. | 5, | ||
| "Factor for comfort acceleration." | |||
| ) |
| DEFINE_double | ( | cost_non_priority_reference_line | , |
| 5. | 0, | ||
| "The cost of planning on non-priority reference line." | |||
| ) |
| DEFINE_double | ( | default_city_road_speed_limit | , |
| 15. | 67, | ||
| "default speed limit (m/s) for city road. 35 mph." | |||
| ) |
| DEFINE_double | ( | default_cruise_speed | , |
| 5. | 0, | ||
| "default cruise speed" | |||
| ) |
| DEFINE_double | ( | default_delta_s_lateral_optimization | , |
| 1. | 0, | ||
| "The default delta s for lateral optimization." | |||
| ) |
| DEFINE_double | ( | default_front_clear_distance | , |
| 300. | 0, | ||
| "default front clear distance value in case there is no obstacle around." | |||
| ) |
| DEFINE_double | ( | default_highway_speed_limit | , |
| 29. | 06, | ||
| "default speed limit (m/s) for highway. 65 mph." | |||
| ) |
| DEFINE_double | ( | default_lon_buffer | , |
| 5. | 0, | ||
| "Default longitudinal buffer to sample path-time points." | |||
| ) |
| DEFINE_double | ( | default_reference_line_width | , |
| 4. | 0, | ||
| "Default reference line width" | |||
| ) |
| DEFINE_double | ( | destination_check_distance | , |
| 5. | 0, | ||
| "if the distance between destination and ADC is less than | this, | ||
| " " it is considered to reach destination" | |||
| ) |
| DEFINE_double | ( | driving_state_nudge_check_l | , |
| 0. | 2, | ||
| "uudge lateral check threshold for the ego's driving status" | |||
| ) |
| DEFINE_double | ( | edge_follow_buffer | , |
| 0. | 3, | ||
| "Edge follow buffer" | |||
| ) |
| DEFINE_double | ( | edge_follow_look_backward_distance | , |
| 50 | , | ||
| "edge follow look backward distance in reference line" | |||
| ) |
| DEFINE_double | ( | edge_follow_look_forward_long_distance | , |
| 50 | , | ||
| "edge follow look forward long distance in reference line" | |||
| ) |
| DEFINE_double | ( | edge_follow_look_forward_short_distance | , |
| 20 | , | ||
| "edge follow look forward short distance in reference line" | |||
| ) |
| DEFINE_double | ( | ego_front_slack_buffer | , |
| 0. | 25, | ||
| "the lateral threshold to relaxing the solution space" | |||
| ) |
| DEFINE_double | ( | expand_obs_corner_lon_buffer | , |
| 0. | 6, | ||
| "expand obs corner lon buffer" | |||
| ) |
| DEFINE_double | ( | fallback_time_unit | , |
| 0. | 1, | ||
| "fallback trajectory unit time in seconds" | |||
| ) |
| DEFINE_double | ( | fallback_total_time | , |
| 3. | 0, | ||
| "total fallback trajectory time" | |||
| ) |
| DEFINE_double | ( | follow_min_distance | , |
| 3. | 0, | ||
| "min follow distance for vehicles/bicycles/moving objects" | |||
| ) |
| DEFINE_double | ( | follow_time_buffer | , |
| 2. | 5, | ||
| "time buffer in second to calculate the following distance." | |||
| ) |
| DEFINE_double | ( | kappa_bound | , |
| 0. | 1979, | ||
| "The bound for trajectory curvature" | |||
| ) |
| DEFINE_double | ( | lat_collision_buffer | , |
| 0. | 1, | ||
| "The lateral buffer to keep distance to other vehicles" | |||
| ) |
| DEFINE_double | ( | lat_offset_bound | , |
| 3. | 0, | ||
| "The bound of lateral offset" | |||
| ) |
| DEFINE_double | ( | lateral_acceleration_bound | , |
| 4. | 0, | ||
| "Bound of lateral acceleration; symmetric for left and right" | |||
| ) |
| DEFINE_double | ( | lateral_ignore_buffer | , |
| 3. | 0, | ||
| "If an obstacle's lateral distance is further away than this " " | distance, | ||
| ignore it" | |||
| ) |
| DEFINE_double | ( | lateral_jerk_bound | , |
| 4. | 0, | ||
| "Bound of lateral jerk; symmetric for left and right" | |||
| ) |
| DEFINE_double | ( | lateral_third_order_derivative_max | , |
| 0. | 1, | ||
| "the maximal allowance for lateral third order derivative" | |||
| ) |
| DEFINE_double | ( | lattice_stop_buffer | , |
| 0. | 02, | ||
| "The buffer before the stop s to check trajectories." | |||
| ) |
| DEFINE_double | ( | lon_collision_buffer | , |
| 2. | 0, | ||
| "The longitudinal buffer to keep distance to other vehicles" | |||
| ) |
| DEFINE_double | ( | lon_collision_cost_std | , |
| 0. | 5, | ||
| "The standard deviation of longitudinal collision cost function" | |||
| ) |
| DEFINE_double | ( | lon_collision_overtake_buffer | , |
| 5. | 0, | ||
| "Longitudinal collision buffer for overtake" | |||
| ) |
| DEFINE_double | ( | lon_collision_yield_buffer | , |
| 1. | 0, | ||
| "Longitudinal collision buffer for yield" | |||
| ) |
| DEFINE_double | ( | longitudinal_acceleration_lower_bound | , |
| -6. | 0, | ||
| "The lowest longitudinal acceleration allowed." | |||
| ) |
| DEFINE_double | ( | longitudinal_acceleration_upper_bound | , |
| 4. | 0, | ||
| "The highest longitudinal acceleration allowed." | |||
| ) |
| DEFINE_double | ( | longitudinal_jerk_lower_bound | , |
| -4. | 0, | ||
| "The lower bound of longitudinal jerk." | |||
| ) |
| DEFINE_double | ( | longitudinal_jerk_upper_bound | , |
| 2. | 0, | ||
| "The upper bound of longitudinal jerk." | |||
| ) |
| DEFINE_double | ( | look_forward_extend_distance | , |
| 50 | , | ||
| "The step size when extending reference line." | |||
| ) |
| DEFINE_double | ( | max_nudge_check_distance_in_lc | , |
| 3. | 0, | ||
| "Max nudge check distance in lane change path boundary decider" | |||
| ) |
| DEFINE_double | ( | max_nudge_check_distance_in_lk | , |
| 4. | 0, | ||
| "Max nudge check distance in kane keep path boundary decider" | |||
| ) |
| DEFINE_double | ( | max_s_lateral_optimization | , |
| 60. | 0, | ||
| "The maximal s for lateral optimization." | |||
| ) |
| DEFINE_double | ( | max_stop_distance_obstacle | , |
| 10. | 0, | ||
| "max stop distance from in-lane obstacle (meters)" | |||
| ) |
| DEFINE_double | ( | message_latency_threshold | , |
| 0. | 02, | ||
| "Threshold for message delay" | |||
| ) |
| DEFINE_double | ( | min_stop_distance_obstacle | , |
| 6. | 0, | ||
| "min stop distance from in-lane obstacle (meters)" | |||
| ) |
| DEFINE_double | ( | min_velocity_sample_gap | , |
| 1. | 0, | ||
| "Minimal sampling gap for velocity" | |||
| ) |
| DEFINE_double | ( | near_stop_deceleration | , |
| -1. | 0, | ||
| "Set deceleration as near_stop_deceleration when vehicle deceleration is " "smaller than this value before stopping so that control can keep up." | |||
| ) |
| DEFINE_double | ( | near_stop_speed | , |
| 0. | 5, | ||
| "Set deceleration as near_stop_deceleration when vehicle speed is smaller " "than this value before stopping so that control can keep up." | |||
| ) |
| DEFINE_double | ( | nonstatic_obstacle_nudge_l_buffer | , |
| 0. | 4, | ||
| "minimum l-distance to nudge a non-static obstacle (meters)" | |||
| ) |
| DEFINE_double | ( | normal_look_backward_distance | , |
| 50 | , | ||
| "normal look backward distance in reference line" | |||
| ) |
| DEFINE_double | ( | normal_look_forward_long_distance | , |
| 250 | , | ||
| "normal look forward long distance in reference line" | |||
| ) |
| DEFINE_double | ( | normal_look_forward_short_distance | , |
| 180 | , | ||
| "normal look forward short distance in reference line" | |||
| ) |
| DEFINE_double | ( | nudge_buffer | , |
| 0. | 3, | ||
| "buffer to nudge for lateral optimization" | |||
| ) |
| DEFINE_double | ( | num_extra_tail_bound_point | , |
| 20 | , | ||
| "The extra tail point number." | |||
| ) |
| DEFINE_double | ( | numerical_epsilon | , |
| 1e- | 6, | ||
| "Epsilon in lattice planner." | |||
| ) |
Lattice Planner
| DEFINE_double | ( | obstacle_lat_buffer | , |
| 0. | 4, | ||
| "obstacle lateral buffer (meters) for deciding path boundaries" | |||
| ) |
| DEFINE_double | ( | obstacle_lon_end_buffer | , |
| 2. | 0, | ||
| "obstacle longitudinal end buffer (meters) for deciding " "path boundaries" | |||
| ) |
| DEFINE_double | ( | obstacle_lon_end_buffer_park | , |
| 0. | 6, | ||
| "obstacle longitudinal end buffer (meters) for deciding " "path boundaries" | |||
| ) |
| DEFINE_double | ( | obstacle_lon_ignore_buffer | , |
| 0. | 0, | ||
| "obstacle longitudinal ignore buffer (meters) for deciding " "backside obstacles" | |||
| ) |
| DEFINE_double | ( | obstacle_lon_start_buffer | , |
| 3. | 0, | ||
| "obstacle longitudinal start buffer (meters) for deciding " "path boundaries" | |||
| ) |
| DEFINE_double | ( | obstacle_pass_check_distance | , |
| 3. | 0, | ||
| "at the | distance, | ||
| the obstacle goes around left or right" "consider ego and obstacle position" | |||
| ) |
| DEFINE_double | ( | open_space_acc_weight | , |
| 1. | 0, | ||
| "weight of open space acceleration in the cost function" | |||
| ) |
| DEFINE_double | ( | open_space_delta_t | , |
| 1. | 0, | ||
| "open space sample time for speed planning" | |||
| ) |
| DEFINE_double | ( | open_space_jerk_weight | , |
| 10. | 0, | ||
| "weight of open space jerk in the cost function" | |||
| ) |
| DEFINE_double | ( | open_space_kappa_weight | , |
| 1000. | 0, | ||
| "weight of open space kappa in the cost function" | |||
| ) |
| DEFINE_double | ( | open_space_max_forward_acc | , |
| 3. | 0, | ||
| "the max forward acceleration for open space planning" | |||
| ) |
| DEFINE_double | ( | open_space_max_forward_v | , |
| 2. | 0, | ||
| "the max forward velocity for open space planning" | |||
| ) |
| DEFINE_double | ( | open_space_max_jerk | , |
| 4. | 0, | ||
| "the max jerk for open space planning" | |||
| ) |
| DEFINE_double | ( | open_space_max_reverse_acc | , |
| 2. | 0, | ||
| "the max reverse acceleration for open space planning" | |||
| ) |
| DEFINE_double | ( | open_space_max_reverse_v | , |
| 2. | 0, | ||
| "the max reverse velocity for open space planning" | |||
| ) |
| DEFINE_double | ( | open_space_reference_s_weight | , |
| 10. | 0, | ||
| "weight of open space reference s in the cost function" | |||
| ) |
| DEFINE_double | ( | open_space_reference_v_weight | , |
| 10. | 0, | ||
| "weight of open space reference v in the cost function" | |||
| ) |
| DEFINE_double | ( | passed_destination_threshold | , |
| 0. | 05, | ||
| "check adc whether has passed destination" | |||
| ) |
| DEFINE_double | ( | passed_referenceline_end_threshold | , |
| 1. | 5, | ||
| "check adc whether has passed reference line end" | |||
| ) |
| DEFINE_double | ( | path_bounds_decider_resolution | , |
| 0. | 5, | ||
| "The distance along s direction." | |||
| ) |
| DEFINE_double | ( | path_bounds_horizon | , |
| 100 | , | ||
| "path bounds horizon" | |||
| ) |
| DEFINE_double | ( | path_obs_ref_shift_distance | , |
| 0. | 8, | ||
| "shift the reference to avoid obstacle for path" | |||
| ) |
| DEFINE_double | ( | path_speed_osqp_setting_time_limit | , |
| 0. | 09, | ||
| "Run time limit for OSQP in seconds." | |||
| ) |
| DEFINE_double | ( | path_trim_destination_threshold | , |
| 20. | 0, | ||
| "Distance threshold to destination in path trim operation" | |||
| ) |
| DEFINE_double | ( | planning_upper_speed_limit | , |
| 31. | 3, | ||
| "Maximum speed (m/s) in planning." | |||
| ) |
| DEFINE_double | ( | polynomial_minimal_param | , |
| 0. | 01, | ||
| "Minimal time parameter in polynomials." | |||
| ) |
| DEFINE_double | ( | prediction_total_time | , |
| 5. | 0, | ||
| "Total prediction time" | |||
| ) |
| DEFINE_double | ( | reference_line_endpoint_extend_length | , |
| 10. | 0, | ||
| "Extended length of reference line endpoint" | |||
| ) |
| DEFINE_double | ( | reference_line_max_backward_heading_diff | , |
| 3. | 1415926536, | ||
| "max angle difference between the backward reference line and ego heading" | |||
| ) |
| DEFINE_double | ( | reference_line_max_forward_heading_diff | , |
| 2. | 5, | ||
| "max angle difference between the forward reference line and ego heading" | |||
| ) |
| DEFINE_double | ( | reference_line_stitch_overlap_distance | , |
| 20 | , | ||
| "The overlap distance with the existing reference line when " "stitching the existing reference line" | |||
| ) |
| DEFINE_double | ( | relax_ego_radius_buffer | , |
| 10. | 0, | ||
| "relax_ego_radius buffer" | |||
| ) |
| DEFINE_double | ( | relax_path_s_threshold | , |
| 5. | 0, | ||
| "relax path boundary s threshold" | |||
| ) |
| DEFINE_double | ( | replan_lateral_distance_threshold | , |
| 0. | 5, | ||
| "The lateral distance threshold of replan" | |||
| ) |
| DEFINE_double | ( | replan_longitudinal_distance_threshold | , |
| 2. | 5, | ||
| "The longitudinal distance threshold of replan" | |||
| ) |
| DEFINE_double | ( | replan_time_threshold | , |
| 7. | 0, | ||
| "The time threshold of replan" | |||
| ) |
| DEFINE_double | ( | rtk_trajectory_resolution | , |
| 0. | 01, | ||
| "The time resolution of output trajectory for rtk planner." | |||
| ) |
| DEFINE_double | ( | side_pass_driving_width_l_buffer | , |
| 0. | 1, | ||
| "(unit: meter) for side pass driving width l buffer" | |||
| ) |
| DEFINE_double | ( | signal_expire_time_sec | , |
| 5. | 0, | ||
| "traffic light signal info read expire time in sec" | |||
| ) |
| DEFINE_double | ( | slowdown_profile_deceleration | , |
| -4. | 0, | ||
| "The deceleration to generate slowdown profile. unit: m/s^2." | |||
| ) |
| DEFINE_double | ( | smoothed_reference_line_max_diff | , |
| 5. | 0, | ||
| "Maximum position difference between the smoothed and the raw " "reference lines." | |||
| ) |
| DEFINE_double | ( | smoother_stop_distance | , |
| 10. | 0, | ||
| "(unit: meter) for ADC | stop, | ||
| if it is close to the stop point " "within this | threshold, | ||
| current planning will be smoothed." | |||
| ) |
| DEFINE_double | ( | speed_bump_speed_limit | , |
| 4. | 4704, | ||
| "the speed limit when passing a speed | bump, | ||
| m/s. The default " "speed limit is 10 mph." | |||
| ) |
| DEFINE_double | ( | speed_fallback_distance | , |
| 3. | 0, | ||
| "Distance to speed fallback. unit: m." | |||
| ) |
| DEFINE_double | ( | speed_lon_decision_horizon | , |
| 200. | 0, | ||
| "Longitudinal horizon for speed decision making (meter)" | |||
| ) |
| DEFINE_double | ( | speed_lower_bound | , |
| -0. | 1, | ||
| "The lowest speed allowed." | |||
| ) |
| DEFINE_double | ( | speed_upper_bound | , |
| 40. | 0, | ||
| "The highest speed allowed." | |||
| ) |
| DEFINE_double | ( | sqp_obstacle_weight | , |
| 100 | , | ||
| "sqp_obstacle_weight" | |||
| ) |
| DEFINE_double | ( | st_max_s | , |
| 100 | , | ||
| "the maximum s of st boundary" | |||
| ) |
| DEFINE_double | ( | st_max_t | , |
| 8 | , | ||
| "the maximum t of st boundary" | |||
| ) |
| DEFINE_double | ( | static_obstacle_nudge_l_buffer | , |
| 0. | 3, | ||
| "minimum l-distance to nudge a static obstacle (meters)" | |||
| ) |
| DEFINE_double | ( | static_obstacle_speed_threshold | , |
| 0. | 5, | ||
| "The speed threshold to decide whether an obstacle is static " "or not." | |||
| ) |
| DEFINE_double | ( | time_min_density | , |
| 1. | 0, | ||
| "Minimal time density to search sample points." | |||
| ) |
| DEFINE_double | ( | trajectory_check_collision_time_step | , |
| 1. | 0, | ||
| "checks collision time step for trajectory" | |||
| ) |
| DEFINE_double | ( | trajectory_space_resolution | , |
| 1. | 0, | ||
| "Trajectory space resolution in planning" | |||
| ) |
| DEFINE_double | ( | trajectory_time_high_density_period | , |
| 1. | 0, | ||
| "(seconds) Keep high density in the next this amount of seconds. " | |||
| ) |
| DEFINE_double | ( | trajectory_time_length | , |
| 8. | 0, | ||
| "Trajectory time length" | |||
| ) |
| DEFINE_double | ( | trajectory_time_max_interval | , |
| 0. | 1, | ||
| "(seconds) Trajectory time interval when publish. The is the max value." | |||
| ) |
| DEFINE_double | ( | trajectory_time_min_interval | , |
| 0. | 02, | ||
| "(seconds) Trajectory time interval when publish. The is the min value." | |||
| ) |
| DEFINE_double | ( | trajectory_time_resolution | , |
| 0. | 1, | ||
| "Trajectory time resolution in planning" | |||
| ) |
| DEFINE_double | ( | turn_signal_distance | , |
| 100. | 00, | ||
| "In meters. If there is a turn within this | distance, | ||
| use turn signal" | |||
| ) |
| DEFINE_double | ( | virtual_stop_wall_height | , |
| 2. | 0, | ||
| "virtual stop wall height (meters)" | |||
| ) |
| DEFINE_double | ( | virtual_stop_wall_length | , |
| 0. | 1, | ||
| "virtual stop wall length (meters)" | |||
| ) |
| DEFINE_double | ( | weight_centripetal_acceleration | , |
| 1. | 5, | ||
| "Weight of centripetal acceleration" | |||
| ) |
| DEFINE_double | ( | weight_dist_travelled | , |
| 10. | 0, | ||
| "Weight of travelled distance cost" | |||
| ) |
| DEFINE_double | ( | weight_lat_comfort | , |
| 10. | 0, | ||
| "Weight of lateral comfort cost" | |||
| ) |
| DEFINE_double | ( | weight_lat_offset | , |
| 2. | 0, | ||
| "Weight of lateral offset cost" | |||
| ) |
| DEFINE_double | ( | weight_lateral_derivative | , |
| 500. | 0, | ||
| "weight for lateral derivative " "in lateral trajectory optimization" | |||
| ) |
| DEFINE_double | ( | weight_lateral_obstacle_distance | , |
| 0. | 0, | ||
| "weight for lateral obstacle distance in lateral trajectory optimization" | |||
| ) |
| DEFINE_double | ( | weight_lateral_offset | , |
| 1. | 0, | ||
| "weight for lateral offset " "in lateral trajectory optimization" | |||
| ) |
| DEFINE_double | ( | weight_lateral_second_order_derivative | , |
| 1000. | 0, | ||
| "weight for lateral second order derivative " "in lateral trajectory optimization" | |||
| ) |
| DEFINE_double | ( | weight_lateral_third_order_derivative | , |
| 1000. | 0, | ||
| "weight for lateral third order derivative " "in lateral trajectory optimization" | |||
| ) |
| DEFINE_double | ( | weight_lon_collision | , |
| 5. | 0, | ||
| "Weight of longitudinal collision cost" | |||
| ) |
| DEFINE_double | ( | weight_lon_jerk | , |
| 1. | 0, | ||
| "Weight of longitudinal jerk cost" | |||
| ) |
| DEFINE_double | ( | weight_lon_objective | , |
| 10. | 0, | ||
| "Weight of longitudinal travel cost" | |||
| ) |
| DEFINE_double | ( | weight_opposite_side_offset | , |
| 10. | 0, | ||
| "Weight of opposite side lateral offset cost" | |||
| ) |
| DEFINE_double | ( | weight_same_side_offset | , |
| 1. | 0, | ||
| "Weight of same side lateral offset cost" | |||
| ) |
| DEFINE_double | ( | weight_target_speed | , |
| 1. | 0, | ||
| "Weight of target speed cost" | |||
| ) |
| DEFINE_double | ( | yield_distance | , |
| 5. | 0, | ||
| "min yield distance for vehicles/moving objects " "other than pedestrians/bicycles" | |||
| ) |
| DEFINE_int32 | ( | close_range_obstacle_nudge_range_remain_farmes | , |
| 5 | , | ||
| "remain the nudge range in frames" | |||
| ) |
| DEFINE_int32 | ( | history_max_record_num | , |
| 5 | , | ||
| "the number of planning history frame to keep" | |||
| ) |
| DEFINE_int32 | ( | learning_data_frame_num_per_file | , |
| 100 | , | ||
| "number of learning_data_frame to write out in one data file." | |||
| ) |
| DEFINE_int32 | ( | learning_data_obstacle_history_time_sec | , |
| 3. | 0, | ||
| "time sec (second) of history trajectory points for a obstacle" | |||
| ) |
| DEFINE_int32 | ( | max_frame_history_num | , |
| 1 | , | ||
| "The maximum history frame number" | |||
| ) |
| DEFINE_int32 | ( | min_past_history_points_len | , |
| 0 | , | ||
| "minimun past history points length for trainsition from " "rule-based planning to learning-based planning" | |||
| ) |
| DEFINE_int32 | ( | planning_loop_rate | , |
| 10 | , | ||
| "Loop rate for planning node" | |||
| ) |
| DEFINE_int32 | ( | trajectory_point_num_for_debug | , |
| 10 | , | ||
| "number of output trajectory points for debugging" | |||
| ) |
| DEFINE_string | ( | destination_obstacle_id | , |
| "DEST" | , | ||
| "obstacle id for converting destination to an obstacle" | |||
| ) |
| DEFINE_string | ( | planner_config_path | , |
| "modules/planning/planning_component/conf/" "public_road_planner_config.pb.txt" | , | ||
| "The configuration for planner." | |||
| ) |
| DEFINE_string | ( | planner_open_space_config_filename | , |
| "/apollo/modules/planning/planning_component/conf/" "planner_open_space_config.pb.txt" | , | ||
| "The open space planner configuration file" | |||
| ) |
| DEFINE_string | ( | planning_birdview_img_feature_renderer_config_file | , |
| "/apollo/modules/planning/planning_component/conf/" "planning_semantic_map_config.pb.txt" | , | ||
| "config file for renderer singleton" | |||
| ) |
| DEFINE_string | ( | planning_data_dir | , |
| "/apollo/modules/planning/planning_base/data/" | , | ||
| "Prefix of files to store feature data" | |||
| ) |
| DEFINE_string | ( | planning_offline_bags | , |
| "" | , | ||
| "a list of source files or directories for offline mode. " "The items need to be separated by colon ':'. " | |||
| ) |
| DEFINE_string | ( | rtk_trajectory_filename | , |
| "modules/planning/planning_base/data/garage.csv" | , | ||
| "Loop rate for planning node" | |||
| ) |
| DEFINE_string | ( | smoother_config_filename | , |
| "/apollo/modules/planning/planning_component/conf/" "qp_spline_smoother_config.pb.txt" | , | ||
| "The configuration file for qp_spline smoother" | |||
| ) |
| DEFINE_string | ( | traffic_rule_config_filename | , |
| "modules/planning/planning_component/conf/traffic_rule_config.pb.txt" | , | ||
| "Traffic rule config filename" | |||
| ) |
| DEFINE_uint64 | ( | num_sample_follow_per_timestamp | , |
| 3 | , | ||
| "The number of sample points for each timestamp to follow" | |||
| ) |
| DEFINE_uint64 | ( | num_velocity_sample | , |
| 6 | , | ||
| "The number of velocity samples in end condition sampler." | |||
| ) |
| DEFINE_uint64 | ( | rtk_trajectory_forward | , |
| 800 | , | ||
| "The number of points to be included in RTK trajectory " "after the matched point" | |||
| ) |
| DEFINE_uint64 | ( | trajectory_stitching_preserved_length | , |
| 20 | , | ||
| "preserved points number in trajectory stitching" | |||
| ) |