Apollo 10.0
自动驾驶开放平台
reference_line_smoother_config.proto
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1syntax = "proto2";
2
3package apollo.planning;
4
7
9 optional uint32 spline_order = 1 [default = 5];
10 optional double max_spline_length = 2 [default = 25];
11 optional double regularization_weight = 3 [default = 0.1];
12 optional double second_derivative_weight = 4 [default = 0.0];
13 optional double third_derivative_weight = 5 [default = 100];
14}
15
17 // The max deviation of spiral reference line smoother.
18 optional double max_deviation = 1 [default = 0.1];
19
20 // The piecewise length of spiral smoother.
21 optional double piecewise_length = 2 [default = 10.0];
22
23 // The iteration num of spiral reference line smoother.");
24 optional uint32 max_iteration = 3 [default = 1000];
25
26 // The desired convergence tol for spiral opt;
27 optional double opt_tol = 4 [default = 1.0e-8];
28
29 // The acceptable convergence tol for spiral opt
30 optional double opt_acceptable_tol = 5 [default = 1e-6];
31
32 // The number of acceptable iters before termination for spiral opt;
33 optional uint32 opt_acceptable_iteration = 6 [default = 15];
34
35 // The weight of curve length term in objective function
36 optional double weight_curve_length = 7 [default = 1.0];
37
38 // The weight of kappa term in objective function
39 optional double weight_kappa = 8 [default = 1.0];
40
41 // The weight of dkappa term in objective function
42 optional double weight_dkappa = 9 [default = 100.0];
43}
44
47 NOT_DEFINED = 0;
48 COS_THETA_SMOOTHING = 1;
49 FEM_POS_DEVIATION_SMOOTHING = 2;
50 }
51
52 optional SmoothingMethod smoothing_method = 3
53 [default = FEM_POS_DEVIATION_SMOOTHING];
56 CosThetaSmootherConfig cos_theta_smoothing = 4;
57 FemPosDeviationSmootherConfig fem_pos_deviation_smoothing = 5;
58 }
59}
62 // The output resolution for discrete point smoother reference line is
63 // directly decided by max_constraint_interval
64 optional double max_constraint_interval = 1 [default = 5];
65 optional double longitudinal_boundary_bound = 2 [default = 1.0];
66 optional double max_lateral_boundary_bound = 3 [default = 0.5];
67 optional double min_lateral_boundary_bound = 4 [default = 0.2];
68 // The output resolution for qp smoother reference line.
69 optional uint32 num_of_total_points = 5 [default = 500];
70 optional double curb_shift = 6 [default = 0.2];
71 optional double lateral_buffer = 7 [default = 0.2];
72 // The output resolution for spiral smoother reference line.
73 optional double resolution = 8 [default = 0.02];
75 QpSplineSmootherConfig qp_spline = 20;
77 DiscretePointsSmootherConfig discrete_points = 22;
78 }
79}