fix the difference following gap keeping in dp st and speed opt

birdfly8888 · Dec 18, 2019 · 4d324b6 · 4d324b6
1 parent 8a4a69e
commit 4d324b6
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Showing 2 changed files with 2 additions and 6 deletions.
diff --git a/modules/planning/tasks/deciders/speed_decider/speed_decider.cc b/modules/planning/tasks/deciders/speed_decider/speed_decider.cc
@@ -185,7 +185,7 @@ bool SpeedDecider::IsFollowTooClose(const Obstacle& obstacle) const {
   }
   const double distance =
       obstacle.path_st_boundary().min_s() - FLAGS_min_stop_distance_obstacle;
-  static constexpr double lane_follow_max_decel = 1.0;
+  static constexpr double lane_follow_max_decel = 3.0;
   static constexpr double lane_change_max_decel = 3.0;
   auto* planning_status = PlanningContext::Instance()
                               ->mutable_planning_status()

diff --git a/modules/planning/tasks/optimizers/path_time_heuristic/dp_st_cost.cc b/modules/planning/tasks/optimizers/path_time_heuristic/dp_st_cost.cc
@@ -128,7 +128,6 @@ double DpStCost::GetObstacleCost(const StGraphPoint& st_graph_point) {
     if (s > upper_bound || s < lower_bound) {
       return kInf;
     }
-    return cost * unit_t_;
   }
 
   for (const auto* obstacle : obstacles_) {
@@ -161,10 +160,7 @@ double DpStCost::GetObstacleCost(const StGraphPoint& st_graph_point) {
       s_lower = boundary_cost_[boundary_index][st_graph_point.index_t()].second;
     }
     if (s < s_lower) {
-      const double follow_distance_s =
-          config_.is_lane_changing()
-              ? config_.safe_distance()
-              : StGapEstimator::EstimateSafeFollowingGap(obstacle->speed());
+      const double follow_distance_s = config_.safe_distance();
       if (s + follow_distance_s < s_lower) {
         continue;
       } else {