DP path planner

apollo_and_-autoware_path_planner

driving-planning

adas_planning

libai-cartisian planner

autoware dp

apollo github issue - 为何取消DP

planning/proto/waypoint_sample_config.proto

syntax = "proto2";

package apollo.planning;

message WaypointSamplerConfig {
optional uint32 sample_points_num_each_level = 1 [default = 9];
optional double step_length_max = 2 [default = 15.0];
optional double step_length_min = 3 [default = 8.0];
optional double lateral_sample_offset = 4 [default = 0.5];
optional double lateral_adjust_coeff = 5 [default = 0.5];
optional double sidepass_distance = 6;
optional uint32 navigator_sample_num_each_level = 7;
}



planning/proto/dp_poly_path_config.proto

message DpPolyPathConfig {
optional WaypointSamplerConfig waypoint_sampler_config = 1;
// Trajectory Cost Config
optional double eval_time_interval = 2 [default = 0.1];
optional double path_resolution = 3 [default = 0.1];
optional double obstacle_ignore_distance = 4 [default = 20.0];
optional double obstacle_collision_distance = 5 [default = 0.2];
optional double obstacle_risk_distance = 6 [default = 2.0];
optional double obstacle_collision_cost = 7 [default = 1e3];
optional double path_l_cost = 8;
optional double path_dl_cost = 9;
optional double path_ddl_cost = 10;
optional double path_l_cost_param_l0 = 11;
optional double path_l_cost_param_b = 12;
optional double path_l_cost_param_k = 13;
optional double path_out_lane_cost = 14;
optional double path_end_l_cost = 15;
}



planning/conf/planning_config.pb.txt

default_task_config: {
task_type: DP_POLY_PATH_OPTIMIZER
dp_poly_path_config {
waypoint_sampler_config {
sample_points_num_each_level: 7
step_length_max: 40.0                           // level 之间的最大距离
step_length_min: 12.0                           // level 之间的最小距离
lateral_sample_offset: 0.5
lateral_adjust_coeff: 0.5
sidepass_distance: 2.8
navigator_sample_num_each_level: 3   //不使用navigator mode
}
eval_time_interval: 0.1
path_resolution: 1.0
obstacle_ignore_distance: 20.0
obstacle_collision_distance: 0.5

#obstacle_risk_distance: 2.0
obstacle_risk_distance: 2.0

obstacle_collision_cost: 1e1
#obstacle_collision_cost: 1e8

path_l_cost: 6.5
path_dl_cost: 8e3
path_ddl_cost: 1.0
path_l_cost_param_l0: 1.50
path_l_cost_param_b: 0.40
path_l_cost_param_k: 1.5
path_out_lane_cost: 1e8
path_end_l_cost: 1.0e4
}
}