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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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I have some question about st_decider. Could u give me a hand? #15098

Open Isaac0424 opened 1 year ago

Isaac0424 commented 1 year ago

I have a question about the st bound decider. I wonder what exactly it does. In the process of finding a lower value in line 249 of st_decider.cc, a negative number may appear, leading to optimizer failure. In that case would it matter if I excluded the case where lower would be negative? Status STBoundsDecider::GenerateRegularSTBound in apollo/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc image

ycraurora commented 1 year ago

It generates the st_drivable_boundary. Reference to: https://github.com/ApolloAuto/apollo/blob/a3c851fc5844e0684b9c5108231fcc2c15cebb8e/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc#L71

benlvzi commented 1 year ago

it’s my view that the task ST_BOUNDS_DECIDER will have little impact (except IGNORE decision) on the subsequent other tasks , because the other tasks did not use drivable boundary according to default configration .