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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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question about speed_bounds_decider #15465

Closed dajiba6 closed 4 months ago

dajiba6 commented 4 months ago

why the speed_bounds_decider is used twice in lane follow secnario? What is the significance of adding a SPEED_BOUNDS_FINAL_DECIDER?

ycraurora commented 4 months ago

The SPEED_BOUNDS_PRIORI_DECIDER initially generates approximate speed boundaries for DP process, which serve to create a 'reference line' for QP. Conversely, the SPEED_BOUNDS_FINAL_DECIDER produces more precise speed boundaries for the QP process, culminating in the final speed profile. The primary distinction between the two deciders lies in their level of accuracy. In Apollo 8.0, you can compare the default configurations for both deciders within the modules/planning/conf/planning/config.pb.txt file. However, in Apollo 9.0, the configurations appear to be consolidated, leading to ambiguity as there seems to be no discernible difference between the two deciders.

dajiba6 commented 4 months ago

thank you, my friend.

The SPEED_BOUNDS_PRIORI_DECIDER initially generates approximate speed boundaries for DP process, which serve to create a 'reference line' for QP. Conversely, the SPEED_BOUNDS_FINAL_DECIDER produces more precise speed boundaries for the QP process, culminating in the final speed profile. The primary distinction between the two deciders lies in their level of accuracy. In Apollo 8.0, you can compare the default configurations for both deciders within the modules/planning/conf/planning/config.pb.txt file. However, in Apollo 9.0, the configurations appear to be consolidated, leading to ambiguity as there seems to be no discernible difference between the two deciders.