ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
25.19k stars 9.71k forks source link

Buggy in speed_limit_decider.cc ? #3687

Closed histfuture closed 6 years ago

histfuture commented 6 years ago

image

I found the path_s is the accumulated distance of discretized_path and frenet_point_s indicates the accumulated distance of reference line. The perceptionSLBoundary is figured at frenet coordinate which refers to reference line . So should the code here be "frenet_point_s" rather than "path_s"

lianglia-apollo commented 6 years ago

It seem like a bug in speed limit decider. But the fix should be "path_s + adc_s ". I will make a fix soon.

lianglia-apollo commented 6 years ago

It is fixed in https://github.com/ApolloAuto/apollo/commit/9b481d22fc71f2f8fe7a07c8fef100f2afa6be97 and https://github.com/ApolloAuto/apollo/commit/a249fc7788f41f0f3a8817b45bd1ead6ebe8bcd7