Lattice Planner规划算法权重

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最新推荐文章于 2025-12-04 22:56:41 发布 · 350 阅读

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#python

apollo/modules/planning/planning_base/gflags
/planning_gflags.cc

// Lattice Evaluate Parameters
DEFINE_double(weight_lon_objective, 10.0, "Weight of longitudinal travel cost");
DEFINE_double(weight_lon_jerk, 1.0, "Weight of longitudinal jerk cost");
DEFINE_double(weight_lon_collision, 5.0,
              "Weight of longitudinal collision cost");
DEFINE_double(weight_lat_offset, 2.0, "Weight of lateral offset cost");
DEFINE_double(weight_lat_comfort, 10.0, "Weight of lateral comfort cost");
DEFINE_double(weight_centripetal_acceleration, 1.5,
              "Weight of centripetal acceleration");
DEFINE_double(cost_non_priority_reference_line, 5.0,
              "The cost of planning on non-priority reference line.");
DEFINE_double(weight_same_side_