apollo speed limit
时间: 2023-08-29 17:05:24 浏览: 43
在Apollo中,speed limit是通过多个模块共同计算得出的。其中包括Speed_bounds_prior_decider、DP_ST_SPEED_OPTIMIZER、SPEED_DECIDER、SPEED_BOUNDS_FINAL_DECIDER和PIECEWISE_JERK_SPEED_OPTIMIZER等模块。首先,Speed_bounds_prior_decider将障碍物的轨迹映射到s-t图,计算出障碍物的轨迹并将其放置在boundaries集合中,然后设置速度的最大限制。接下来,DP_ST_SPEED_OPTIMIZER根据这些boundaries进行启发式速度曲线搜索,得到最优轨迹。然后,SPEED_DECIDER根据速度曲线初步判断障碍物的decision,并对行人进行特殊处理以设置相应的决策行为。之后,SPEED_BOUNDS_FINAL_DECIDER重新计算障碍物的st边界,并根据障碍物的decision确定速度的边界。最后,PIECEWISE_JERK_SPEED_OPTIMIZER使用osqp进行数值优化计算,得出最优的速度曲线。综合以上模块的计算,才得出Apollo中的speed limit。<span class="em">1</span><span class="em">2</span>
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