planning: updated static obstacle buffer in path_decider

ApolloAuto · Nov 1, 2019 · a9406dd · a9406dd
1 parent 6feedcb
commit a9406dd
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/modules/planning/tasks/deciders/path_decider/path_decider.cc b/modules/planning/tasks/deciders/path_decider/path_decider.cc
@@ -97,7 +97,7 @@ bool PathDecider::MakeStaticObstacleDecision(
       common::VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0;
   const double lateral_radius = half_width + FLAGS_lateral_ignore_buffer;
 
-  // Go through every obstalce and make decisions.
+  // Go through every obstacle and make decisions.
   for (const auto *obstacle : path_decision->obstacles().Items()) {
     const std::string &obstacle_id = obstacle->Id();
     const std::string obstacle_type_name =
@@ -156,7 +156,8 @@ bool PathDecider::MakeStaticObstacleDecision(
     const auto frenet_point = frenet_path.GetNearestPoint(sl_boundary);
     const double curr_l = frenet_point.l();
     double min_nudge_l =
-        half_width + FLAGS_static_obstacle_nudge_l_buffer / 2.0;
+        half_width +
+        config_.path_decider_config().static_obstacle_buffer() / 2.0;
 
     if (curr_l - lateral_radius > sl_boundary.end_l() ||
         curr_l + lateral_radius < sl_boundary.start_l()) {
@@ -187,15 +188,17 @@ bool PathDecider::MakeStaticObstacleDecision(
         // LEFT_NUDGE
         ObjectNudge *object_nudge_ptr = object_decision.mutable_nudge();
         object_nudge_ptr->set_type(ObjectNudge::LEFT_NUDGE);
-        object_nudge_ptr->set_distance_l(FLAGS_static_obstacle_nudge_l_buffer);
+        object_nudge_ptr->set_distance_l(
+            config_.path_decider_config().static_obstacle_buffer());
         path_decision->AddLateralDecision("PathDecider/left-nudge",
                                           obstacle->Id(), object_decision);
       } else if (sl_boundary.start_l() > curr_l + min_nudge_l) {  // &&
         // sl_boundary.start_l() < curr_l + min_nudge_l + 0.3) {
         // RIGHT_NUDGE
         ObjectNudge *object_nudge_ptr = object_decision.mutable_nudge();
         object_nudge_ptr->set_type(ObjectNudge::RIGHT_NUDGE);
-        object_nudge_ptr->set_distance_l(-FLAGS_static_obstacle_nudge_l_buffer);
+        object_nudge_ptr->set_distance_l(
+            -config_.path_decider_config().static_obstacle_buffer());
         path_decision->AddLateralDecision("PathDecider/right-nudge",
                                           obstacle->Id(), object_decision);
       }

diff --git a/modules/planning/tasks/deciders/path_decider/path_decider.h b/modules/planning/tasks/deciders/path_decider/path_decider.h
@@ -22,6 +22,7 @@
 
 #include <string>
 
+#include "modules/planning/proto/planning_config.pb.h"
 #include "modules/planning/tasks/task.h"
 
 namespace apollo {