I want to change the speed of vehicle in dreamview+. I change the value in the planning.conf and compile but invalid. What wrong??? Thanks!!!

[Elken-lab]

我想改dreamview里面的巡航速度。我在网上查到的是修改planning.conf里的值然后重新编译下就行。但是为什么我这样做了，并没有起到作用呢？

[YuqiHuai]

可能还需要修改一下HD Map上每条道的限速。您试试这个代码

from baidu_apollo_proto.proto_v8.modules.common_msgs.map_msgs.map_pb2 import Map

map = Map()

with open("sunnyvale_big_loop.bin", "rb") as f:
    map.ParseFromString(f.read())

for lane in map.lane:
    print(lane.id.id, round(lane.speed_limit, 2))
    lane.speed_limit = 1000

with open("crazy_sunnyvale_big_loop.bin", "wb") as f:
    f.write(map.SerializeToString())

with open("crazy_sunnyvale_big_loop.bin", "rb") as f:
    map.ParseFromString(f.read())
for lane in map.lane:
    print(lane.id.id, round(lane.speed_limit, 2))

https://pypi.org/project/baidu-apollo-proto/

地图太大了我没法上传到GitHub，但是上面那个代码应该可以把 sunnyvale_big_loop 上的速度上限改掉。

[Elken-lab]

可能还需要修改一下高清地图上每条道的限速。您尝试一下这个代码

from baidu_apollo_proto.proto_v8.modules.common_msgs.map_msgs.map_pb2 import Map

map = Map()

with open("sunnyvale_big_loop.bin", "rb") as f:
    map.ParseFromString(f.read())

for lane in map.lane:
    print(lane.id.id, round(lane.speed_limit, 2))
    lane.speed_limit = 1000

with open("crazy_sunnyvale_big_loop.bin", "wb") as f:
    f.write(map.SerializeToString())

with open("crazy_sunnyvale_big_loop.bin", "rb") as f:
    map.ParseFromString(f.read())
for lane in map.lane:
    print(lane.id.id, round(lane.speed_limit, 2))

https://pypi.org/project/baidu-apollo-proto/

地图突然出现了我无法上传到GitHub的情况，但是上面的代码可以把sunnyvale_big_loop上的速度上限改掉。

好的，我试试，谢谢！！！

[ershang2]

可能需要修改一下高清地图上每条道的限制。你可以试试这个代码

from baidu_apollo_proto.proto_v8.modules.common_msgs.map_msgs.map_pb2 import Map

map = Map()

with open("sunnyvale_big_loop.bin", "rb") as f:
    map.ParseFromString(f.read())

for lane in map.lane:
    print(lane.id.id, round(lane.speed_limit, 2))
    lane.speed_limit = 1000

with open("crazy_sunnyvale_big_loop.bin", "wb") as f:
    f.write(map.SerializeToString())

with open("crazy_sunnyvale_big_loop.bin", "rb") as f:
    map.ParseFromString(f.read())
for lane in map.lane:
    print(lane.id.id, round(lane.speed_limit, 2))

https://pypi.org/project/baidu-apollo-proto/

地图很方便我把地图上传到GitHub，但是上面那个代码应该可以把sunnyvale_big_loop上学期的课程改掉。

Very handy tool

[heartshape21]

I tried to change the map limit speed and the planning.conf,but it doesn't work. what can I do to change the limit speed. I used the carla TOWN1 map, and the target can only move below 18km/h