apollo7.0 piecewise-jerk qp planning problem

[wlsdaydayup]

System information

• **Apollo version 7.0:

Steps to reproduce the issue:

想问一下横向的路径规划在path boundary decider好像是只针对静态障碍物生成道路安全边界，纵向的速度规划生成ST boundary只针对动态障碍物，那如果要绕行超车动态障碍物，横向上怎么对动态障碍物做特殊处理呢？（毕竟没考虑动态障碍物）

[YuqiHuai]

Maybe this documentation can help you before an Apollo developer replies. Doesn't look like Planning supports overtaking dynamic obstacles in the same direction based on the supported features.

[ycraurora]

PathBoundsDecider通过IsWithinPathDeciderScopeObstacle函数来过滤障碍物。如果你不想修改源码，最简单的方式是修改FLAGS_static_obstacle_speed_threshold。动态障碍物映射到SL图中会逐帧变化，考虑速度过快的动态障碍物会导致路径规划不稳定。