Question on velocity planning of Apollo

[Kim-mins]

Hi team,

I'm currently reading a documentation and codes of Apollo, and I got two questions on velocity planning of Apollo as below:

Q1. When the obstacles are ignored(no surrounding NPCS, ...), is it possible to infer a velocity at some point directly(=not running the driving scenario) with any of Apollo's component? To my knowledge, velocity plan is generated by speed_bounds_decider, speed_decider and piecewise_jerk_speed. When I checked their code, it seems they require the data from perception layer(e.g., surrounding NPCs), which means these components are designed to be used online(while running driving scenario). Does Apollo supports velocity planning in offline(not running the scenario, just knowing the starting and destination point of the map), not considering obstacles that could be encountered during the driving?

Q2. If the answer for Q1 is yes, how much is that velocity planning accurate? Is the velocity plan from offline velocity planning accurate enough to represent the velocity while driving, if the ego vehicle does not encounter any obstacles during the driving?

Thank you!