allan
allan
楼主有什么新见解吗,最近也在看这个,把use_st_drivable_boundary设为true之后反而有些场景车会撞到障碍物
> 2\. problem thank you my friend, but i still confused about the second question. Isn't the delta_t already included by vehicle_speed? $$\frac{d^3l}{ds^3}=\frac{d\frac{d^2l}{ds^2}}{dt}\cdot\frac{dt}{ds}$$ $$\frac{d^2l}{ds^2}\approx\kappa-\kappa_{ref}=\frac{tan(\alpha)}{L}-\kappa_{ref}\approx\frac{\alpha}{L}-\kappa_{ref}$$ $$\frac{d^3l}{ds^3}=\frac{\alpha'}{Lv}
> The variable delta_t is unrelated to delta_s. Below is the discretized formula incorporating a delta_s into the jerk bound: ln‴=ln″−ln−1″Δs
> Fallback is definitely necessary. We can’t just stop immediately when we encounter a problem. But I’m not sure whether the fallback route will avoid obstacles. The fallback route will...
apply的是original_settings, 同步模式已经关了
> 欢迎提交PR修改 飞哥还会继续更新吗
have you defined the type in vehicle_config.proto?