ycrad

1. jerk_bound calculation has changed in Apollo 9.0 ``` double PathOptimizerUtil::EstimateJerkBoundary(const double vehicle_speed) { const auto& veh_param = common::VehicleConfigHelper::GetConfig().vehicle_param(); const double axis_distance = veh_param.wheel_base(); const double max_yaw_rate = veh_param.max_steer_angle_rate() /...

The variable delta_t is unrelated to delta_s. Below is the discretized formula incorporating a delta_s into the jerk bound: $$l_{n}^{'''}=\frac{l_{n}^{''}-l_{n-1}^{''}}{\Delta s}

Fallback route will not avoid obstacles, but it should I think. In most cases, the reason that regular paths cannot be generated is because of static obstacles, and if static...

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。

9.0中可以参考 modules/external_command/external_command_demo