[人工智能]apollo学习之---（28）speed_bounds_decider

1、参考文章

Planning-Apollo速度决策规划
Frenet坐标系下横纵向轨迹决策规划（SL投影及ST投影）及Apollo决策算法解析
apollo学习之—planning理论到实践（4）—速度规划理论学习

2、代码分析

**scenario_type: LANE_FOLLOW
stage_type: LANE_FOLLOW_DEFAULT_STAGE
stage_config: {
  stage_type: LANE_FOLLOW_DEFAULT_STAGE
  enabled: true
  task_type: LANE_CHANGE_DECIDER
  task_type: PATH_REUSE_DECIDER
  task_type: PATH_LANE_BORROW_DECIDER
  task_type: PATH_BOUNDS_DECIDER
  task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  task_type: PATH_ASSESSMENT_DECIDER
  task_type: PATH_DECIDER
  task_type: RULE_BASED_STOP_DECIDER
  task_type: ST_BOUNDS_DECIDER
  task_type: SPEED_BOUNDS_PRIORI_DECIDER
  task_type: SPEED_HEURISTIC_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: SPEED_BOUNDS_FINAL_DECIDER
  # task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
  task_type: RSS_DECIDER

  task_config: {
    task_type: LANE_CHANGE_DECIDER
    lane_change_decider_config {
      enable_lane_change_urgency_check: true
    }
  }**

3、测试

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