Apollo: What's the average computation time to solve a qp_spline_referenceline_smoother

[waverider995]

Hi,

To smooth a reference line, normally how many knots you have and what's the average computation time with qpOASES?

Thanks a lot

[jilinzhou]

1. The number of knots depends on the max length of each spline.
2. The average computation time depends on your hardware (number of cores, cpu speed, memory, etc.)

[waverider995]

Thanks for the reply.

For instance, a 100m curve with 100 splines, running on your AVs, it takes dozens of milliseconds or seconds?

I have tried cvxopt in python as well as qpOASES in c++. Cvxopt takes 50 ms while qpOASES takes 5s to solve the same question.

[lianglia-apollo]

For a qp problem used in our qp_st_speed_optimizer, the average running time is ~10ms

[lianglia-apollo]

If you can run it on cvxopt, please let us know the time consumption. Thanks! @waverider995

[waverider995]

I ran a simple test in python, not in real-time, 100 cubic splines with 800 variables took 50ms including the matrix assigning.

[waverider995]

cvxopt converts automatically a QP to a SOCP, which might be faster in this case

[lianglia-apollo]

Yes, it could be faster. CXVOPT has an c interface api (https://cvxopt.org/userguide/c-api.html). If you are interested in improving the optimization performance, please feel free to add a cvxopt-based solver into Apollo.

[lianglia-apollo]

According to a reference here (http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.720.6815&rep=rep1&type=pdf), qpOases performs better than cvxgen.

[jilinzhou]

On a Renesas H3 board running qnx, the time to process each configured task in a loop is roughly as the following (apollo r2.0.0):

• TrafficDecider: 1 ms
• PathDecider: negligble
• SpeedDecider: negligble
• DpPolyPathOptimizer: 4~6 ms
• QpSplineStSpeedOptimizer (use qpOases underlying): 4~6 ms