Apollo: Why piecewise jerk speed optimizer always failed when ego turn?

[RunningPixEl]

piecewise jerk speed optimizer always failed when ego in turn
error msg in piecewise_jerk_speed_optimizer.cc located after piecewise_jerk_problem.Optimize()
This may caused by centric acc limit, anyone know how to solve it?

System information

• *Linux Ubuntu 16.04):
• Apollo installed from (source):
• Apollo version 3.5:

[HongyiSun]

There is a fall back speed profile after piecewise_jerk_speed_optimizer failed, which will trying to slower down the vehicle until the optimizer can find a solution.
This is actually kind of "as design", although there are things on decision side that can be improved.

[RunningPixEl]

Thanks for your answer!!