Apollo: Piecewise jerk path optimizer failed when a vehicle is moving through a sharp turn

[JJRedmond]

Hi, ApolloAuto community!
Can you help me and tell how can I fix this problem?

E0915 piecewise_jerk_path_optimizer.cc:205] piecewise jerk path optimizer failed
E0915 piecewise_jerk_problem.cc:104] failed optimization status: primal infeasible
E0915 path_optimizer.cc:41] Reference Line 1_0 is not drivable after PIECEWISE_JERK_PATH_OPTIMIZER

It happened when vehicle try to execute turn like at the picture. And after the last error it doesn't move.

System information

• Linux Ubuntu 16.04:
• Apollo installed from source:
• Apollo version 5.0:

[HongyiSun]

The primal infeasible means the optimizer proved that it's impossible to find a solution for that problem. Could you please make sure,

• If it is feasible for your vehicle to make that turn (or say if the turning is too sharp to follow)?
• Or did you ever tried to change the vehicle params under modules/common/data/vehicle_param.pb.txt if you are using your own vehicle with more flexible control?

[JJRedmond]

@HongyiSun, thanks for your reply, it's very helpful.

I used "Sim control" mode with the MKZ vehicle model and it seems this turn is not feasible.
When parameters was changed under modules/calibration/data/vehicle_param.pb.txt, ADC passed this turn.

[BigBenSure]

@JJRedmond ,could you please tell me which parameter you have changed under modules/calibration/data/vehicle_param.pb.txt ?
I have encountered this problem too.