repo_id stringlengths 19 138 | file_path stringlengths 32 200 | content stringlengths 1 12.9M | __index_level_0__ int64 0 0 |
|---|---|---|---|
apollo_public_repos/apollo/modules/planning/scenarios | apollo_public_repos/apollo/modules/planning/scenarios/narrow_street_u_turn/narrow_street_u_turn_scenario.h | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/planning/scenarios/scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace narrow_street_u_turn {
class NarrowStreetUTurnScenario : public Scenario {
public:
NarrowStreetUTurnScenario(const ScenarioConfig& config,
const ScenarioContext* context,
const std::shared_ptr<DependencyInjector>& injector)
: Scenario(config, context, injector) {}
std::unique_ptr<Stage> CreateStage(
const ScenarioConfig::StageConfig& stage_config,
const std::shared_ptr<DependencyInjector>& injector) override;
};
} // namespace narrow_street_u_turn
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios | apollo_public_repos/apollo/modules/planning/scenarios/narrow_street_u_turn/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//third_party/gpus:common.bzl", "if_cuda", "if_rocm")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
PLANNING_COPTS = ["-DMODULE_NAME=\\\"planning\\\""]
cc_library(
name = "narrow_street_u_turn",
copts = PLANNING_COPTS,
deps = [
":narrow_street_u_turn_scenario",
],
)
cc_library(
name = "narrow_street_u_turn_scenario",
srcs = ["narrow_street_u_turn_scenario.cc"],
hdrs = ["narrow_street_u_turn_scenario.h"],
copts = PLANNING_COPTS,
deps = [
"//cyber",
"//modules/common_msgs/planning_msgs:planning_cc_proto",
"//modules/planning/scenarios:scenario",
],
)
cc_test(
name = "narrow_street_u_turn_scenario_test",
size = "small",
srcs = ["narrow_street_u_turn_scenario_test.cc"],
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":narrow_street_u_turn",
"@com_google_googletest//:gtest_main",
] + if_cuda([
"@local_config_cuda//cuda:cudart",
]) + if_rocm([
"@local_config_rocm//rocm:hip",
]),
linkstatic = True,
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios | apollo_public_repos/apollo/modules/planning/scenarios/narrow_street_u_turn/narrow_street_u_turn_scenario.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/scenarios/narrow_street_u_turn/narrow_street_u_turn_scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace narrow_street_u_turn {
std::unique_ptr<Stage> NarrowStreetUTurnScenario::CreateStage(
const ScenarioConfig::StageConfig& stage_config,
const std::shared_ptr<DependencyInjector>& injector) {
return nullptr;
}
} // namespace narrow_street_u_turn
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_pre_stop.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/scenarios/stop_sign/unprotected/stage_pre_stop.h"
#include <algorithm>
#include <utility>
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "cyber/common/log.h"
#include "cyber/time/clock.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/util/point_factory.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/pnc_map/path.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/util/util.h"
#include "modules/planning/scenarios/util/util.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
using apollo::common::TrajectoryPoint;
using apollo::cyber::Clock;
using apollo::hdmap::HDMapUtil;
using apollo::hdmap::LaneInfoConstPtr;
using apollo::hdmap::OverlapInfoConstPtr;
using apollo::hdmap::PathOverlap;
using apollo::perception::PerceptionObstacle;
using StopSignLaneVehicles =
std::unordered_map<std::string, std::vector<std::string>>;
Stage::StageStatus StopSignUnprotectedStagePreStop::Process(
const TrajectoryPoint& planning_init_point, Frame* frame) {
ADEBUG << "stage: PreStop";
CHECK_NOTNULL(frame);
scenario_config_.CopyFrom(GetContext()->scenario_config);
bool plan_ok = ExecuteTaskOnReferenceLine(planning_init_point, frame);
if (!plan_ok) {
AERROR << "StopSignUnprotectedStagePreStop planning error";
}
const auto& reference_line_info = frame->reference_line_info().front();
std::string stop_sign_overlap_id = GetContext()->current_stop_sign_overlap_id;
// get overlap along reference line
PathOverlap* current_stop_sign_overlap =
scenario::util::GetOverlapOnReferenceLine(reference_line_info,
stop_sign_overlap_id,
ReferenceLineInfo::STOP_SIGN);
if (!current_stop_sign_overlap) {
return FinishScenario();
}
static constexpr double kPassStopLineBuffer = 0.3; // unit: m
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
const double distance_adc_pass_stop_sign =
adc_front_edge_s - current_stop_sign_overlap->start_s;
if (distance_adc_pass_stop_sign <= kPassStopLineBuffer) {
// not passed stop line, check valid stop
if (CheckADCStop(adc_front_edge_s, current_stop_sign_overlap->start_s)) {
return FinishStage();
}
} else {
// passed stop line
return FinishStage();
}
// PRE-STOP
const PathDecision& path_decision = reference_line_info.path_decision();
auto& watch_vehicles = GetContext()->watch_vehicles;
std::vector<std::string> watch_vehicle_ids;
for (const auto& vehicle : watch_vehicles) {
std::copy(vehicle.second.begin(), vehicle.second.end(),
std::back_inserter(watch_vehicle_ids));
// for debug string
std::string associated_lane_id = vehicle.first;
std::string s;
for (const std::string& vehicle_id : vehicle.second) {
s = s.empty() ? vehicle_id : s + "," + vehicle_id;
}
ADEBUG << "watch_vehicles: lane_id[" << associated_lane_id << "] vehicle["
<< s << "]";
}
// pass vehicles being watched to DECIDER_RULE_BASED_STOP task
// for visualization
for (const auto& perception_obstacle_id : watch_vehicle_ids) {
injector_->planning_context()
->mutable_planning_status()
->mutable_stop_sign()
->add_wait_for_obstacle_id(perception_obstacle_id);
}
for (const auto* obstacle : path_decision.obstacles().Items()) {
// add to watch_vehicles if adc is still proceeding to stop sign
AddWatchVehicle(*obstacle, &watch_vehicles);
}
return Stage::RUNNING;
}
/**
* @brief: add a watch vehicle which arrives at stop sign ahead of adc
*/
int StopSignUnprotectedStagePreStop::AddWatchVehicle(
const Obstacle& obstacle, StopSignLaneVehicles* watch_vehicles) {
CHECK_NOTNULL(watch_vehicles);
const PerceptionObstacle& perception_obstacle = obstacle.Perception();
const std::string& perception_obstacle_id =
std::to_string(perception_obstacle.id());
PerceptionObstacle::Type obstacle_type = perception_obstacle.type();
std::string obstacle_type_name = PerceptionObstacle_Type_Name(obstacle_type);
// check type
if (obstacle_type != PerceptionObstacle::UNKNOWN &&
obstacle_type != PerceptionObstacle::UNKNOWN_MOVABLE &&
obstacle_type != PerceptionObstacle::BICYCLE &&
obstacle_type != PerceptionObstacle::VEHICLE) {
ADEBUG << "obstacle_id[" << perception_obstacle_id << "] type["
<< obstacle_type_name << "]. skip";
return 0;
}
const auto point =
common::util::PointFactory::ToPointENU(perception_obstacle.position());
double obstacle_s = 0.0;
double obstacle_l = 0.0;
LaneInfoConstPtr obstacle_lane;
if (HDMapUtil::BaseMap().GetNearestLaneWithHeading(
point, 5.0, perception_obstacle.theta(), M_PI / 3.0, &obstacle_lane,
&obstacle_s, &obstacle_l) != 0) {
ADEBUG << "obstacle_id[" << perception_obstacle_id << "] type["
<< obstacle_type_name
<< "]: Failed to find nearest lane from map for position: "
<< point.DebugString() << "; heading[" << perception_obstacle.theta()
<< "]";
return -1;
}
if (!obstacle_lane->IsOnLane(common::util::PointFactory::ToVec2d(
perception_obstacle.position()))) {
ADEBUG << "obstacle_id[" << perception_obstacle_id << "] type["
<< obstacle_type_name << "]: is off road. " << point.DebugString()
<< "; heading[" << perception_obstacle.theta() << "]";
return -1;
}
// check obstacle is on an associate lane guarded by stop sign
std::string obstable_lane_id = obstacle_lane.get()->id().id();
auto assoc_lane_it = std::find_if(
GetContext()->associated_lanes.begin(),
GetContext()->associated_lanes.end(),
[&obstable_lane_id](
std::pair<LaneInfoConstPtr, OverlapInfoConstPtr>& assc_lane) {
return assc_lane.first.get()->id().id() == obstable_lane_id;
});
if (assoc_lane_it == GetContext()->associated_lanes.end()) {
ADEBUG << "obstacle_id[" << perception_obstacle_id << "] type["
<< obstacle_type_name << "] lane_id[" << obstable_lane_id
<< "] not associated with current stop_sign. skip";
return -1;
}
// check a valid stop for stop line of the stop_sign
auto over_lap_info = assoc_lane_it->second.get()->GetObjectOverlapInfo(
obstacle_lane.get()->id());
if (over_lap_info == nullptr) {
AERROR << "can't find over_lap_info for id: " << obstable_lane_id;
return -1;
}
const double stop_line_s = over_lap_info->lane_overlap_info().start_s();
const double obstacle_end_s = obstacle_s + perception_obstacle.length() / 2;
const double distance_to_stop_line = stop_line_s - obstacle_end_s;
if (distance_to_stop_line >
scenario_config_.watch_vehicle_max_valid_stop_distance()) {
ADEBUG << "obstacle_id[" << perception_obstacle_id << "] type["
<< obstacle_type_name << "] distance_to_stop_line["
<< distance_to_stop_line << "]; stop_line_s" << stop_line_s
<< "]; obstacle_end_s[" << obstacle_end_s
<< "] too far from stop line. skip";
return -1;
}
// use a vector since motocycles/bicycles can be more than one
std::vector<std::string> vehicles =
(*watch_vehicles)[obstacle_lane->id().id()];
if (std::find(vehicles.begin(), vehicles.end(), perception_obstacle_id) ==
vehicles.end()) {
ADEBUG << "AddWatchVehicle: lane[" << obstacle_lane->id().id()
<< "] obstacle_id[" << perception_obstacle_id << "]";
(*watch_vehicles)[obstacle_lane->id().id()].push_back(
perception_obstacle_id);
}
return 0;
}
/**
* @brief: check valid stop_sign stop
*/
bool StopSignUnprotectedStagePreStop::CheckADCStop(
const double adc_front_edge_s, const double stop_line_s) {
const double adc_speed = injector_->vehicle_state()->linear_velocity();
const double max_adc_stop_speed = common::VehicleConfigHelper::Instance()
->GetConfig()
.vehicle_param()
.max_abs_speed_when_stopped();
if (adc_speed > max_adc_stop_speed) {
ADEBUG << "ADC not stopped: speed[" << adc_speed << "]";
return false;
}
// check stop close enough to stop line of the stop_sign
const double distance_stop_line_to_adc_front_edge =
stop_line_s - adc_front_edge_s;
ADEBUG << "distance_stop_line_to_adc_front_edge["
<< distance_stop_line_to_adc_front_edge << "]";
if (distance_stop_line_to_adc_front_edge >
scenario_config_.max_valid_stop_distance()) {
ADEBUG << "not a valid stop. too far from stop line.";
return false;
}
// TODO(all): check no BICYCLE in between.
return true;
}
Stage::StageStatus StopSignUnprotectedStagePreStop::FinishStage() {
GetContext()->stop_start_time = Clock::NowInSeconds();
next_stage_ = StageType::STOP_SIGN_UNPROTECTED_STOP;
return Stage::FINISHED;
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_stop.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/scenarios/stop_sign/unprotected/stage_stop.h"
#include <algorithm>
#include <utility>
#include "cyber/common/log.h"
#include "cyber/time/clock.h"
#include "modules/common/util/point_factory.h"
#include "modules/map/pnc_map/path.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/util/util.h"
#include "modules/planning/scenarios/util/util.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
using apollo::common::TrajectoryPoint;
using apollo::cyber::Clock;
using apollo::hdmap::HDMapUtil;
using apollo::hdmap::LaneInfoConstPtr;
using apollo::hdmap::OverlapInfoConstPtr;
using apollo::hdmap::PathOverlap;
using apollo::perception::PerceptionObstacle;
using StopSignLaneVehicles =
std::unordered_map<std::string, std::vector<std::string>>;
Stage::StageStatus StopSignUnprotectedStageStop::Process(
const TrajectoryPoint& planning_init_point, Frame* frame) {
ADEBUG << "stage: Stop";
CHECK_NOTNULL(frame);
scenario_config_.CopyFrom(GetContext()->scenario_config);
bool plan_ok = ExecuteTaskOnReferenceLine(planning_init_point, frame);
if (!plan_ok) {
AERROR << "StopSignUnprotectedPreStop planning error";
}
const auto& reference_line_info = frame->reference_line_info().front();
std::string stop_sign_overlap_id = GetContext()->current_stop_sign_overlap_id;
// refresh overlap along reference line
PathOverlap* current_stop_sign_overlap =
scenario::util::GetOverlapOnReferenceLine(reference_line_info,
stop_sign_overlap_id,
ReferenceLineInfo::STOP_SIGN);
if (!current_stop_sign_overlap) {
return FinishScenario();
}
// set right_of_way_status
const double stop_sign_start_s = current_stop_sign_overlap->start_s;
reference_line_info.SetJunctionRightOfWay(stop_sign_start_s, false);
static constexpr double kPassStopLineBuffer = 1.0; // unit: m
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
const double distance_adc_pass_stop_sign =
adc_front_edge_s - stop_sign_start_s;
// passed stop line too far
if (distance_adc_pass_stop_sign > kPassStopLineBuffer) {
return FinishStage();
}
// check on wait-time
auto start_time = GetContext()->stop_start_time;
const double wait_time = Clock::NowInSeconds() - start_time;
ADEBUG << "stop_start_time[" << start_time << "] wait_time[" << wait_time
<< "]";
if (wait_time < scenario_config_.stop_duration_sec()) {
return Stage::RUNNING;
}
// check on watch_vehicles
auto& watch_vehicles = GetContext()->watch_vehicles;
if (watch_vehicles.empty()) {
return FinishStage();
}
// get all vehicles currently watched
std::vector<std::string> watch_vehicle_ids;
for (const auto& watch_vehicle : watch_vehicles) {
std::copy(watch_vehicle.second.begin(), watch_vehicle.second.end(),
std::back_inserter(watch_vehicle_ids));
// for debug
std::string s;
for (const std::string& vehicle : watch_vehicle.second) {
s = s.empty() ? vehicle : s + "," + vehicle;
}
const std::string& associated_lane_id = watch_vehicle.first;
ADEBUG << "watch_vehicles: lane_id[" << associated_lane_id << "] vehicle["
<< s << "]";
}
// remove duplicates (caused when same vehicle on mutiple lanes)
watch_vehicle_ids.erase(
unique(watch_vehicle_ids.begin(), watch_vehicle_ids.end()),
watch_vehicle_ids.end());
if (watch_vehicle_ids.empty()) {
return FinishStage();
}
// pass vehicles being watched to DECIDER_RULE_BASED_STOP task
// for visualization
for (const auto& perception_obstacle_id : watch_vehicle_ids) {
injector_->planning_context()
->mutable_planning_status()
->mutable_stop_sign()
->add_wait_for_obstacle_id(perception_obstacle_id);
}
// check timeout while waiting for only one vehicle
if (wait_time > scenario_config_.stop_timeout_sec() &&
watch_vehicle_ids.size() <= 1) {
return FinishStage();
}
const PathDecision& path_decision = reference_line_info.path_decision();
RemoveWatchVehicle(path_decision, &watch_vehicles);
return Stage::RUNNING;
}
/**
* @brief: remove a watch vehicle which not stopping at stop sign any more
*/
int StopSignUnprotectedStageStop::RemoveWatchVehicle(
const PathDecision& path_decision, StopSignLaneVehicles* watch_vehicles) {
CHECK_NOTNULL(watch_vehicles);
for (auto& vehicle : *watch_vehicles) {
// associated_lane/stop_sign info
std::string associated_lane_id = vehicle.first;
auto assoc_lane_it = std::find_if(
GetContext()->associated_lanes.begin(),
GetContext()->associated_lanes.end(),
[&associated_lane_id](
std::pair<LaneInfoConstPtr, OverlapInfoConstPtr>& assc_lane) {
return assc_lane.first.get()->id().id() == associated_lane_id;
});
if (assoc_lane_it == GetContext()->associated_lanes.end()) {
continue;
}
auto stop_sign_over_lap_info =
assoc_lane_it->second.get()->GetObjectOverlapInfo(
hdmap::MakeMapId(associated_lane_id));
if (stop_sign_over_lap_info == nullptr) {
AERROR << "can't find stop_sign_over_lap_info for id: "
<< associated_lane_id;
continue;
}
const double stop_line_end_s =
stop_sign_over_lap_info->lane_overlap_info().end_s();
const auto lane =
HDMapUtil::BaseMap().GetLaneById(hdmap::MakeMapId(associated_lane_id));
if (lane == nullptr) {
continue;
}
auto stop_sign_point = lane.get()->GetSmoothPoint(stop_line_end_s);
std::vector<std::string> remove_vehicles;
auto& vehicles = vehicle.second;
for (const auto& perception_obstacle_id : vehicles) {
// watched-vehicle info
const PerceptionObstacle* perception_obstacle =
path_decision.FindPerceptionObstacle(perception_obstacle_id);
if (!perception_obstacle) {
ADEBUG << "mark ERASE obstacle_id[" << perception_obstacle_id
<< "] not exist";
remove_vehicles.push_back(perception_obstacle_id);
continue;
}
PerceptionObstacle::Type obstacle_type = perception_obstacle->type();
std::string obstacle_type_name =
PerceptionObstacle_Type_Name(obstacle_type);
auto obstacle_point = common::util::PointFactory::ToPointENU(
perception_obstacle->position());
double distance =
common::util::DistanceXY(stop_sign_point, obstacle_point);
ADEBUG << "obstacle_id[" << perception_obstacle_id << "] distance["
<< distance << "]";
// TODO(all): move 10.0 to conf
if (distance > 10.0) {
ADEBUG << "mark ERASE obstacle_id[" << perception_obstacle_id << "]";
remove_vehicles.push_back(perception_obstacle_id);
}
}
for (const auto& perception_obstacle_id : remove_vehicles) {
ADEBUG << "ERASE obstacle_id[" << perception_obstacle_id << "]";
vehicles.erase(
std::remove(vehicles.begin(), vehicles.end(), perception_obstacle_id),
vehicles.end());
}
}
return 0;
}
Stage::StageStatus StopSignUnprotectedStageStop::FinishStage() {
// update PlanningContext
injector_->planning_context()
->mutable_planning_status()
->mutable_stop_sign()
->set_done_stop_sign_overlap_id(
GetContext()->current_stop_sign_overlap_id);
injector_->planning_context()
->mutable_planning_status()
->mutable_stop_sign()
->clear_wait_for_obstacle_id();
GetContext()->creep_start_time = Clock::NowInSeconds();
next_stage_ = StageType::STOP_SIGN_UNPROTECTED_CREEP;
return Stage::FINISHED;
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_creep_test.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/scenarios/stop_sign/unprotected/stage_creep.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "gtest/gtest.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
class StopSignUnprotectedStageCreepTest : public ::testing::Test {
public:
virtual void SetUp() {
config_.set_stage_type(StageType::STOP_SIGN_UNPROTECTED_CREEP);
injector_ = std::make_shared<DependencyInjector>();
}
protected:
ScenarioConfig::StageConfig config_;
std::shared_ptr<DependencyInjector> injector_;
};
TEST_F(StopSignUnprotectedStageCreepTest, Init) {
StopSignUnprotectedStageCreep stop_sign_unprotected_stage_creep(config_,
injector_);
EXPECT_EQ(stop_sign_unprotected_stage_creep.Name(),
StageType_Name(
StageType::STOP_SIGN_UNPROTECTED_CREEP));
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_creep.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/scenarios/stage.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
struct StopSignUnprotectedContext;
class StopSignUnprotectedStageCreep : public Stage {
public:
StopSignUnprotectedStageCreep(
const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: Stage(config, injector) {}
private:
Stage::StageStatus Process(const common::TrajectoryPoint& planning_init_point,
Frame* frame) override;
StopSignUnprotectedContext* GetContext() {
return Stage::GetContextAs<StopSignUnprotectedContext>();
}
private:
Stage::StageStatus FinishStage();
private:
ScenarioStopSignUnprotectedConfig scenario_config_;
};
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_creep.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/scenarios/stop_sign/unprotected/stage_creep.h"
#include <string>
#include "cyber/common/log.h"
#include "cyber/time/clock.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/pnc_map/path.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/speed_profile_generator.h"
#include "modules/planning/common/util/util.h"
#include "modules/planning/scenarios/util/util.h"
#include "modules/planning/tasks/deciders/creep_decider/creep_decider.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
using apollo::common::TrajectoryPoint;
using apollo::cyber::Clock;
using apollo::hdmap::PathOverlap;
Stage::StageStatus StopSignUnprotectedStageCreep::Process(
const TrajectoryPoint& planning_init_point, Frame* frame) {
ADEBUG << "stage: Creep";
CHECK_NOTNULL(frame);
scenario_config_.CopyFrom(GetContext()->scenario_config);
if (!config_.enabled()) {
return FinishStage();
}
bool plan_ok = ExecuteTaskOnReferenceLine(planning_init_point, frame);
if (!plan_ok) {
AERROR << "StopSignUnprotectedStageCreep planning error";
}
const auto& reference_line_info = frame->reference_line_info().front();
std::string stop_sign_overlap_id = GetContext()->current_stop_sign_overlap_id;
// get overlap along reference line
PathOverlap* current_stop_sign_overlap =
scenario::util::GetOverlapOnReferenceLine(reference_line_info,
stop_sign_overlap_id,
ReferenceLineInfo::STOP_SIGN);
if (!current_stop_sign_overlap) {
return FinishScenario();
}
// set right_of_way_status
const double stop_sign_start_s = current_stop_sign_overlap->start_s;
reference_line_info.SetJunctionRightOfWay(stop_sign_start_s, false);
const double stop_sign_end_s = current_stop_sign_overlap->end_s;
const double wait_time =
Clock::NowInSeconds() - GetContext()->creep_start_time;
const double timeout_sec = scenario_config_.creep_timeout_sec();
auto* task = dynamic_cast<CreepDecider*>(FindTask(TaskConfig::CREEP_DECIDER));
if (task == nullptr) {
AERROR << "task is nullptr";
return FinishStage();
}
double creep_stop_s =
stop_sign_end_s + task->FindCreepDistance(*frame, reference_line_info);
const double distance =
creep_stop_s - reference_line_info.AdcSlBoundary().end_s();
if (distance <= 0.0) {
auto& rfl_info = frame->mutable_reference_line_info()->front();
*(rfl_info.mutable_speed_data()) =
SpeedProfileGenerator::GenerateFixedDistanceCreepProfile(0.0, 0);
}
if (task->CheckCreepDone(*frame, reference_line_info, stop_sign_end_s,
wait_time, timeout_sec)) {
return FinishStage();
}
return Stage::RUNNING;
}
Stage::StageStatus StopSignUnprotectedStageCreep::FinishStage() {
next_stage_ = StageType::STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE;
return Stage::FINISHED;
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario_test.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "gtest/gtest.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
class StopSignUnprotectedScenarioTest : public ::testing::Test {
public:
virtual void SetUp() {}
protected:
std::unique_ptr<StopSignUnprotectedScenario> scenario_;
};
TEST_F(StopSignUnprotectedScenarioTest, Init) {
FLAGS_scenario_stop_sign_unprotected_config_file =
"/apollo/modules/planning/conf/"
"scenario/stop_sign_unprotected_config.pb.txt";
ScenarioConfig config;
EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
FLAGS_scenario_stop_sign_unprotected_config_file, &config));
ScenarioContext context;
auto injector = std::make_shared<DependencyInjector>();
scenario_.reset(new StopSignUnprotectedScenario(config, &context, injector));
EXPECT_EQ(scenario_->scenario_type(), ScenarioType::STOP_SIGN_UNPROTECTED);
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_intersection_cruise.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/scenarios/stop_sign/unprotected/stage_intersection_cruise.h"
#include "cyber/common/log.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
Stage::StageStatus StopSignUnprotectedStageIntersectionCruise::Process(
const common::TrajectoryPoint& planning_init_point, Frame* frame) {
ADEBUG << "stage: IntersectionCruise";
CHECK_NOTNULL(frame);
bool plan_ok = ExecuteTaskOnReferenceLine(planning_init_point, frame);
if (!plan_ok) {
AERROR << "StopSignUnprotectedStageIntersectionCruise plan error";
}
bool stage_done =
stage_impl_.CheckDone(*frame, ScenarioType::STOP_SIGN_UNPROTECTED,
config_, injector_->planning_context(), false);
if (stage_done) {
return FinishStage();
}
return Stage::RUNNING;
}
Stage::StageStatus StopSignUnprotectedStageIntersectionCruise::FinishStage() {
return FinishScenario();
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_pre_stop.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/scenarios/stage.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
struct StopSignUnprotectedContext;
class StopSignUnprotectedStagePreStop : public Stage {
public:
StopSignUnprotectedStagePreStop(
const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: Stage(config, injector) {}
private:
Stage::StageStatus Process(const common::TrajectoryPoint& planning_init_point,
Frame* frame) override;
StopSignUnprotectedContext* GetContext() {
return GetContextAs<StopSignUnprotectedContext>();
}
int AddWatchVehicle(const Obstacle& obstacle,
std::unordered_map<std::string, std::vector<std::string>>*
watch_vehicles);
bool CheckADCStop(const double adc_front_edge_s, const double stop_line_s);
private:
Stage::StageStatus FinishStage();
private:
ScenarioStopSignUnprotectedConfig scenario_config_;
};
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
#include "cyber/common/log.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stage_creep.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stage_intersection_cruise.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stage_pre_stop.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stage_stop.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
using apollo::hdmap::HDMapUtil;
using apollo::hdmap::StopSignInfo;
using apollo::hdmap::StopSignInfoConstPtr;
using StopSignLaneVehicles =
std::unordered_map<std::string, std::vector<std::string>>;
apollo::common::util::Factory<
StageType, Stage,
Stage* (*)(const ScenarioConfig::StageConfig& stage_config,
const std::shared_ptr<DependencyInjector>& injector)>
StopSignUnprotectedScenario::s_stage_factory_;
void StopSignUnprotectedScenario::Init() {
if (init_) {
return;
}
Scenario::Init();
if (!GetScenarioConfig()) {
AERROR << "fail to get scenario specific config";
return;
}
const std::string stop_sign_overlap_id = injector_->planning_context()
->planning_status()
.stop_sign()
.current_stop_sign_overlap_id();
if (stop_sign_overlap_id.empty()) {
AERROR << "Could not find stop sign";
return;
}
hdmap::StopSignInfoConstPtr stop_sign = HDMapUtil::BaseMap().GetStopSignById(
hdmap::MakeMapId(stop_sign_overlap_id));
if (!stop_sign) {
AERROR << "Could not find stop sign: " << stop_sign_overlap_id;
return;
}
context_.current_stop_sign_overlap_id = stop_sign_overlap_id;
context_.watch_vehicles.clear();
GetAssociatedLanes(*stop_sign);
init_ = true;
}
void StopSignUnprotectedScenario::RegisterStages() {
if (!s_stage_factory_.Empty()) {
s_stage_factory_.Clear();
}
s_stage_factory_.Register(
StageType::STOP_SIGN_UNPROTECTED_PRE_STOP,
[](const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Stage* {
return new StopSignUnprotectedStagePreStop(config, injector);
});
s_stage_factory_.Register(
StageType::STOP_SIGN_UNPROTECTED_STOP,
[](const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Stage* {
return new StopSignUnprotectedStageStop(config, injector);
});
s_stage_factory_.Register(
StageType::STOP_SIGN_UNPROTECTED_CREEP,
[](const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Stage* {
return new StopSignUnprotectedStageCreep(config, injector);
});
s_stage_factory_.Register(
StageType::STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE,
[](const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Stage* {
return new StopSignUnprotectedStageIntersectionCruise(config, injector);
});
}
std::unique_ptr<Stage> StopSignUnprotectedScenario::CreateStage(
const ScenarioConfig::StageConfig& stage_config,
const std::shared_ptr<DependencyInjector>& injector) {
if (s_stage_factory_.Empty()) {
RegisterStages();
}
auto ptr = s_stage_factory_.CreateObjectOrNull(stage_config.stage_type(),
stage_config, injector);
if (ptr) {
ptr->SetContext(&context_);
}
return ptr;
}
/*
* read scenario specific configs and set in context_ for stages to read
*/
bool StopSignUnprotectedScenario::GetScenarioConfig() {
if (!config_.has_stop_sign_unprotected_config()) {
AERROR << "miss scenario specific config";
return false;
}
context_.scenario_config.CopyFrom(config_.stop_sign_unprotected_config());
return true;
}
/*
* get all the lanes associated/guarded by a stop sign
*/
int StopSignUnprotectedScenario::GetAssociatedLanes(
const StopSignInfo& stop_sign_info) {
context_.associated_lanes.clear();
std::vector<StopSignInfoConstPtr> associated_stop_signs;
HDMapUtil::BaseMap().GetStopSignAssociatedStopSigns(stop_sign_info.id(),
&associated_stop_signs);
for (const auto stop_sign : associated_stop_signs) {
if (stop_sign == nullptr) {
continue;
}
const auto& associated_lane_ids = stop_sign->OverlapLaneIds();
for (const auto& lane_id : associated_lane_ids) {
const auto lane = HDMapUtil::BaseMap().GetLaneById(lane_id);
if (lane == nullptr) {
continue;
}
for (const auto& stop_sign_overlap : lane->stop_signs()) {
auto over_lap_info =
stop_sign_overlap->GetObjectOverlapInfo(stop_sign.get()->id());
if (over_lap_info != nullptr) {
context_.associated_lanes.push_back(
std::make_pair(lane, stop_sign_overlap));
ADEBUG << "stop_sign: " << stop_sign_info.id().id()
<< "; associated_lane: " << lane_id.id()
<< "; associated_stop_sign: " << stop_sign.get()->id().id();
}
}
}
}
return 0;
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_stop.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/scenarios/stage.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
struct StopSignUnprotectedContext;
class StopSignUnprotectedStageStop : public Stage {
public:
StopSignUnprotectedStageStop(
const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: Stage(config, injector) {}
private:
Stage::StageStatus Process(const common::TrajectoryPoint& planning_init_point,
Frame* frame) override;
StopSignUnprotectedContext* GetContext() {
return GetContextAs<StopSignUnprotectedContext>();
}
int RemoveWatchVehicle(
const PathDecision& path_decision,
std::unordered_map<std::string, std::vector<std::string>>*
watch_vehicles);
private:
Stage::StageStatus FinishStage();
private:
ScenarioStopSignUnprotectedConfig scenario_config_;
};
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_pre_stop_test.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/scenarios/stop_sign/unprotected/stage_pre_stop.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "gtest/gtest.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
class StopSignUnprotectedStagePreStopTest : public ::testing::Test {
public:
virtual void SetUp() {
config_.set_stage_type(StageType::STOP_SIGN_UNPROTECTED_PRE_STOP);
injector_ = std::make_shared<DependencyInjector>();
}
protected:
ScenarioConfig::StageConfig config_;
std::shared_ptr<DependencyInjector> injector_;
};
TEST_F(StopSignUnprotectedStagePreStopTest, Init) {
StopSignUnprotectedStagePreStop stop_sign_unprotected_stage_pre_stop(
config_, injector_);
EXPECT_EQ(stop_sign_unprotected_stage_pre_stop.Name(),
StageType_Name(
StageType::STOP_SIGN_UNPROTECTED_PRE_STOP));
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_stop_test.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/scenarios/stop_sign/unprotected/stage_stop.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "gtest/gtest.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
class StopSignUnprotectedStageStopTest : public ::testing::Test {
public:
virtual void SetUp() {
config_.set_stage_type(StageType::STOP_SIGN_UNPROTECTED_STOP);
injector_ = std::make_shared<DependencyInjector>();
}
protected:
ScenarioConfig::StageConfig config_;
std::shared_ptr<DependencyInjector> injector_;
};
TEST_F(StopSignUnprotectedStageStopTest, Init) {
StopSignUnprotectedStageStop stop_sign_unprotected_stage_stop(config_,
injector_);
EXPECT_EQ(stop_sign_unprotected_stage_stop.Name(),
StageType_Name(
StageType::STOP_SIGN_UNPROTECTED_STOP));
}
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stage_intersection_cruise.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/planning/scenarios/common/stage_intersection_cruise_impl.h"
#include "modules/planning/scenarios/stage.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
struct StopSignUnprotectedContext;
class StopSignUnprotectedStageIntersectionCruise : public Stage {
public:
StopSignUnprotectedStageIntersectionCruise(
const ScenarioConfig::StageConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: Stage(config, injector) {}
private:
Stage::StageStatus Process(const common::TrajectoryPoint& planning_init_point,
Frame* frame) override;
StopSignUnprotectedContext* GetContext() {
return GetContextAs<StopSignUnprotectedContext>();
}
Stage::StageStatus FinishStage();
private:
ScenarioStopSignUnprotectedConfig scenario_config_;
StageIntersectionCruiseImpl stage_impl_;
};
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//third_party/gpus:common.bzl", "if_cuda", "if_rocm")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "stop_sign_unprotected_scenario",
srcs = [
"stage_creep.cc",
"stage_intersection_cruise.cc",
"stage_pre_stop.cc",
"stage_stop.cc",
"stop_sign_unprotected_scenario.cc",
],
hdrs = [
"stage_creep.h",
"stage_intersection_cruise.h",
"stage_pre_stop.h",
"stage_stop.h",
"stop_sign_unprotected_scenario.h",
],
copts = ["-DMODULE_NAME=\\\"planning\\\""],
deps = [
"//cyber",
"//modules/common_msgs/planning_msgs:planning_cc_proto",
"//modules/common/math",
"//modules/common/util:util_tool",
"//modules/common/util",
"//modules/planning/common/util:util_lib",
"//modules/planning/scenarios:scenario",
"//modules/planning/scenarios/common:stage_intersection_cruise_impl",
"//modules/planning/scenarios/util:scenario_util_lib",
"//modules/planning/tasks/deciders/creep_decider",
"@com_github_gflags_gflags//:gflags",
"@eigen",
],
)
cc_test(
name = "stop_sign_unprotected_scenario_test",
size = "small",
srcs = ["stop_sign_unprotected_scenario_test.cc"],
data = ["//modules/planning:planning_conf"],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
] + if_cuda([
"@local_config_cuda//cuda:cudart",
]) + if_rocm([
"@local_config_rocm//rocm:hip",
]),
linkstatic = True,
)
cc_test(
name = "stage_creep_test",
size = "small",
srcs = ["stage_creep_test.cc"],
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
] + if_cuda([
"@local_config_cuda//cuda:cudart",
]) + if_rocm([
"@local_config_rocm//rocm:hip",
]),
linkstatic = True,
)
cc_test(
name = "stage_pre_stop_test",
size = "small",
srcs = ["stage_pre_stop_test.cc"],
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
] + if_cuda([
"@local_config_cuda//cuda:cudart",
]) + if_rocm([
"@local_config_rocm//rocm:hip",
]),
linkstatic = True,
)
cc_test(
name = "stage_stop_test",
size = "small",
srcs = ["stage_stop_test.cc"],
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
] + if_cuda([
"@local_config_cuda//cuda:cudart",
]) + if_rocm([
"@local_config_rocm//rocm:hip",
]),
linkstatic = True,
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/planning/scenarios/stop_sign | apollo_public_repos/apollo/modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
#include "modules/common/util/factory.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/common_msgs/planning_msgs/planning.pb.h"
#include "modules/planning/scenarios/scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {
// stage context
struct StopSignUnprotectedContext {
ScenarioStopSignUnprotectedConfig scenario_config;
std::string current_stop_sign_overlap_id;
double stop_start_time = 0.0;
double creep_start_time = 0.0;
// watch_vehicle: <lane_id, perception_obstacle_ids>
std::unordered_map<std::string, std::vector<std::string>> watch_vehicles;
std::vector<std::pair<hdmap::LaneInfoConstPtr, hdmap::OverlapInfoConstPtr>>
associated_lanes;
};
class StopSignUnprotectedScenario : public Scenario {
public:
StopSignUnprotectedScenario(
const ScenarioConfig& config, const ScenarioContext* context,
const std::shared_ptr<DependencyInjector>& injector)
: Scenario(config, context, injector) {}
void Init() override;
std::unique_ptr<Stage> CreateStage(
const ScenarioConfig::StageConfig& stage_config,
const std::shared_ptr<DependencyInjector>& injector);
StopSignUnprotectedContext* GetContext() { return &context_; }
private:
static void RegisterStages();
bool GetScenarioConfig();
int GetAssociatedLanes(const hdmap::StopSignInfo& stop_sign_info);
private:
static apollo::common::util::Factory<
StageType, Stage,
Stage* (*)(const ScenarioConfig::StageConfig& stage_config,
const std::shared_ptr<DependencyInjector>& injector)>
s_stage_factory_;
bool init_ = false;
StopSignUnprotectedContext context_;
};
} // namespace stop_sign
} // namespace scenario
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_raw_feature_generator_test.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file: testing cases for autotuning raw feature generator
**/
#include "modules/planning/tuning/autotuning_raw_feature_generator.h"
#include "gtest/gtest.h"
#include "modules/planning/common/local_view.h"
namespace apollo {
namespace planning {
class AutotuningRawFeatureGeneratorTest : public ::testing::Test {
protected:
void SetUp() override {
// Reference line info
common::VehicleState ego_state;
common::TrajectoryPoint ego_pos;
ReferenceLine reference_line;
hdmap::RouteSegments segments;
ref_line_info_.reset(
new ReferenceLineInfo(ego_state, ego_pos, reference_line, segments));
// pseudo empty frame info
LocalView dummy_local_view;
frame_.reset(new Frame(0, dummy_local_view, ego_pos, ego_state, nullptr));
speed_limit_.reset(new SpeedLimit());
generator_.reset(new AutotuningRawFeatureGenerator(8, 17, *ref_line_info_,
*frame_, *speed_limit_));
}
void TearDown() override {
generator_.reset(nullptr);
ref_line_info_.reset(nullptr);
frame_.reset(nullptr);
speed_limit_.reset(nullptr);
}
std::unique_ptr<AutotuningRawFeatureGenerator> generator_ = nullptr;
std::unique_ptr<ReferenceLineInfo> ref_line_info_ = nullptr;
std::unique_ptr<Frame> frame_ = nullptr;
std::unique_ptr<SpeedLimit> speed_limit_ = nullptr;
};
TEST_F(AutotuningRawFeatureGeneratorTest, generate_input_trajectory) {
// init trajectory
std::vector<common::TrajectoryPoint> trajectory;
ASSERT_TRUE(generator_ != nullptr);
auto result = generator_->EvaluateTrajectory(trajectory, nullptr);
EXPECT_TRUE(result.ok());
}
TEST_F(AutotuningRawFeatureGeneratorTest, generate_input_trajectory_pointwise) {
common::TrajectoryPoint trajectory_point;
ASSERT_TRUE(generator_ != nullptr);
auto result = generator_->EvaluateTrajectoryPoint(trajectory_point, nullptr);
EXPECT_TRUE(result.ok());
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_feature_builder.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include "modules/common/status/status.h"
#include "modules/planning/proto/auto_tuning_model_input.pb.h"
#include "modules/planning/proto/auto_tuning_raw_feature.pb.h"
namespace apollo {
namespace planning {
/**
* @brief: build model related input feature from raw feature generator
*/
class AutotuningFeatureBuilder {
public:
/**
* @brief: constructor
*/
AutotuningFeatureBuilder() = default;
virtual ~AutotuningFeatureBuilder() = default;
/**
* @param: raw feature function input
* @param: generated model input feature from raw feature, function output
*/
virtual common::Status BuildFeature(
const autotuning::TrajectoryRawFeature& raw_feature,
autotuning::TrajectoryFeature* const input_feature) const = 0;
/**
* @param: pointwise raw feature, function input
* @param: generated model input feature, function output
*/
virtual common::Status BuildPointFeature(
const autotuning::TrajectoryPointRawFeature& raw_point_feature,
autotuning::TrajectoryPointwiseFeature* const point_feature) const = 0;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_raw_feature_generator.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <vector>
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common/status/status.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/common/speed_limit.h"
#include "modules/planning/proto/auto_tuning_raw_feature.pb.h"
namespace apollo {
namespace planning {
class AutotuningRawFeatureGenerator {
public:
// @brief class constructor
AutotuningRawFeatureGenerator(const double time_range,
const size_t num_points,
const ReferenceLineInfo& reference_line_info,
const Frame& frame,
const SpeedLimit& speed_limit);
// @evaluation interface
/**
* @brief evaluate trajectory with environment, generate model trajectory
* features
* @param reference line related info
* @param frame related status
* @return OK if the evaluation succeeds; error otherwise.
*/
common::Status EvaluateTrajectory(
const std::vector<common::TrajectoryPoint>& trajectory,
autotuning::TrajectoryRawFeature* const trajectory_feature) const;
/**
* @brief evaluate trajectory point with environment, generate model
* trajectory
* features
* @param reference line related info
* @param frame related status
* @return OK if the evaluation succeeds; error otherwise.
*/
common::Status EvaluateTrajectoryPoint(
const common::TrajectoryPoint& trajectory_point,
autotuning::TrajectoryPointRawFeature* const trajectory_point_feature)
const;
/**
* EvaluateSpeed Profile shall match the time range as well as resolution
*/
common::Status EvaluateSpeedProfile(
const std::vector<common::SpeedPoint>& speed_profile,
autotuning::TrajectoryRawFeature* const trajectory_feature) const;
private:
void GenerateSTBoundaries(const ReferenceLineInfo& reference_line_info);
/**
* Convert st boundaries to discretized boundaries
*/
void ConvertToDiscretizedBoundaries(const STBoundary& boundary,
const double speed);
common::Status EvaluateSpeedPoint(const common::SpeedPoint& speed_point,
const size_t index,
autotuning::TrajectoryPointRawFeature* const
trajectory_point_feature) const;
private:
std::vector<double> eval_time_;
const ReferenceLineInfo& reference_line_info_;
const Frame& frame_;
const SpeedLimit& speed_limit_;
std::vector<const STBoundary*> boundaries_;
// covers the boundary info lower s upper s as well as the speed of obs
std::vector<std::vector<std::array<double, 3>>> obs_boundaries_;
std::vector<std::vector<std::array<double, 3>>> stop_boundaries_;
std::vector<std::vector<std::array<double, 3>>> nudge_boundaries_;
std::vector<std::vector<std::array<double, 3>>> side_pass_boundaries_;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_mlp_net_model.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/tuning/autotuning_mlp_net_model.h"
namespace apollo {
namespace planning {
void AutotuningMLPModel::Run(const std::vector<Eigen::MatrixXf>& inputs,
Eigen::MatrixXf* const output) const {
Eigen::MatrixXf inp = inputs[0];
Eigen::MatrixXf temp;
for (size_t i = 0; i < layers_.size(); ++i) {
layers_[i]->Run({inp}, &temp);
inp = temp;
}
*output = temp;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_base_model.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <memory>
#include "modules/common/status/status.h"
#include "modules/planning/proto/auto_tuning_model_input.pb.h"
#include "modules/planning/tuning/autotuning_feature_builder.h"
#include "modules/planning/tuning/autotuning_mlp_net_model.h"
namespace apollo {
namespace planning {
class AutotuningBaseModel {
public:
AutotuningBaseModel() = default;
virtual ~AutotuningBaseModel() = default;
/**
* @brief set mlp model as well as feature builder
*/
virtual common::Status SetParams() = 0;
/**
* @brief : evaluate by trajectory
* @param : input trajectory feature proto
* @return : the total value of reward / cost
*/
virtual double Evaluate(
const autotuning::TrajectoryFeature& trajectory_feature) const = 0;
/**
* @brief: evaluate by trajectory point
* @param : trajectory pointwise input feature
* @return : total value of reward / cost
*/
virtual double Evaluate(
const autotuning::TrajectoryPointwiseFeature& point_feature) const = 0;
protected:
/**
* @brief : stored autotuning mlp model
*/
std::unique_ptr<AutotuningMLPModel> mlp_model_ = nullptr;
std::unique_ptr<AutotuningFeatureBuilder> feature_builder_ = nullptr;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_mlp_net_model_test.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file: testing casese for mlp net model
**/
#include "modules/planning/tuning/autotuning_mlp_net_model.h"
#include "gtest/gtest.h"
namespace apollo {
namespace planning {
TEST(AutotuningMLPNetModeltest, test_case_one) {
AutotuningMLPModel model;
prediction::NetParameter net_parameter;
EXPECT_TRUE(model.LoadModel(net_parameter));
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "autotuning_raw_feature_generator",
srcs = ["autotuning_raw_feature_generator.cc"],
hdrs = ["autotuning_raw_feature_generator.h"],
deps = [
"//modules/common_msgs/basic_msgs:pnc_point_cc_proto",
"//modules/common/status",
"//modules/planning/common:frame",
"//modules/planning/common:reference_line_info",
"//modules/planning/common:speed_limit",
"//modules/planning/proto:auto_tuning_raw_feature_cc_proto",
],
)
cc_test(
name = "autotuning_raw_feature_generator_test",
size = "small",
srcs = ["autotuning_raw_feature_generator_test.cc"],
deps = [
":autotuning_raw_feature_generator",
"@com_google_googletest//:gtest_main",
],
)
cc_library(
name = "autotuning_feature_builder",
hdrs = ["autotuning_feature_builder.h"],
deps = [
"//modules/common/status",
"//modules/planning/proto:auto_tuning_model_input_cc_proto",
"//modules/planning/proto:auto_tuning_raw_feature_cc_proto",
],
)
cc_library(
name = "autotuning_mlp_net_model",
srcs = ["autotuning_mlp_net_model.cc"],
hdrs = ["autotuning_mlp_net_model.h"],
deps = [
"//cyber",
"//modules/prediction/network:net_model",
],
tags = ["exclude"]
)
cc_test(
name = "autotuning_mlp_net_model_test",
size = "small",
srcs = ["autotuning_mlp_net_model_test.cc"],
deps = [
":autotuning_mlp_net_model",
"@com_google_googletest//:gtest_main",
],
tags = ["exclude"]
)
cc_library(
name = "autotuning_base_model",
hdrs = ["autotuning_base_model.h"],
deps = [
":autotuning_feature_builder",
":autotuning_mlp_net_model",
"//modules/common/status",
"//modules/planning/proto:auto_tuning_model_input_cc_proto",
],
tags = ["exclude"]
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_raw_feature_generator.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/tuning/autotuning_raw_feature_generator.h"
#include <string>
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace {
constexpr double kMinTimeRange = 0.001;
// used when speed profile is invalid
constexpr double kDefaultSpeedLimit = 10.0;
constexpr double kMaxAwareDistance = 1e3;
} // namespace
using apollo::common::ErrorCode;
using apollo::common::Status;
AutotuningRawFeatureGenerator::AutotuningRawFeatureGenerator(
const double time_range, const size_t num_points,
const ReferenceLineInfo& reference_line_info, const Frame& frame,
const SpeedLimit& speed_limit)
: reference_line_info_(reference_line_info),
frame_(frame),
speed_limit_(speed_limit),
obs_boundaries_(num_points, std::vector<std::array<double, 3>>()),
stop_boundaries_(num_points, std::vector<std::array<double, 3>>()),
nudge_boundaries_(num_points, std::vector<std::array<double, 3>>()),
side_pass_boundaries_(num_points, std::vector<std::array<double, 3>>()) {
CHECK_GT(num_points, 0U);
CHECK_GT(time_range, kMinTimeRange);
double res = time_range / static_cast<double>(num_points);
for (double t = 0; t < res + time_range; t += res) {
eval_time_.push_back(t);
}
}
common::Status AutotuningRawFeatureGenerator::EvaluateTrajectory(
const std::vector<common::TrajectoryPoint>& trajectory,
autotuning::TrajectoryRawFeature* const trajectory_feature) const {
return common::Status::OK();
}
common::Status AutotuningRawFeatureGenerator::EvaluateTrajectoryPoint(
const common::TrajectoryPoint& trajectory_point,
autotuning::TrajectoryPointRawFeature* const trajectory_point_feature)
const {
return common::Status::OK();
}
common::Status AutotuningRawFeatureGenerator::EvaluateSpeedPoint(
const common::SpeedPoint& speed_point, const size_t index,
autotuning::TrajectoryPointRawFeature* const trajectory_point_feature)
const {
auto* speed_feature = trajectory_point_feature->mutable_speed_feature();
// setup basic speed profile
const double s = speed_point.s();
speed_feature->set_s(s);
speed_feature->set_t(speed_point.t());
speed_feature->set_v(speed_point.v());
speed_feature->set_a(speed_point.a());
speed_feature->set_j(speed_point.da());
// get speed limit at certain s();
if (speed_limit_.speed_limit_points().front().first > s) {
speed_feature->set_speed_limit(kDefaultSpeedLimit);
} else {
double cur_speed_limit = speed_limit_.GetSpeedLimitByS(s);
speed_feature->set_speed_limit(cur_speed_limit);
}
// extracting obstacle related infos
autotuning::SpeedPointRawFeature_ObjectDecisionFeature* decision_obj =
nullptr;
for (const auto& stop_obs : stop_boundaries_[index]) {
double lower_s = stop_obs[0];
double speed = stop_obs[2];
double distance = 0.0;
// stop line is in the front
if (lower_s < s) {
distance = lower_s - s;
decision_obj = speed_feature->add_stop();
} else {
decision_obj = speed_feature->add_collision();
}
decision_obj->set_relative_s(distance);
decision_obj->set_relative_v(speed - speed_point.v());
}
for (const auto& obs : obs_boundaries_[index]) {
double lower_s = obs[0];
double upper_s = obs[1];
double speed = obs[2];
double distance = 0.0;
if (upper_s < s) {
decision_obj = speed_feature->add_overtake();
distance = s - upper_s;
} else if (lower_s > s) {
decision_obj = speed_feature->add_follow();
distance = lower_s - s;
} else {
decision_obj = speed_feature->add_collision();
}
decision_obj->set_relative_s(distance);
decision_obj->set_relative_v(speed - speed_point.v());
}
return common::Status::OK();
}
common::Status AutotuningRawFeatureGenerator::EvaluateSpeedProfile(
const std::vector<common::SpeedPoint>& speed_profile,
autotuning::TrajectoryRawFeature* const trajectory_feature) const {
if (speed_profile.size() != eval_time_.size()) {
const std::string msg = "mismatched evaluated time and speed profile size";
AERROR << msg;
return Status(ErrorCode::PLANNING_ERROR, msg);
}
for (size_t i = 0; i < eval_time_.size(); ++i) {
auto* trajectory_point_feature = trajectory_feature->add_point_feature();
auto status =
EvaluateSpeedPoint(speed_profile[i], i, trajectory_point_feature);
if (status != common::Status::OK()) {
const std::string msg = "Extracting speed profile error";
AERROR << msg;
return Status(ErrorCode::PLANNING_ERROR, msg);
}
}
return common::Status::OK();
}
void AutotuningRawFeatureGenerator::GenerateSTBoundaries(
const ReferenceLineInfo& reference_line_info) {
const auto& path_decision = reference_line_info.path_decision();
for (auto* obstacle : path_decision.obstacles().Items()) {
auto id = obstacle->Id();
const double speed = obstacle->speed();
if (!obstacle->path_st_boundary().IsEmpty()) {
// fill discretized boundary info
ConvertToDiscretizedBoundaries(obstacle->path_st_boundary(), speed);
}
}
}
void AutotuningRawFeatureGenerator::ConvertToDiscretizedBoundaries(
const STBoundary& boundary, const double speed) {
for (size_t i = 0; i < eval_time_.size(); ++i) {
double upper = 0.0;
double lower = 0.0;
bool suc = boundary.GetBoundarySRange(eval_time_[i], &upper, &lower);
if (suc) {
if (boundary.boundary_type() == STBoundary::BoundaryType::STOP) {
stop_boundaries_[i].push_back({{lower, upper, speed}});
} else {
obs_boundaries_[i].push_back({{lower, upper, speed}});
}
}
}
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/tuning/autotuning_mlp_net_model.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <vector>
#include "cyber/common/macros.h"
#include "modules/prediction/network/net_model.h"
namespace apollo {
namespace planning {
class AutotuningMLPModel : public prediction::network::NetModel {
public:
AutotuningMLPModel() = default;
virtual ~AutotuningMLPModel() = default;
/**
* @brief Compute the model output from inputs according to a defined layers'
* flow
* @param Inputs to the network
* @param Output of the network will be returned
*/
void Run(const std::vector<Eigen::MatrixXf>& inputs,
Eigen::MatrixXf* output) const override;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/tuning | apollo_public_repos/apollo/modules/planning/tuning/speed_model/autotuning_speed_feature_builder.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include "modules/planning/tuning/autotuning_feature_builder.h"
namespace apollo {
namespace planning {
/**
* @brief: build the mlp cost functional for speed profile based on trajectory
* raw feature
*/
class AutotuningSpeedFeatureBuilder : public AutotuningFeatureBuilder {
public:
AutotuningSpeedFeatureBuilder() = default;
virtual ~AutotuningSpeedFeatureBuilder() = default;
/**
* @param: raw feature function input
* @param: generated model input feature from raw feature, function output
*/
common::Status BuildFeature(
const autotuning::TrajectoryRawFeature& raw_feature,
autotuning::TrajectoryFeature* const input_feature) const override;
/**
* @param: pointwise raw feature, function input
* @param: generated model input feature, function output
*/
common::Status BuildPointFeature(
const autotuning::TrajectoryPointRawFeature& raw_point_feature,
autotuning::TrajectoryPointwiseFeature* const point_feature)
const override;
private:
/**
* @brief: map virtual stop yield overtake obstacle with feature
* @param: raw object feature
* @param: input feature
*/
void map_obstacle_feature(
const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
obj_raw_feature,
autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
const;
/**
* @brief: map nudge obstacle to model input feature
*/
void map_nudge_obs_feature(
const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
obj_raw_feature,
autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
const;
/**
* @brief: map sidepass obstacle to model input feature
*/
void map_sidepass_obs_feature(
const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
obj_raw_feature,
autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
const;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/tuning | apollo_public_repos/apollo/modules/planning/tuning/speed_model/autotuning_speed_feature_builder_test.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file: testing casese for mlp net model
**/
#include "modules/planning/tuning/speed_model/autotuning_speed_feature_builder.h"
#include "gtest/gtest.h"
namespace apollo {
namespace planning {
TEST(AutotuningSpeedFeatureBuilder, test_case_two) {
AutotuningSpeedFeatureBuilder feature_builder;
autotuning::TrajectoryRawFeature raw_feature;
autotuning::TrajectoryPointRawFeature raw_point_feature;
autotuning::TrajectoryFeature input_feature;
autotuning::TrajectoryPointwiseFeature point_feature;
auto status = feature_builder.BuildFeature(raw_feature, &input_feature);
EXPECT_TRUE(status.ok());
status = feature_builder.BuildPointFeature(raw_point_feature, &point_feature);
EXPECT_TRUE(status.ok());
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/tuning | apollo_public_repos/apollo/modules/planning/tuning/speed_model/autotuning_speed_mlp_model_test.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file: testing casese for mlp net model
**/
#include "modules/planning/tuning/speed_model/autotuning_speed_mlp_model.h"
#include "gtest/gtest.h"
namespace apollo {
namespace planning {
TEST(AutotuningSpeedMLPModel, test_case_one) {
AutotuningSpeedMLPModel speed_model;
EXPECT_TRUE(speed_model.SetParams().ok());
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/tuning | apollo_public_repos/apollo/modules/planning/tuning/speed_model/autotuning_speed_feature_builder.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/tuning/speed_model/autotuning_speed_feature_builder.h"
#include <cmath>
#include <string>
#include "absl/strings/str_cat.h"
#include "cyber/common/log.h"
#include "modules/common_msgs/basic_msgs/error_code.pb.h"
using apollo::common::ErrorCode;
using apollo::common::Status;
namespace apollo {
namespace planning {
Status AutotuningSpeedFeatureBuilder::BuildFeature(
const autotuning::TrajectoryRawFeature& raw_feature,
autotuning::TrajectoryFeature* const input_feature) const {
if (input_feature == nullptr) {
const std::string msg = "input trajectory feature is empty";
AERROR << msg;
return Status(ErrorCode::PLANNING_ERROR, msg);
}
// number of input trajectory point
int n = input_feature->point_feature_size();
if (n != raw_feature.point_feature_size()) {
const std::string msg = absl::StrCat(
"raw and input feature size mismatch. raw: ",
raw_feature.point_feature_size(), "; input: ", n);
AERROR << msg;
return Status(ErrorCode::PLANNING_ERROR, msg);
}
for (int i = 0; i < n; ++i) {
const auto& raw_point_feature = raw_feature.point_feature(i);
auto* point_feature = input_feature->mutable_point_feature(i);
auto status = BuildPointFeature(raw_point_feature, point_feature);
if (status != Status::OK()) {
const std::string msg = "pointwise feature adding incorrect";
return Status(ErrorCode::PLANNING_ERROR, msg);
}
}
return Status::OK();
}
Status AutotuningSpeedFeatureBuilder::BuildPointFeature(
const autotuning::TrajectoryPointRawFeature& raw_point_feature,
autotuning::TrajectoryPointwiseFeature* const point_feature) const {
// set up basic feature:
double v = raw_point_feature.speed_feature().v();
auto* speed_feature = point_feature->mutable_speed_input_feature();
speed_feature->set_s(raw_point_feature.speed_feature().s());
speed_feature->set_t(raw_point_feature.speed_feature().t());
speed_feature->set_v(v);
speed_feature->set_acc(raw_point_feature.speed_feature().a());
speed_feature->set_jerk(raw_point_feature.speed_feature().j());
speed_feature->set_speed_limit(
raw_point_feature.speed_feature().speed_limit());
double kappa = raw_point_feature.path_feature().cartesian_coord().kappa();
double lateral_acc = v * v * kappa;
speed_feature->set_path_curvature_abs(std::fabs(kappa));
speed_feature->set_lateral_acc(lateral_acc);
// boundary feature, virtual obstacle , e.g. routing end
for (int i = 0; i < raw_point_feature.speed_feature().virtual_decision_size();
++i) {
const auto& obj_decision =
raw_point_feature.speed_feature().virtual_decision(i);
auto* input_decision = speed_feature->add_virtual_obs_feature();
map_obstacle_feature(obj_decision, input_decision);
}
// boundary feature, stop obstacle, based on stop decision
for (int i = 0; i < raw_point_feature.speed_feature().stop_size(); ++i) {
const auto& obj_decision = raw_point_feature.speed_feature().stop(i);
auto* input_decision = speed_feature->add_stop_obs_feature();
map_obstacle_feature(obj_decision, input_decision);
}
// boundary feature, overtake obstacle, based on overtake obstacle decision
for (int i = 0; i < raw_point_feature.speed_feature().overtake_size(); ++i) {
const auto& obj_decision = raw_point_feature.speed_feature().overtake(i);
auto* input_decision = speed_feature->add_overtake_obs_feature();
map_obstacle_feature(obj_decision, input_decision);
}
// boundary feature, yield/follow obstacle, based on yield/follow obstacle
// decision
for (int i = 0; i < raw_point_feature.speed_feature().follow_size(); ++i) {
const auto& obj_decision = raw_point_feature.speed_feature().follow(i);
auto* input_decision = speed_feature->add_follow_obs_feature();
map_obstacle_feature(obj_decision, input_decision);
}
// boundary feature, nudge obstacle feature
for (int i = 0; i < raw_point_feature.speed_feature().nudge_size(); ++i) {
const auto& obj_decision = raw_point_feature.speed_feature().nudge(i);
auto* input_decision = speed_feature->add_nudge_obs_feature();
map_nudge_obs_feature(obj_decision, input_decision);
}
// boundary feature, side pass feature
for (int i = 0; i < raw_point_feature.speed_feature().sidepass_front_size();
++i) {
const auto& obj_decision =
raw_point_feature.speed_feature().sidepass_front(i);
auto* input_decision = speed_feature->add_sidepass_front_obs_feature();
map_sidepass_obs_feature(obj_decision, input_decision);
}
for (int i = 0; i < raw_point_feature.speed_feature().sidepass_rear_size();
++i) {
const auto& obj_decision =
raw_point_feature.speed_feature().sidepass_rear(i);
auto* input_decision = speed_feature->add_sidepass_rear_obs_feature();
map_sidepass_obs_feature(obj_decision, input_decision);
}
return Status::OK();
}
void AutotuningSpeedFeatureBuilder::map_obstacle_feature(
const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
obj_raw_feature,
autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
const {
input_feature->set_longitudinal_distance(
std::fabs(obj_raw_feature.relative_s()));
input_feature->set_obstacle_speed(obj_raw_feature.speed());
input_feature->set_relative_v(obj_raw_feature.relative_v());
input_feature->set_lateral_distance(std::fabs(obj_raw_feature.relative_l()));
}
/**
* @brief: map nudge obstacle to model input feature
*/
void AutotuningSpeedFeatureBuilder::map_nudge_obs_feature(
const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
obj_raw_feature,
autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
const {
input_feature->set_longitudinal_distance(
std::fabs(obj_raw_feature.relative_s()));
input_feature->set_obstacle_speed(obj_raw_feature.speed());
input_feature->set_relative_v(obj_raw_feature.relative_v());
input_feature->set_lateral_distance(std::fabs(obj_raw_feature.relative_l()));
}
/**
* @brief: map sidepass obstacle to model input feature
*/
void AutotuningSpeedFeatureBuilder::map_sidepass_obs_feature(
const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
obj_raw_feature,
autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
const {
input_feature->set_longitudinal_distance(
std::fabs(obj_raw_feature.relative_s()));
input_feature->set_obstacle_speed(obj_raw_feature.speed());
input_feature->set_relative_v(obj_raw_feature.relative_v());
input_feature->set_lateral_distance(std::fabs(obj_raw_feature.relative_l()));
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/tuning | apollo_public_repos/apollo/modules/planning/tuning/speed_model/autotuning_speed_mlp_model.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/tuning/speed_model/autotuning_speed_mlp_model.h"
#include "modules/planning/tuning/speed_model/autotuning_speed_feature_builder.h"
namespace apollo {
namespace planning {
/**
* @brief: max considerred obstacle range
*/
namespace {
constexpr double kMaxFollow = 100.0;
constexpr double kMaxOvertake = 100.0;
constexpr double kMaxStop = 60.0;
constexpr double kMaxNudge = 60.0;
constexpr double kMaxNudgeLateralDistance = 10.0;
constexpr double kMaxSidePassDistance = 100.0;
} // namespace
common::Status AutotuningSpeedMLPModel::SetParams() {
mlp_model_.reset(new AutotuningMLPModel());
feature_builder_.reset(new AutotuningSpeedFeatureBuilder());
return common::Status::OK();
}
double AutotuningSpeedMLPModel::Evaluate(
const autotuning::TrajectoryFeature& trajectory_feature) const {
return 0.0;
}
double AutotuningSpeedMLPModel::Evaluate(
const autotuning::TrajectoryPointwiseFeature& point_feature) const {
return 0.0;
}
void AutotuningSpeedMLPModel::FlattenFeatures(
const autotuning::TrajectoryFeature& feature,
Eigen::MatrixXd* const flat_feature) const {
int row_count = feature.point_feature_size();
int col_count = 21;
flat_feature->resize(row_count, col_count);
for (int i = 0; i < row_count; ++i) {
FlattenFeatures(feature.point_feature(i).speed_input_feature(), i,
flat_feature);
}
}
void AutotuningSpeedMLPModel::FlattenFeatures(
const autotuning::SpeedPointwiseFeature& speed_point_feature, const int row,
Eigen::MatrixXd* const flat_feature) const {
double v = speed_point_feature.v();
double acc = speed_point_feature.acc();
double jerk = speed_point_feature.jerk();
double speed_limit = speed_point_feature.speed_limit();
double lateral_acc = speed_point_feature.lateral_acc();
// has collision , collision = 1, else 0
double collision = 0.0;
// obstacle feature, looping to find among all obstacle
double follow_distance = kMaxFollow;
double follow_v_rel = 0.0;
double overtake_distance = kMaxOvertake;
double overtake_v_rel = 0.0;
double stop_distance = kMaxStop;
double stop_v_rel = 0.0;
double virtual_distance = kMaxStop;
double virtual_v_rel = 0.0;
double nudge_distance = kMaxNudge;
double nudge_v_rel = 0.0;
double nudge_lateral_distance = kMaxNudgeLateralDistance;
double sidepass_front_v_rel = 0.0;
double sidepass_front_distance = kMaxSidePassDistance;
double sidepass_rear_v_rel = 0.0;
double sidepass_rear_distance = kMaxSidePassDistance;
// looping obstacles to find the value minimize the distance
for (int i = 0; i < speed_point_feature.follow_obs_feature_size(); ++i) {
const auto& follow_obs_feature = speed_point_feature.follow_obs_feature(i);
if (follow_distance > follow_obs_feature.longitudinal_distance()) {
follow_distance = follow_obs_feature.longitudinal_distance();
follow_v_rel = follow_obs_feature.relative_v();
}
}
// looping obstacles to find the value minimize the distance
for (int i = 0; i < speed_point_feature.overtake_obs_feature_size(); ++i) {
const auto& overtake_obs_feature =
speed_point_feature.overtake_obs_feature(i);
if (overtake_distance > overtake_obs_feature.longitudinal_distance()) {
overtake_distance = overtake_obs_feature.longitudinal_distance();
overtake_v_rel = overtake_obs_feature.relative_v();
}
}
// looping obstacles to find the value minimize the distance
for (int i = 0; i < speed_point_feature.stop_obs_feature_size(); ++i) {
const auto& stop_obs_feature = speed_point_feature.stop_obs_feature(i);
if (stop_distance > stop_obs_feature.longitudinal_distance()) {
stop_distance = stop_obs_feature.longitudinal_distance();
stop_v_rel = stop_obs_feature.relative_v();
}
}
// looping obstacles to find the value minimize the distance
for (int i = 0; i < speed_point_feature.virtual_obs_feature_size(); ++i) {
const auto& virtual_obs_feature =
speed_point_feature.virtual_obs_feature(i);
if (virtual_distance > virtual_obs_feature.longitudinal_distance()) {
virtual_distance = virtual_obs_feature.longitudinal_distance();
virtual_v_rel = virtual_obs_feature.relative_v();
}
}
// looping obstacles to find the value minimize the distance
for (int i = 0; i < speed_point_feature.nudge_obs_feature_size(); ++i) {
const auto& nudge_obs_feature = speed_point_feature.nudge_obs_feature(i);
if (nudge_distance > nudge_obs_feature.longitudinal_distance()) {
nudge_distance = nudge_obs_feature.longitudinal_distance();
nudge_v_rel = nudge_obs_feature.relative_v();
nudge_lateral_distance = nudge_obs_feature.lateral_distance();
}
}
// looping obstacles to find the value minimize the distance
for (int i = 0; i < speed_point_feature.sidepass_front_obs_feature_size();
++i) {
const auto& sidepass_front_obs_feature =
speed_point_feature.sidepass_front_obs_feature(i);
if (sidepass_front_distance >
sidepass_front_obs_feature.longitudinal_distance()) {
sidepass_front_distance =
sidepass_front_obs_feature.longitudinal_distance();
sidepass_front_v_rel = sidepass_front_obs_feature.relative_v();
}
}
// looping obstacles to find the value minimize the distance
for (int i = 0; i < speed_point_feature.sidepass_rear_obs_feature_size();
++i) {
const auto& sidepass_rear_obs_feature =
speed_point_feature.sidepass_rear_obs_feature(i);
if (sidepass_rear_distance >
sidepass_rear_obs_feature.longitudinal_distance()) {
sidepass_rear_distance =
sidepass_rear_obs_feature.longitudinal_distance();
sidepass_rear_v_rel = sidepass_rear_obs_feature.relative_v();
}
}
(*flat_feature)(row, 0) = v;
(*flat_feature)(row, 1) = speed_limit;
(*flat_feature)(row, 2) = acc;
(*flat_feature)(row, 3) = jerk;
(*flat_feature)(row, 4) = lateral_acc;
(*flat_feature)(row, 5) = collision;
(*flat_feature)(row, 6) = follow_distance;
(*flat_feature)(row, 7) = follow_v_rel;
(*flat_feature)(row, 8) = overtake_distance;
(*flat_feature)(row, 9) = overtake_v_rel;
(*flat_feature)(row, 10) = nudge_distance;
(*flat_feature)(row, 11) = nudge_v_rel;
(*flat_feature)(row, 12) = nudge_lateral_distance;
(*flat_feature)(row, 13) = stop_distance;
(*flat_feature)(row, 14) = stop_v_rel;
(*flat_feature)(row, 15) = virtual_distance;
(*flat_feature)(row, 16) = virtual_v_rel;
(*flat_feature)(row, 17) = sidepass_front_distance;
(*flat_feature)(row, 18) = sidepass_front_v_rel;
(*flat_feature)(row, 19) = sidepass_rear_distance;
(*flat_feature)(row, 20) = sidepass_rear_v_rel;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/tuning | apollo_public_repos/apollo/modules/planning/tuning/speed_model/autotuning_speed_mlp_model.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include "modules/common/status/status.h"
#include "modules/planning/tuning/autotuning_base_model.h"
namespace apollo {
namespace planning {
class AutotuningSpeedMLPModel : public AutotuningBaseModel {
public:
AutotuningSpeedMLPModel() = default;
~AutotuningSpeedMLPModel() = default;
/**
* @brief set mlp model as well as feature builder
*/
common::Status SetParams() override;
/**
* @brief : evaluate by trajectory
* @param : input trajectory feature proto
* @return : the total value of reward / cost
*/
double Evaluate(
const autotuning::TrajectoryFeature& trajectory_feature) const override;
/**
* @brief: evaluate by trajectory point
* @param : trajectory pointwise input feature
* @return : total value of reward / cost
*/
double Evaluate(const autotuning::TrajectoryPointwiseFeature& point_feature)
const override;
private:
/**
* [FlattenFeatures description]
* @param feature [model input proto]
* @param flat_feature [eigen matrix, row: time, col: traj point feature]
*/
void FlattenFeatures(const autotuning::TrajectoryFeature& feature,
Eigen::MatrixXd* const flat_feature) const;
void FlattenFeatures(
const autotuning::SpeedPointwiseFeature& speed_point_feature,
const int row, Eigen::MatrixXd* const flat_feature) const;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning/tuning | apollo_public_repos/apollo/modules/planning/tuning/speed_model/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "autotuning_speed_feature_builder",
srcs = ["autotuning_speed_feature_builder.cc"],
hdrs = ["autotuning_speed_feature_builder.h"],
copts = [
"-DMODULE_NAME=\\\"planning\\\"",
],
deps = [
"//cyber",
"//modules/common_msgs/basic_msgs:error_code_cc_proto",
"//modules/planning/tuning:autotuning_feature_builder",
],
)
cc_test(
name = "autotuning_speed_feature_builder_test",
size = "small",
srcs = ["autotuning_speed_feature_builder_test.cc"],
deps = [
":autotuning_speed_feature_builder",
"@com_google_googletest//:gtest_main",
],
)
cc_library(
name = "autotuning_speed_mlp_model",
srcs = ["autotuning_speed_mlp_model.cc"],
hdrs = ["autotuning_speed_mlp_model.h"],
deps = [
":autotuning_speed_feature_builder",
"//modules/planning/tuning:autotuning_base_model",
],
tags = ["exclude"]
)
cc_test(
name = "autotuning_speed_mlp_model_test",
size = "small",
srcs = ["autotuning_speed_mlp_model_test.cc"],
deps = [
":autotuning_speed_mlp_model",
"@com_google_googletest//:gtest_main",
],
tags = ["exclude"]
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/data/garage.csv | x,y,z,speed,acceleration,curvature,curvature_change_rate,time,theta,gear,s,throttle,brake,steering
586385.858607, 4140674.7357, -28.3670201628, 0.216666668653, 0.887545286694, 0.0227670812611, -0.0177396744278, 1496957374.6140, 2.83470068837, 1, 0.00216666668653, 22.0157165527, 13.6934461594, 12.6382980347
586385.855147, 4140674.73686, -28.3671755996, 0.216666668653, 0.913474615633, 0.0227670812611, 0.0, 1496957374.6246, 2.83481834381, 1, 0.00433333337307, 22.0157165527, 13.6751356125, 12.6382980347
586385.851608, 4140674.73803, -28.367333333, 0.252777785063, 0.884692224513, 0.0226902109692, -0.0304102244818, 1496957374.6342, 2.83493944838, 1, 0.0068611112237, 22.1026935577, 13.6751356125, 12.5957450867
586385.847987, 4140674.73924, -28.3675015001, 0.252777785063, 0.874161013299, 0.0226902109692, 0.0, 1496957374.6438, 2.83501097239, 1, 0.00938888907433, 22.1026935577, 13.7239646912, 12.5957450867
586385.84427, 4140674.74047, -28.3676676499, 0.283333331347, 0.934226919562, 0.0226517749143, -0.0135656665111, 1496957374.6543, 2.83511769878, 1, 0.0122222223878, 22.1026935577, 13.7239646912, 12.574467659
586385.840443, 4140674.74175, -28.3678200571, 0.283333331347, 1.03466084553, 0.0226517749143, 0.0, 1496957374.6639, 2.83524237155, 1, 0.0150555557013, 22.1026935577, 13.6507205963, 12.574467659
586385.836527, 4140674.74305, -28.3679780131, 0.31111112237, 1.02275571276, 0.0225749078732, -0.0247072623403, 1496957374.6745, 2.83535456498, 1, 0.018166666925, 22.114900589, 13.6507205963, 12.531914711
586385.832523, 4140674.74437, -28.3681540545, 0.31111112237, 0.965700419625, 0.0225749078732, 0.0, 1496957374.6841, 2.83546712465, 1, 0.0212777781487, 22.114900589, 13.6537723541, 12.531914711
586385.828455, 4140674.74571, -28.368321253, 0.338888883591, 0.836593771705, 0.0224980429898, -0.0226814413375, 1496957374.6936, 2.83562021513, 1, 0.0246666669846, 22.163728714, 13.6537723541, 12.489361763
586385.824334, 4140674.74708, -28.3684622813, 0.338888883591, 0.697852282292, 0.0224980429898, 0.0, 1496957374.7041, 2.8357196816, 1, 0.0280555558205, 22.163728714, 13.6751356125, 12.489361763
586385.820131, 4140674.74848, -28.3685834166, 0.363888889551, 0.722275690291, 0.0223827496946, -0.0316836535974, 1496957374.7146, 2.83585535814, 1, 0.031694444716, 22.2613868713, 13.6751356125, 12.425532341
586385.81583, 4140674.7499, -28.3687009905, 0.363888889551, 0.858753827361, 0.0223827496946, 0.0, 1496957374.7242, 2.83597623605, 1, 0.0353333336115, 22.2613868713, 13.6842908859, 12.425532341
586385.8114, 4140674.75136, -28.3688193839, 0.388888895512, 1.07937498964, 0.0223058884509, -0.0197643194568, 1496957374.7338, 2.83613586693, 1, 0.0392222225666, 22.2125587463, 13.6842908859, 12.3829784393
586385.806857, 4140674.75285, -28.3689575465, 0.388888895512, 1.1692626374, 0.0223058884509, 0.0, 1496957374.7444, 2.83627520236, 1, 0.0431111115217, 22.2125587463, 13.699549675, 12.3829784393
586385.802227, 4140674.75435, -28.3690878386, 0.411111116409, 1.07631764024, 0.0222290310618, -0.018695040366, 1496957374.7539, 2.83641617553, 1, 0.0472222226858, 22.2735939026, 13.699549675, 12.3404254913
586385.797518, 4140674.75587, -28.3692167988, 0.411111116409, 0.955822521275, 0.0222290310618, 0.0, 1496957374.7644, 2.83645822681, 1, 0.0513333338499, 22.2735939026, 13.6659803391, 12.3404254913
586385.792717, 4140674.75743, -28.3693428114, 0.433333337307, 0.936041058598, 0.0221137489592, -0.0266035618921, 1496957374.7739, 2.83661980725, 1, 0.055666667223, 22.1881446838, 13.6659803391, 12.2765960693
586385.78782, 4140674.75903, -28.3694528053, 0.433333337307, 0.96868976, 0.0221137489592, 0.0, 1496957374.7845, 2.83671295399, 1, 0.060000000596, 22.1881446838, 13.6858167648, 12.2765960693
586385.782841, 4140674.76065, -28.369563424, 0.458333343267, 0.921226838968, 0.0220368951451, -0.016768104531, 1496957374.7941, 2.83688881403, 1, 0.0645833340287, 22.3468379974, 13.6858167648, 12.2340421677
586385.777794, 4140674.76227, -28.3696850128, 0.458333343267, 0.803812893044, 0.0220368951451, 0.0, 1496957374.8035, 2.83702486237, 1, 0.0691666674614, 22.3468379974, 13.7087049484, 12.2340421677
586385.772648, 4140674.76392, -28.3698262796, 0.480555564165, 0.866056588139, 0.0219600451594, -0.0159919042522, 1496957374.8141, 2.83715098626, 1, 0.073972223103, 22.4078731537, 13.7087049484, 12.1914892197
586385.767385, 4140674.76563, -28.3699658625, 0.480555564165, 1.05154176365, 0.0219600451594, 0.0, 1496957374.8246, 2.83727764459, 1, 0.0787777787447, 22.4078731537, 13.6583509445, 12.1914892197
586385.762008, 4140674.76739, -28.3700867752, 0.491666674614, 1.1702720733, 0.0218447741134, -0.0234449581248, 1496957374.8342, 2.83742137078, 1, 0.0836944454908, 22.4933242798, 13.6583509445, 12.1276597977
586385.756529, 4140674.76915, -28.3702330785, 0.491666674614, 1.1448343778, 0.0218447741134, 0.0, 1496957374.8437, 2.83760635456, 1, 0.088611112237, 22.4933242798, 13.6980237961, 12.1276597977
586385.750946, 4140674.77093, -28.3704024646, 0.524999976158, 1.09547135954, 0.0217679293604, -0.0146370964861, 1496957374.8542, 2.83776970314, 1, 0.0938611119986, 22.4811172485, 13.6980237961, 12.0851068497
586385.745243, 4140674.77276, -28.3705764916, 0.524999976158, 1.17303825947, 0.0217679293604, 0.0, 1496957374.8637, 2.83789288561, 1, 0.0991111117601, 22.4811172485, 13.7407493591, 12.0851068497
586385.739419, 4140674.77466, -28.3706962429, 0.547222197056, 1.24150702438, 0.0216910849653, -0.014042631221, 1496957374.8742, 2.83803796204, 1, 0.104583333731, 22.554359436, 13.7407493591, 12.042552948
586385.733494, 4140674.77655, -28.3708088072, 0.547222197056, 1.14326487355, 0.0216910849653, 0.0, 1496957374.8837, 2.83825004142, 1, 0.110055555701, 22.554359436, 13.6781873703, 12.042552948
586385.727492, 4140674.77846, -28.3709981041, 0.547222197056, 0.973106441209, 0.0216910849653, 0.0, 1496957374.8946, 2.83840504578, 1, 0.115527777672, 22.554359436, 13.6781873703, 12.042552948
586385.721406, 4140674.78041, -28.371136657, 0.572222232819, 0.915780273466, 0.0216142443651, -0.0134284541561, 1496957374.9042, 2.83853249094, 1, 0.12125, 22.554359436, 13.6369876862, 12.0
586385.715221, 4140674.78241, -28.3712522788, 0.594444453716, 0.958831951221, 0.0215374058302, -0.0129261084728, 1496957374.9137, 2.83869237561, 1, 0.127194444537, 22.6886405945, 13.6369876862, 11.957447052
586385.708952, 4140674.78443, -28.3713745503, 0.594444453716, 0.934298483836, 0.0215374058302, 0.0, 1496957374.9242, 2.83888453228, 1, 0.133138889074, 22.6886405945, 13.7117567062, 11.957447052
586385.702577, 4140674.78648, -28.3714778451, 0.616666674614, 0.994906838575, 0.0214221501621, -0.0186901080914, 1496957374.9338, 2.83904228421, 1, 0.13930555582, 22.7740898132, 13.7117567062, 11.8936166763
586385.696088, 4140674.78857, -28.3715826236, 0.616666674614, 1.09155734766, 0.0214221501621, 0.0, 1496957374.9444, 2.83923157044, 1, 0.145472222567, 22.7740898132, 13.7224388123, 11.8936166763
586385.68949, 4140674.79068, -28.3717313977, 0.636111140251, 1.14640132759, 0.0213453167582, -0.0120786131673, 1496957374.9540, 2.83943354611, 1, 0.151833333969, 22.7985038757, 13.7224388123, 11.8510637283
586385.682781, 4140674.79282, -28.3718009992, 0.636111140251, 1.14379120775, 0.0213453167582, 0.0, 1496957374.9645, 2.83956473015, 1, 0.158194445372, 22.7985038757, 13.6781873703, 11.8510637283
586385.675966, 4140674.79499, -28.3718924513, 0.655555546284, 1.14010182768, 0.0212300704738, -0.0175799419239, 1496957374.9741, 2.83976084251, 1, 0.164750000834, 22.810710907, 13.6781873703, 11.7872343063
586385.669048, 4140674.79719, -28.3720378699, 0.655555546284, 1.11795121187, 0.0212300704738, 0.0, 1496957374.9836, 2.8399493512, 1, 0.171305556297, 22.810710907, 13.7361717224, 11.7872343063
586385.662033, 4140674.79942, -28.3721195301, 0.677777767181, 1.07292849708, 0.0211148270315, -0.0170031311069, 1496957374.9940, 2.84013442444, 1, 0.178083333969, 22.8717479706, 13.7361717224, 11.7234039307
586385.654907, 4140674.80168, -28.3722370453, 0.677777767181, 1.073048044, 0.0211148270315, 0.0, 1496957375.0044, 2.84029641403, 1, 0.184861111641, 22.8717479706, 13.6736097336, 11.7234039307
586385.647681, 4140674.80398, -28.3723776415, 0.702777802944, 1.08517048759, 0.0209995898498, -0.0163973849543, 1496957375.0139, 2.84049129987, 1, 0.19188888967, 22.9205760956, 13.6736097336, 11.6595745087
586385.640368, 4140674.8063, -28.3724498888, 0.702777802944, 1.02252152908, 0.0209995898498, 0.0, 1496957375.0245, 2.84067651237, 1, 0.1989166677, 22.9205760956, 13.655298233, 11.6595745087
586385.632939, 4140674.80866, -28.3725996707, 0.725000023842, 1.06322295313, 0.0208843571819, -0.0158941605648, 1496957375.0340, 2.84092856198, 1, 0.206166667938, 22.8839550018, 13.655298233, 11.5957450867
586385.625403, 4140674.81105, -28.3727502218, 0.725000023842, 1.13020898502, 0.0208843571819, 0.0, 1496957375.0435, 2.84113018253, 1, 0.213416668177, 22.8839550018, 13.7087049484, 11.5957450867
586385.617751, 4140674.81348, -28.372863275, 0.74722224474, 1.16488204509, 0.0207307188815, -0.0205612589046, 1496957375.0541, 2.84128697376, 1, 0.220888890624, 22.9694061279, 13.7087049484, 11.510638237
586385.609992, 4140674.81593, -28.3730191095, 0.74722224474, 1.14589705982, 0.0207307188815, 0.0, 1496957375.0635, 2.84149166482, 1, 0.228361113071, 22.9694061279, 13.6919202805, 11.510638237
586385.602125, 4140674.81843, -28.3731174925, 0.772222220898, 1.14658485183, 0.020577090224, -0.0198943585645, 1496957375.0741, 2.84168162968, 1, 0.23608333528, 23.0304412842, 13.6919202805, 11.425532341
586385.593995, 4140674.82097, -28.3732420523, 0.772222220898, 1.12967723716, 0.020577090224, 0.0, 1496957375.0836, 2.84167813375, 1, 0.243805557489, 23.0304412842, 13.6659803391, 11.425532341
586385.58568, 4140674.82353, -28.3733101236, 0.797222197056, 1.13935087303, 0.0204618721721, -0.0144524390191, 1496957375.0942, 2.8419132742, 1, 0.25177777946, 22.9694061279, 13.6659803391, 11.3617019653
586385.577255, 4140674.82613, -28.3733978113, 0.797222197056, 1.1643459333, 0.0204618721721, 0.0, 1496957375.1038, 2.84211238417, 1, 0.259750001431, 22.9694061279, 13.6140995026, 11.3617019653
586385.568711, 4140674.82875, -28.3735025283, 0.822222232819, 1.1862659915, 0.0203082572344, -0.0186828975846, 1496957375.1143, 2.84233660563, 1, 0.267972223759, 23.0548553467, 13.6140995026, 11.2765960693
586385.56006, 4140674.83142, -28.3735718112, 0.822222232819, 1.18128667794, 0.0203082572344, 0.0, 1496957375.1238, 2.84255787041, 1, 0.276194446087, 23.0548553467, 13.6842908859, 11.2765960693
586385.551301, 4140674.8341, -28.3737075543, 0.844444453716, 1.13815820913, 0.0201546483342, -0.0181905274657, 1496957375.1344, 2.84281790217, 1, 0.284638890624, 23.1891365051, 13.6842908859, 11.1914892197
586385.542429, 4140674.83682, -28.3737837486, 0.844444453716, 1.14450469311, 0.0201546483342, 0.0, 1496957375.1439, 2.84299944483, 1, 0.293083335161, 23.1891365051, 13.6888685226, 11.1914892197
586385.533449, 4140674.83958, -28.3739159787, 0.869444429874, 1.14662487343, 0.0200010488548, -0.0176663940936, 1496957375.1544, 2.84326924118, 1, 0.30177777946, 23.2623786926, 13.6888685226, 11.1063833237
586385.524347, 4140674.84238, -28.3740083193, 0.869444429874, 1.19748968672, 0.0200010488548, 0.0, 1496957375.1641, 2.84351612537, 1, 0.310472223759, 23.2623786926, 13.6980237961, 11.1063833237
586385.515116, 4140674.84521, -28.3741366463, 0.897222220898, 1.27433024992, 0.0198474552948, -0.0171187868959, 1496957375.1747, 2.84371688116, 1, 0.319444445968, 23.4332790375, 13.6980237961, 11.021276474
586385.505772, 4140674.84807, -28.3742672913, 0.897222220898, 1.24728260575, 0.0198474552948, 0.0, 1496957375.1843, 2.84393008203, 1, 0.328416668177, 23.4332790375, 13.6842908859, 11.021276474
586385.496302, 4140674.85097, -28.3743801294, 0.922222197056, 1.28236051679, 0.0196938710374, -0.0166537151102, 1496957375.1939, 2.8441551578, 1, 0.337638890147, 23.5309371948, 13.6842908859, 10.936170578
586385.486723, 4140674.85389, -28.3745269682, 0.922222197056, 1.20789883134, 0.0196938710374, 0.0, 1496957375.2043, 2.84435509666, 1, 0.346861112118, 23.5309371948, 13.6430912018, 10.936170578
586385.477007, 4140674.85687, -28.3746163854, 0.949999988079, 1.28731369176, 0.0195018995663, -0.0202075235307, 1496957375.2139, 2.84461302053, 1, 0.356361111999, 23.4210720062, 13.6430912018, 10.8297872543
586385.467168, 4140674.85986, -28.3747527497, 0.949999988079, 1.29117785074, 0.0195018995663, 0.0, 1496957375.2245, 2.84481911859, 1, 0.365861111879, 23.4210720062, 13.7224388123, 10.8297872543
586385.457195, 4140674.86289, -28.3748636786, 0.963888883591, 1.34326932298, 0.0193483304306, -0.0159322447109, 1496957375.2340, 2.84504911916, 1, 0.375500000715, 23.5187301636, 13.7224388123, 10.7446804047
586385.447095, 4140674.86595, -28.3749849899, 0.963888883591, 1.31926426222, 0.0193483304306, 0.0, 1496957375.2446, 2.84526397123, 1, 0.385138889551, 23.5187301636, 13.6766614914, 10.7446804047
586385.436873, 4140674.86905, -28.3751059538, 1.00277781487, 1.29883250122, 0.0191563815468, -0.0191417162324, 1496957375.2541, 2.84547381371, 1, 0.3951666677, 23.6408023834, 13.6766614914, 10.6382980347
586385.426539, 4140674.87217, -28.3752110638, 1.00277781487, 1.22212638007, 0.0191563815468, 0.0, 1496957375.2636, 2.84567916746, 1, 0.405194445848, 23.6408023834, 13.6781873703, 10.6382980347
586385.416094, 4140674.87533, -28.3752995366, 1.02777779102, 1.17842902881, 0.0190028289551, -0.0149402519765, 1496957375.2741, 2.8459031222, 1, 0.415472223759, 23.7384605408, 13.6781873703, 10.553191185
586385.405537, 4140674.87852, -28.3754015733, 1.02777779102, 1.17182686527, 0.0190028289551, 0.0, 1496957375.2836, 2.84613804959, 1, 0.425750001669, 23.7384605408, 13.6781873703, 10.553191185
586385.394855, 4140674.88175, -28.3754834617, 1.04999995232, 1.21569581504, 0.0188109005644, -0.0182788951852, 1496957375.2941, 2.84635882322, 1, 0.436250001192, 23.8483257294, 13.6781873703, 10.446808815
586385.384047, 4140674.885, -28.3755810903, 1.04999995232, 1.24519894995, 0.0188109005644, 0.0, 1496957375.3035, 2.84660037897, 1, 0.446750000715, 23.8483257294, 13.6812391281, 10.446808815
586385.373097, 4140674.8883, -28.3756534746, 1.07500004768, 1.36272454564, 0.0186189816769, -0.01785291897, 1496957375.3141, 2.84681405709, 1, 0.457500001192, 23.9215679169, 13.6812391281, 10.3404254913
586385.362026, 4140674.89163, -28.3757609716, 1.07500004768, 1.34640458851, 0.0186189816769, 0.0, 1496957375.3236, 2.84704042258, 1, 0.468250001669, 23.9215679169, 13.6858167648, 10.3404254913
586385.350816, 4140674.895, -28.3758277427, 1.10000002384, 1.37865055979, 0.0183886940095, -0.0209352420433, 1496957375.3341, 2.8472878838, 1, 0.479250001907, 23.8605327606, 13.6858167648, 10.2127656937
586385.339472, 4140674.89839, -28.3759604013, 1.10000002384, 1.38619546417, 0.0183886940095, 0.0, 1496957375.3436, 2.84752075268, 1, 0.490250002146, 23.8605327606, 13.6278324127, 10.2127656937
586385.327998, 4140674.90182, -28.3760737237, 1.12777781487, 1.38451756601, 0.0181968011294, -0.0170151316585, 1496957375.3541, 2.8477359399, 1, 0.501527780294, 23.8849468231, 13.6278324127, 10.1063833237
586385.316397, 4140674.90528, -28.376179086, 1.12777781487, 1.34074580105, 0.0181968011294, 0.0, 1496957375.3636, 2.84797359113, 1, 0.512805558443, 23.8849468231, 13.6888685226, 10.1063833237
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586352.849045, 4140717.69279, -28.2818044191, 0.0, 0, 0.0010716967124, 0, 1496957395.1944, 1.30177926569, 1, 72.191999881, 15.1659421921, 25.0568389893, 0.595744669437
586352.849955, 4140717.692, -28.2813029792, 0.0, 0, 0.0010716967124, 0, 1496957395.2040, 1.30178765263, 1, 72.191999881, 15.2147703171, 25.0568389893, 0.595744669437
586352.85087, 4140717.69121, -28.2808046136, 0.0, 0, 0.0010716967124, 0, 1496957395.2146, 1.30178026322, 1, 72.191999881, 15.2147703171, 25.1010913849, 0.595744669437
586352.85178, 4140717.69041, -28.2803042596, 0.0, 0, 0.0010716967124, 0, 1496957395.2243, 1.30174333143, 1, 72.191999881, 15.2513923645, 25.1010913849, 0.595744669437
586352.852691, 4140717.68961, -28.2798085473, 0.0, 0, 0.0010716967124, 0, 1496957395.2338, 1.30175708774, 1, 72.191999881, 15.2513923645, 25.0522613525, 0.595744669437
586352.853607, 4140717.68881, -28.279305812, 0.0, 0, 0.0010716967124, 0, 1496957395.2443, 1.30175127252, 1, 72.191999881, 15.2147703171, 25.0522613525, 0.595744669437
586352.854523, 4140717.68801, -28.2788067516, 0.0, 0, 0.00110997184211, 0, 1496957395.2539, 1.30173846725, 1, 72.191999881, 15.2147703171, 25.0812549591, 0.617021262646
586352.855443, 4140717.6872, -28.2783084065, 0.0, 0, 0.00110997184211, 0, 1496957395.2644, 1.30173327655, 1, 72.191999881, 15.1659421921, 25.0812549591, 0.617021262646
586352.85636, 4140717.68639, -28.2778144842, 0.0, 0, 0.0010716967124, 0, 1496957395.2740, 1.30173076413, 1, 72.191999881, 15.1659421921, 25.0080108643, 0.595744669437
586352.857282, 4140717.68557, -28.2773151351, 0.0, 0, 0.0010716967124, 0, 1496957395.2845, 1.30171741486, 1, 72.191999881, 15.226978302, 25.0080108643, 0.595744669437
586352.858207, 4140717.68476, -28.2768145669, 0.0, 0, 0.0010716967124, 0, 1496957395.2940, 1.30172334501, 1, 72.191999881, 15.226978302, 24.9423980713, 0.595744669437
586352.859124, 4140717.68393, -28.2763182232, 0.0, 0, 0.0010716967124, 0, 1496957395.3045, 1.30173665204, 1, 72.191999881, 15.2635993958, 24.9423980713, 0.595744669437
586352.860048, 4140717.68311, -28.275819893, 0.0, 0, 0.0010716967124, 0, 1496957395.3141, 1.30174140389, 1, 72.191999881, 15.2635993958, 24.9362926483, 0.595744669437
586352.86097, 4140717.68228, -28.2753247079, 0.0, 0, 0.0010716967124, 0, 1496957395.3235, 1.30173160633, 1, 72.191999881, 15.2880144119, 24.9362926483, 0.595744669437
586352.861892, 4140717.68145, -28.2748264251, 0.0, 0, 0.0010716967124, 0, 1496957395.3341, 1.30172397402, 1, 72.191999881, 15.2880144119, 24.9835968018, 0.595744669437
586352.862812, 4140717.68061, -28.274333749, 0.0, 0, 0.0010716967124, 0, 1496957395.3446, 1.30171914232, 1, 72.191999881, 15.2025632858, 24.9835968018, 0.595744669437
586352.863733, 4140717.67978, -28.2738393508, 0.0, 0, 0.0010716967124, 0, 1496957395.3542, 1.30174684624, 1, 72.191999881, 15.2025632858, 24.9759674072, 0.595744669437
586352.864654, 4140717.67894, -28.2733457219, 0.0, 0, 0.0010716967124, 0, 1496957395.3636, 1.3017206003, 1, 72.191999881, 15.0926980972, 24.9759674072, 0.595744669437
586352.865575, 4140717.6781, -28.2728526806, 0.0, 0, 0.00110997184211, 0, 1496957395.3742, 1.30173714002, 1, 72.191999881, 15.0926980972, 24.9744415283, 0.617021262646
586352.866492, 4140717.67726, -28.2723578708, 0.0, 0, 0.00110997184211, 0, 1496957395.3839, 1.30170801241, 1, 72.191999881, 15.2391853333, 24.9744415283, 0.617021262646
586352.867411, 4140717.67642, -28.2718641274, 0.0, 0, 0.0010716967124, 0, 1496957395.3945, 1.3017032936, 1, 72.191999881, 15.2391853333, 24.9301891327, 0.595744669437
586352.868331, 4140717.67557, -28.2713695616, 0.0, 0, 0.0010716967124, 0, 1496957395.4041, 1.30172552272, 1, 72.191999881, 15.2391853333, 24.9301891327, 0.595744669437
586352.869253, 4140717.67473, -28.2708757548, 0.0, 0, 0.0010716967124, 0, 1496957395.4136, 1.30173296289, 1, 72.191999881, 15.2391853333, 24.9195079803, 0.595744669437
586352.870174, 4140717.67389, -28.2703758655, 0.0, 0, 0.0010716967124, 0, 1496957395.4245, 1.30169640138, 1, 72.191999881, 15.2147703171, 24.9195079803, 0.595744669437
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/qp_spline_smoother_config.pb.txt | max_constraint_interval : 5.0
longitudinal_boundary_bound : 2.0
max_lateral_boundary_bound : 0.5
min_lateral_boundary_bound : 0.1
num_of_total_points : 500
curb_shift : 0.2
lateral_buffer : 0.2
qp_spline {
spline_order: 5
max_spline_length : 25.0
regularization_weight : 1.0e-5
second_derivative_weight : 200.0
third_derivative_weight : 1000.0
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/traffic_rule_config.pb.txt | config: {
rule_id: BACKSIDE_VEHICLE
enabled: false
backside_vehicle {
backside_lane_width: 4.0
}
}
config: {
rule_id: CROSSWALK
enabled: true
crosswalk {
stop_distance: 1.0
max_stop_deceleration: 6.0
min_pass_s_distance: 1.0
max_valid_stop_distance: 3.5
expand_s_distance: 2.0
stop_strict_l_distance: 6.0
stop_loose_l_distance: 8.0
stop_timeout: 4.0
}
}
config: {
rule_id: DESTINATION
enabled: true
destination {
stop_distance: 0.5
}
}
config: {
rule_id: KEEP_CLEAR
enabled: true
keep_clear {
enable_keep_clear_zone: true
enable_junction: true
min_pass_s_distance: 2.0
align_with_traffic_sign_tolerance: 4.5
}
}
config: {
rule_id: REFERENCE_LINE_END
enabled: true
reference_line_end {
stop_distance: 0.5
min_reference_line_remain_length: 50.0
}
}
config: {
rule_id: REROUTING
enabled: true
rerouting {
prepare_rerouting_time: 2.0
cooldown_time: 3.0
}
}
config: {
rule_id: STOP_SIGN
enabled: true
stop_sign: {
stop_distance: 1.0
}
}
config: {
rule_id: TRAFFIC_LIGHT
enabled: true
traffic_light {
stop_distance: 1.0
max_stop_deceleration: 4.0
}
}
config: {
rule_id: YIELD_SIGN
enabled: true
yield_sign: {
stop_distance: 1.0
start_watch_distance: 2.0
}
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/planning_navi.conf | --flagfile=/apollo/modules/planning/conf/planning.conf
--planning_config_file=/apollo/modules/planning/conf/planning_config_navi.pb.txt
--traffic_rule_config_filename=/apollo/modules/planning/conf/traffic_rule_config.pb.txt
--planning_upper_speed_limit=24.587
--noenable_nudge_decision
--replan_lateral_distance_threshold=0.5
# use navigation_mode
--use_navigation_mode
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/planning_config_navi.pb.txt | topic_config {
chassis_topic: "/apollo/canbus/chassis"
hmi_status_topic: "/apollo/hmi/status"
localization_topic: "/apollo/localization/pose"
planning_pad_topic: "/apollo/planning/pad"
planning_trajectory_topic: "/apollo/planning"
prediction_topic: "/apollo/prediction"
relative_map_topic: "/apollo/relative_map"
routing_request_topic: "/apollo/routing_request"
routing_response_topic: "/apollo/routing_response"
traffic_light_detection_topic: "/apollo/perception/traffic_light"
}
navigation_planning_config {
planner_type : NAVI
planner_navi_config {
task : NAVI_PATH_DECIDER
task : NAVI_SPEED_DECIDER
navi_path_decider_config {
min_path_length: 5
min_look_forward_time: 2
max_keep_lane_distance: 0.4
max_keep_lane_shift_y: 0.15
min_keep_lane_offset: 0.20
keep_lane_shift_compensation: 0.01
move_dest_lane_config_talbe {
lateral_shift {
max_speed: 34
max_move_dest_lane_shift_y: 0.45
}
}
move_dest_lane_compensation: 0.35
max_kappa_threshold: 0.0
kappa_move_dest_lane_compensation: 0.0
start_plan_point_from: 0
}
navi_speed_decider_config {
preferred_accel: 1.5
preferred_decel: 1.5
preferred_jerk: 2.0
max_accel: 4.0
max_decel: 5.0
obstacle_buffer: 1.0
safe_distance_base: 10.0
safe_distance_ratio: 1.0
following_accel_ratio: 0.5
soft_centric_accel_limit: 1.0
hard_centric_accel_limit: 1.5
hard_speed_limit: 40.0
hard_accel_limit: 8.0
enable_safe_path: false
enable_planning_start_point: true
enable_accel_auto_compensation: false
kappa_preview: 80.0
kappa_threshold: 0.02
}
navi_obstacle_decider_config {
min_nudge_distance: 0.2
max_nudge_distance: 1.1
max_allow_nudge_speed: 16.667
safe_distance: 0.2
nudge_allow_tolerance : 0.05
cycles_number : 3
judge_dis_coeff : 2.0
basis_dis_value : 30.0
lateral_velocity_value : 0.5
speed_decider_detect_range : 0.35
max_keep_nudge_cycles : 110
}
}
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/planning_semantic_map_config.pb.txt | resolution : 0.2
height : 200
width : 200
ego_idx_x : 100
ego_idx_y : 160
max_rand_delta_phi : 25
max_ego_future_horizon : 2
max_ego_past_horizon : 6
max_obs_future_horizon : 2
max_obs_past_horizon : 1
base_map_padding : 100
city_driving_max_speed : 22.22 | 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/discrete_points_smoother_config.pb.txt | max_constraint_interval : 0.25
longitudinal_boundary_bound : 2.0
max_lateral_boundary_bound : 0.5
min_lateral_boundary_bound : 0.1
curb_shift : 0.2
lateral_buffer : 0.2
discrete_points {
smoothing_method: FEM_POS_DEVIATION_SMOOTHING
fem_pos_deviation_smoothing {
weight_fem_pos_deviation: 1e10
weight_ref_deviation: 1.0
weight_path_length: 1.0
apply_curvature_constraint: false
max_iter: 500
time_limit: 0.0
verbose: false
scaled_termination: true
warm_start: true
}
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/planner_open_space_config.pb.txt | roi_config {
roi_longitudinal_range_start: 15.0
roi_longitudinal_range_end: 15.0
parking_start_range: 12.0
parking_inwards: false
}
warm_start_config {
xy_grid_resolution: 0.3
phi_grid_resolution: 0.1
next_node_num: 10
step_size: 0.5
traj_forward_penalty: 1.0
traj_back_penalty: 1.0
traj_gear_switch_penalty: 10.0
traj_steer_penalty: 0.0
traj_steer_change_penalty: 0.0
grid_a_star_xy_resolution: 0.5
node_radius: 0.25
s_curve_config {
acc_weight: 1.0
jerk_weight: 0.0
kappa_penalty_weight: 100.0
ref_s_weight: 0.1
ref_v_weight: 0.0
}
}
dual_variable_warm_start_config {
weight_d: 1.0
ipopt_config {
ipopt_print_level: 0
mumps_mem_percent: 6000
mumps_pivtol: 1e-06
ipopt_max_iter: 100
ipopt_tol: 1e-05
ipopt_acceptable_constr_viol_tol: 0.1
ipopt_min_hessian_perturbation: 1e-12
ipopt_jacobian_regularization_value: 1e-07
ipopt_print_timing_statistics: "yes"
ipopt_alpha_for_y: "min"
ipopt_recalc_y: "yes"
}
qp_format: OSQP
min_safety_distance: 0.01
debug_osqp: false
beta: 1.0
osqp_config {
alpha: 1.0
eps_abs: 1.0e-3
eps_rel: 1.0e-3
max_iter: 10000
polish: true
osqp_debug_log: false
}
}
distance_approach_config {
weight_steer: 0.3
weight_a: 1.1
weight_steer_rate: 2.0
weight_a_rate: 2.5
weight_x: 18.0
weight_y: 14.0
weight_phi: 10.0
weight_v: 0.0
weight_steer_stitching: 1.75
weight_a_stitching: 3.25
weight_first_order_time: 1.0
weight_second_order_time: 2.0
weight_end_state: 1.0
weight_slack: 1.0
min_safety_distance: 0.01
max_speed_forward: 2.0
max_speed_reverse: 1.0
max_acceleration_forward: 2.0
max_acceleration_reverse: 1.0
min_time_sample_scaling: 0.5
max_time_sample_scaling: 1.5
use_fix_time: false
ipopt_config {
ipopt_print_level: 0
mumps_mem_percent: 6000
mumps_pivtol: 1e-06
ipopt_max_iter: 1000
ipopt_tol: 0.0001
ipopt_acceptable_constr_viol_tol: 0.1
ipopt_min_hessian_perturbation: 1e-12
ipopt_jacobian_regularization_value: 1e-07
ipopt_print_timing_statistics: "yes"
ipopt_alpha_for_y: "min"
ipopt_recalc_y: "yes"
ipopt_mu_init: 0.1
}
enable_constraint_check: false
enable_hand_derivative: false
enable_derivative_check: false
enable_initial_final_check: false
distance_approach_mode: DISTANCE_APPROACH_IPOPT
enable_check_initial_state: false
}
trajectory_partition_config {
interpolated_pieces_num: 50
initial_gear_check_horizon: 3
heading_searching_range: 0.3
gear_shift_period_duration: 2.0
gear_shift_max_t: 3.0
gear_shift_unit_t: 0.02
}
iterative_anchoring_smoother_config {
interpolated_delta_s: 0.1
reanchoring_trails_num: 50
reanchoring_pos_stddev: 0.25
reanchoring_length_stddev: 1.0
estimate_bound: false
default_bound: 2.0
vehicle_shortest_dimension: 1.04
fem_pos_deviation_smoother_config {
weight_fem_pos_deviation: 1e8
weight_path_length: 1.0
weight_ref_deviation: 1e3
apply_curvature_constraint: false
weight_curvature_constraint_slack_var: 1e8
curvature_constraint: 0.2
max_iter: 500
time_limit: 0.0
verbose: false
scaled_termination: true
warm_start: true
}
collision_decrease_ratio: 0.9
max_forward_v: 2.0
max_reverse_v: 2.0
max_forward_acc: 3.0
max_reverse_acc: 2.0
max_acc_jerk: 4.0
delta_t: 0.2
s_curve_config {
acc_weight: 1.0
jerk_weight: 1.0
kappa_penalty_weight: 100.0
ref_s_weight: 10.0
ref_v_weight: 0.0
}
}
delta_t: 0.5
is_near_destination_threshold: 0.05
enable_check_parallel_trajectory: false
enable_linear_interpolation: false
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/planning_config.pb.txt | topic_config {
chassis_topic: "/apollo/canbus/chassis"
hmi_status_topic: "/apollo/hmi/status"
localization_topic: "/apollo/localization/pose"
planning_pad_topic: "/apollo/planning/pad"
planning_trajectory_topic: "/apollo/planning"
prediction_topic: "/apollo/prediction"
relative_map_topic: "/apollo/relative_map"
routing_request_topic: "/apollo/routing_request"
routing_response_topic: "/apollo/routing_response"
story_telling_topic: "/apollo/storytelling"
traffic_light_detection_topic: "/apollo/perception/traffic_light"
planning_learning_data_topic: "/apollo/planning/learning_data"
}
# NO_LEARNING / E2E / HYBRID / RL_TEST / E2E_TEST / HYBRID_TEST
learning_mode: NO_LEARNING
standard_planning_config {
planner_type: PUBLIC_ROAD
planner_public_road_config {
}
}
default_task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
piecewise_jerk_path_optimizer_config {
default_path_config {
l_weight: 1.0
dl_weight: 20.0
ddl_weight: 1000.0
dddl_weight: 50000.0
}
lane_change_path_config {
l_weight: 1.0
dl_weight: 5.0
ddl_weight: 800.0
dddl_weight: 30000.0
}
}
}
default_task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
piecewise_jerk_speed_optimizer_config {
acc_weight: 1.0
jerk_weight: 3.0
kappa_penalty_weight: 2000.0
ref_s_weight: 10.0
ref_v_weight: 10.0
}
}
default_task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
piecewise_jerk_nonlinear_speed_optimizer_config {
acc_weight: 2.0
jerk_weight: 3.0
lat_acc_weight: 1000.0
s_potential_weight: 0.05
ref_v_weight: 5.0
ref_s_weight: 100.0
soft_s_bound_weight: 1e6
use_warm_start: true
}
}
default_task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
speed_heuristic_optimizer_config {
default_speed_config {
unit_t: 1.0
dense_dimension_s: 101
dense_unit_s: 0.1
sparse_unit_s: 1.0
speed_weight: 0.0
accel_weight: 10.0
jerk_weight: 10.0
obstacle_weight: 1.0
reference_weight: 0.0
go_down_buffer: 5.0
go_up_buffer: 5.0
default_obstacle_cost: 1e4
default_speed_cost: 1.0e3
exceed_speed_penalty: 1.0e3
low_speed_penalty: 10.0
reference_speed_penalty: 10.0
keep_clear_low_speed_penalty: 10.0
accel_penalty: 1.0
decel_penalty: 1.0
positive_jerk_coeff: 1.0
negative_jerk_coeff: 1.0
max_acceleration: 2.0
max_deceleration: -4.0
spatial_potential_penalty: 1.0e2
}
lane_change_speed_config {
unit_t: 1.0
dense_dimension_s: 21
dense_unit_s: 0.25
sparse_unit_s: 1.0
speed_weight: 0.0
accel_weight: 10.0
jerk_weight: 10.0
obstacle_weight: 1.0
reference_weight: 0.0
go_down_buffer: 5.0
go_up_buffer: 5.0
default_obstacle_cost: 1e4
default_speed_cost: 1.0e3
exceed_speed_penalty: 1.0e3
low_speed_penalty: 10.0
reference_speed_penalty: 10.0
keep_clear_low_speed_penalty: 10.0
accel_penalty: 1.0
decel_penalty: 1.0
positive_jerk_coeff: 1.0
negative_jerk_coeff: 1.0
max_acceleration: 2.0
max_deceleration: -2.5
spatial_potential_penalty: 1.0e5
is_lane_changing: true
}
}
}
default_task_config: {
task_type: SPEED_DECIDER
}
default_task_config: {
task_type: RULE_BASED_STOP_DECIDER
rule_based_stop_decider_config {
max_adc_stop_speed: 0.5
max_valid_stop_distance: 1.0
search_beam_length: 20.0
search_beam_radius_intensity: 0.08
search_range: 3.14
is_block_angle_threshold: 0.5
}
}
default_task_config: {
task_type: ST_BOUNDS_DECIDER
st_bounds_decider_config {
total_time: 7.0
}
}
default_task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
speed_bounds_decider_config {
total_time: 7.0
boundary_buffer: 0.25
max_centric_acceleration_limit: 2.0
point_extension: 0.0
lowest_speed: 2.5
static_obs_nudge_speed_ratio: 0.6
dynamic_obs_nudge_speed_ratio: 0.8
}
}
default_task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
speed_bounds_decider_config {
total_time: 7.0
boundary_buffer: 0.1
max_centric_acceleration_limit: 2.0
point_extension: 0.0
lowest_speed: 2.5
static_obs_nudge_speed_ratio: 0.6
dynamic_obs_nudge_speed_ratio: 0.8
}
}
default_task_config: {
task_type: OPEN_SPACE_PRE_STOP_DECIDER
open_space_pre_stop_decider_config: {
}
}
default_task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
open_space_trajectory_provider_config {
open_space_trajectory_optimizer_config {
planner_open_space_config {
warm_start_config {
xy_grid_resolution: 0.3
phi_grid_resolution: 0.1
next_node_num: 10
step_size: 0.25
traj_forward_penalty: 1.0
traj_back_penalty: 1.0
traj_gear_switch_penalty: 10.0
traj_steer_penalty: 0.0
traj_steer_change_penalty: 0.0
grid_a_star_xy_resolution: 0.25
node_radius: 0.5
}
dual_variable_warm_start_config {
weight_d: 1.0
ipopt_config {
ipopt_print_level: 0
mumps_mem_percent: 6000
mumps_pivtol: 1e-06
ipopt_max_iter: 100
ipopt_tol: 1e-05
ipopt_acceptable_constr_viol_tol: 0.1
ipopt_min_hessian_perturbation: 1e-12
ipopt_jacobian_regularization_value: 1e-07
ipopt_print_timing_statistics: "yes"
ipopt_alpha_for_y: "min"
ipopt_recalc_y: "yes"
}
qp_format: OSQP
min_safety_distance: 0.01
osqp_config {
alpha: 1.0
eps_abs: 1.0e-3
eps_rel: 1.0e-3
max_iter: 10000
polish: true
osqp_debug_log: false
}
}
distance_approach_config {
weight_steer: 0.3
weight_a: 1.1
weight_steer_rate: 3.0
weight_a_rate: 2.5
weight_x: 2.3
weight_y: 0.7
weight_phi: 1.5
weight_v: 0.0
weight_steer_stitching: 1.75
weight_a_stitching: 3.25
weight_first_order_time: 4.25
weight_second_order_time: 13.5
weight_end_state: 1.0
weight_slack: 1.0
min_safety_distance: 0.01
max_speed_forward: 2.0
max_speed_reverse: 1.0
max_acceleration_forward: 2.0
max_acceleration_reverse: 1.0
min_time_sample_scaling: 0.8
max_time_sample_scaling: 1.2
use_fix_time: false
ipopt_config {
ipopt_print_level: 0
mumps_mem_percent: 6000
mumps_pivtol: 1e-06
ipopt_max_iter: 1000
ipopt_tol: 0.0001
ipopt_acceptable_constr_viol_tol: 0.1
ipopt_min_hessian_perturbation: 1e-12
ipopt_jacobian_regularization_value: 1e-07
ipopt_print_timing_statistics: "yes"
ipopt_alpha_for_y: "min"
ipopt_recalc_y: "yes"
ipopt_mu_init: 0.1
}
enable_constraint_check: false
enable_initial_final_check: false
enable_jacobian_ad: false
enable_hand_derivative: false
enable_derivative_check: false
distance_approach_mode: DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK
enable_check_initial_state: false
}
iterative_anchoring_smoother_config {
interpolated_delta_s: 0.1
reanchoring_trails_num: 50
reanchoring_pos_stddev: 0.25
reanchoring_length_stddev: 1.0
estimate_bound: false
default_bound: 2.0
vehicle_shortest_dimension: 1.04
fem_pos_deviation_smoother_config {
weight_fem_pos_deviation: 1e7
weight_path_length: 0.0
weight_ref_deviation: 1e3
apply_curvature_constraint: true
weight_curvature_constraint_slack_var: 1e8
curvature_constraint: 0.18
max_iter: 500
time_limit: 0.0
verbose: false
scaled_termination: true
warm_start: true
}
s_curve_config {
acc_weight: 1.0
jerk_weight: 1.0
kappa_penalty_weight: 100.0
ref_s_weight: 10.0
ref_v_weight: 0.0
}
collision_decrease_ratio: 0.0
max_forward_v: 1.0
max_reverse_v: 1.0
max_forward_acc: 0.5
max_reverse_acc: 1.0
max_acc_jerk: 0.5
delta_t: 0.2
}
delta_t: 0.5
is_near_destination_threshold: 1
enable_check_parallel_trajectory: false
enable_linear_interpolation: false
is_near_destination_theta_threshold: 0.1
}
}
}
}
default_task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
open_space_trajectory_partition_config {
gear_shift_max_t: 3.0
gear_shift_unit_t: 0.02
gear_shift_period_duration: 2.0
interpolated_pieces_num: 10
initial_gear_check_horizon: 15
heading_search_range: 0.79
heading_track_range: 1.57
distance_search_range: 2.0
heading_offset_to_midpoint: 0.79
lateral_offset_to_midpoint: 0.5
longitudinal_offset_to_midpoint: 0.2
vehicle_box_iou_threshold_to_midpoint: 0.75
linear_velocity_threshold_on_ego: 0.2
}
}
default_task_config: {
task_type: OPEN_SPACE_ROI_DECIDER
open_space_roi_decider_config {
roi_longitudinal_range_start: 15
roi_longitudinal_range_end: 15
parking_start_range: 20.0
parking_inwards: false
enable_perception_obstacles: true
parking_depth_buffer: 0.2
roi_line_segment_min_angle: 0.15
roi_line_segment_length: 1.0
perception_obstacle_filtering_distance: 1000.0
perception_obstacle_buffer: 0.0
curb_heading_tangent_change_upper_limit: 0.4
}
}
default_task_config: {
task_type: OPEN_SPACE_FALLBACK_DECIDER
open_space_fallback_decider_config {
open_space_prediction_time_period: 5.0
open_space_fallback_collision_distance: 5.0
open_space_fallback_stop_distance: 2.0
open_space_fallback_collision_time_buffer: 5.0
}
}
default_task_config: {
task_type: PATH_BOUNDS_DECIDER
path_bounds_decider_config {
is_lane_borrowing: false
is_pull_over: false
is_extend_lane_bounds_to_include_adc: false
pull_over_destination_to_adc_buffer: 25.0
pull_over_destination_to_pathend_buffer: 4.0
pull_over_road_edge_buffer: 0.15
pull_over_approach_lon_distance_adjust_factor: 1.5
}
}
default_task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
default_task_config: {
task_type: LANE_CHANGE_DECIDER
lane_change_decider_config {
enable_lane_change_urgency_check: false
enable_prioritize_change_lane: false
enable_remove_change_lane: false
reckless_change_lane: false
change_lane_success_freeze_time: 1.5
change_lane_fail_freeze_time: 1.0
}
}
default_task_config: {
task_type: PATH_REUSE_DECIDER
path_reuse_decider_config {
reuse_path: false
}
}
default_task_config: {
task_type: PATH_DECIDER
path_decider_config{
static_obstacle_buffer: 0.3
}
}
default_task_config {
task_type: PATH_REFERENCE_DECIDER
path_reference_decider_config {
min_path_reference_length: 20
}
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/spiral_smoother_config.pb.txt | max_constraint_interval : 5.0
longitudinal_boundary_bound : 2.0
max_lateral_boundary_bound : 0.5
min_lateral_boundary_bound : 0.1
resolution : 0.02
curb_shift : 0.2
lateral_buffer : 0.2
spiral {
max_deviation: 0.05
piecewise_length : 10.0
max_iteration : 500
opt_tol : 1.0e-6
opt_acceptable_tol : 1e-4
opt_acceptable_iteration : 15
weight_curve_length : 1.0
weight_kappa : 1.0
weight_dkappa : 100.0
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/conf/planning.conf | --flagfile=/apollo/modules/common/data/global_flagfile.txt
--traffic_rule_config_filename=/apollo/modules/planning/conf/traffic_rule_config.pb.txt
--planning_upper_speed_limit=20.00
--default_cruise_speed=11.18
--ignore_overlapped_obstacle=true
--prioritize_change_lane
--min_length_for_lane_change=5.0
--nouse_multi_thread_to_add_obstacles
--enable_multi_thread_in_dp_st_graph=false
# --min_past_history_points_len=10
# --smoother_config_filename=/apollo/modules/planning/conf/spiral_smoother_config.pb.txt
# --smoother_config_filename=/apollo/modules/planning/conf/qp_spline_smoother_config.pb.txt
--smoother_config_filename=/apollo/modules/planning/conf/discrete_points_smoother_config.pb.txt
--enable_reference_line_stitching=false
# --enable_perception_obstacles=false
# --parking_inwards=false
# --use_dual_variable_warm_start=true
# --enable_open_space_planner_thread=true
# --enable_record_debug=true
--use_gear_shift_trajectory=true
# --enable_parallel_hybrid_a=true
--export_chart=true
# --use_front_axe_center_in_path_planning=true
# --obstacle_lon_start_buffer=0.4
# --obstacle_lon_end_buffer=0.4
--noenable_smoother_failsafe
--enable_parallel_trajectory_smoothing
--nouse_s_curve_speed_smooth
--use_iterative_anchoring_smoother
--open_space_planning_period=0.1
--open_space_standstill_acceleration=0.3
--lane_change_prepare_length=60.0
--enable_smarter_lane_change=true
--nonstatic_obstacle_nudge_l_buffer=0.4
--lane_change_obstacle_nudge_l_buffer=0.3
--use_st_drivable_boundary=false
#--enable_skip_path_tasks=true
--enable_reuse_path_in_lane_follow=true
--use_smoothed_dp_guide_line=true
--use_soft_bound_in_nonlinear_speed_opt=false
# --use_road_boundary_from_map=true
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/narrow_street_u_turn_config.pb.txt | scenario_type: NARROW_STREET_U_TURN | 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/lane_follow_config.pb.txt | 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: 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
}
}
task_config: {
task_type: PATH_REUSE_DECIDER
path_reuse_decider_config {
reuse_path: false
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RSS_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/traffic_light_unprotected_right_turn_config.pb.txt | scenario_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN
traffic_light_unprotected_right_turn_config: {
start_traffic_light_scenario_distance: 5.0
enable_right_turn_on_red: false
max_valid_stop_distance: 2.0
min_pass_s_distance: 3.0
red_light_right_turn_stop_duration_sec: 3.0
creep_timeout_sec: 10.0
max_adc_speed_before_creep: 3.0
}
stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP
stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE
stage_config: {
stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
enabled: true
task_type: CREEP_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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: CREEP_DECIDER
creep_decider_config: {
stop_distance: 0.3
speed_limit: 1.0
max_valid_stop_distance: 0.4
min_boundary_t: 6.0
ignore_max_st_min_t: 0.1
ignore_min_st_min_s: 15.0
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/park_and_go_config.pb.txt | scenario_type: PARK_AND_GO
park_and_go_config: {
front_obstacle_buffer: 10.0
heading_buffer: 0.3
min_dist_to_dest: 10.0
max_steering_percentage_when_cruise: 20.0
}
stage_type: PARK_AND_GO_CHECK
stage_type: PARK_AND_GO_ADJUST
stage_type: PARK_AND_GO_PRE_CRUISE
stage_type: PARK_AND_GO_CRUISE
stage_config: {
stage_type: PARK_AND_GO_CHECK
enabled: true
task_type: OPEN_SPACE_ROI_DECIDER
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
task_type: OPEN_SPACE_FALLBACK_DECIDER
task_config: {
task_type: OPEN_SPACE_ROI_DECIDER
open_space_roi_decider_config {
roi_type: PARK_AND_GO
perception_obstacle_buffer: 0.0
}
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
}
task_config: {
task_type: OPEN_SPACE_FALLBACK_DECIDER
}
}
stage_config:{
stage_type: PARK_AND_GO_ADJUST
enabled: true
task_type: OPEN_SPACE_ROI_DECIDER
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
task_type: OPEN_SPACE_FALLBACK_DECIDER
task_config: {
task_type: OPEN_SPACE_ROI_DECIDER
open_space_roi_decider_config {
roi_type: PARK_AND_GO
roi_line_segment_min_angle: 0.15
roi_line_segment_length: 0.2
perception_obstacle_buffer: 0.5
end_pose_s_distance: 10.0
roi_longitudinal_range_start : 10.0
roi_longitudinal_range_end : 20.0
}
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
open_space_trajectory_provider_config {
open_space_trajectory_optimizer_config {
planner_open_space_config {
iterative_anchoring_smoother_config {
s_curve_config {
acc_weight: 1.0
jerk_weight: 1.0
kappa_penalty_weight: 100.0
ref_s_weight: 100.0
ref_v_weight: 0.0
}
}
}
}
}
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
}
task_config: {
task_type: OPEN_SPACE_FALLBACK_DECIDER
}
}
stage_config:{
stage_type: PARK_AND_GO_PRE_CRUISE
enabled: true
task_type: OPEN_SPACE_ROI_DECIDER
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
task_type: OPEN_SPACE_FALLBACK_DECIDER
task_config: {
task_type: OPEN_SPACE_ROI_DECIDER
open_space_roi_decider_config {
roi_type: PARK_AND_GO
perception_obstacle_buffer: 0.5
end_pose_s_distance: 5.0
}
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
open_space_trajectory_provider_config {
open_space_trajectory_optimizer_config {
planner_open_space_config {
iterative_anchoring_smoother_config {
s_curve_config {
acc_weight: 1.0
jerk_weight: 1.0
kappa_penalty_weight: 100.0
ref_s_weight: 100.0
ref_v_weight: 0.0
}
}
}
}
}
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
}
task_config: {
task_type: OPEN_SPACE_FALLBACK_DECIDER
}
}
stage_config:{
stage_type: PARK_AND_GO_CRUISE
enabled: true
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: RSS_DECIDER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
path_decider_config{
static_obstacle_buffer: 0.2
}
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RSS_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/lane_follow_hybrid_config.pb.txt | scenario_type: LANE_FOLLOW
stage_type: LANE_FOLLOW_DEFAULT_STAGE
stage_config: {
stage_type: LANE_FOLLOW_DEFAULT_STAGE
enabled: true
task_type: LEARNING_MODEL_INFERENCE_TASK
task_type: LANE_CHANGE_DECIDER
task_type: PATH_LANE_BORROW_DECIDER
task_type: PATH_BOUNDS_DECIDER
task_type: PATH_REFERENCE_DECIDER
task_type: PATH_REUSE_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: LEARNING_MODEL_INFERENCE_TASK
learning_model_inference_task_config {
model_type: CNN_LSTM
cpu_model_file: "/apollo/modules/planning/data/model/cpu_test_model_cnn_lstm.pt"
gpu_model_file: "/apollo/modules/planning/data/model/gpu_test_model_cnn_lstm.pt"
use_cuda: true
allow_empty_learning_based_data: true
allow_empty_output_trajectory: true
}
}
task_config: {
task_type: LANE_CHANGE_DECIDER
lane_change_decider_config {
enable_lane_change_urgency_check: true
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
path_bounds_decider_config {
adc_buffer_coeff: 0.0
is_extend_lane_bounds_to_include_adc: false
}
}
task_config: {
task_type: PATH_REFERENCE_DECIDER
}
task_config: {
task_type: PATH_REUSE_DECIDER
path_reuse_decider_config {
reuse_path: true
}
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
piecewise_jerk_path_optimizer_config
{
path_reference_l_weight: 100.0
}
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RSS_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/emergency_pull_over_config.pb.txt | scenario_type: EMERGENCY_PULL_OVER
emergency_pull_over_config: {
max_stop_deceleration: 4.5
slow_down_deceleration_time: 3.0
target_slow_down_speed: 1.0
stop_distance: 1.5
}
stage_type: EMERGENCY_PULL_OVER_SLOW_DOWN
stage_type: EMERGENCY_PULL_OVER_APPROACH
stage_type: EMERGENCY_PULL_OVER_STANDBY
stage_config: {
stage_type: EMERGENCY_PULL_OVER_SLOW_DOWN
enabled: true
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_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: EMERGENCY_PULL_OVER_APPROACH
enabled: true
# 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: RSS_DECIDER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
path_bounds_decider_config {
is_lane_borrowing: false
is_pull_over: true
pull_over_destination_to_adc_buffer: 25.0
pull_over_destination_to_pathend_buffer: 4.0
pull_over_road_edge_buffer: 0.15
pull_over_approach_lon_distance_adjust_factor: 1.6
}
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RSS_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: EMERGENCY_PULL_OVER_STANDBY
enabled: true
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_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/traffic_light_unprotected_left_turn_config.pb.txt | scenario_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN
traffic_light_unprotected_left_turn_config: {
start_traffic_light_scenario_distance: 30.0
approach_cruise_speed: 2.78
max_valid_stop_distance: 2.0
min_pass_s_distance: 3.0
creep_timeout_sec: 10.0
max_adc_speed_before_creep: 5.56
}
stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_APPROACH
stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP
stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE
stage_config: {
stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_APPROACH
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP
enabled: true
task_type: CREEP_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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: CREEP_DECIDER
creep_decider_config: {
stop_distance: 0.3
speed_limit: 1.0
max_valid_stop_distance: 0.4
min_boundary_t: 6.0
ignore_max_st_min_t: 0.1
ignore_min_st_min_s: 15.0
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/stop_sign_unprotected_config.pb.txt | scenario_type: STOP_SIGN_UNPROTECTED
stop_sign_unprotected_config: {
start_stop_sign_scenario_distance: 4.0
watch_vehicle_max_valid_stop_distance: 5.0
max_valid_stop_distance: 2.0
stop_duration_sec: 1.0
min_pass_s_distance: 3.0
stop_timeout_sec: 8.0
creep_timeout_sec: 10.0
}
stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
stage_type: STOP_SIGN_UNPROTECTED_STOP
stage_type: STOP_SIGN_UNPROTECTED_CREEP
stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE
stage_config: {
stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: STOP_SIGN_UNPROTECTED_STOP
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: STOP_SIGN_UNPROTECTED_CREEP
enabled: true
task_type: CREEP_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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: CREEP_DECIDER
creep_decider_config: {
stop_distance: 0.3
speed_limit: 1.0
max_valid_stop_distance: 0.4
min_boundary_t: 6.0
ignore_max_st_min_t: 0.1
ignore_min_st_min_s: 15.0
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/traffic_light_protected_config.pb.txt | scenario_type: TRAFFIC_LIGHT_PROTECTED
traffic_light_protected_config: {
start_traffic_light_scenario_distance: 5.0
max_valid_stop_distance: 2.0
min_pass_s_distance: 3.0
}
stage_type: TRAFFIC_LIGHT_PROTECTED_APPROACH
stage_type: TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE
stage_config: {
stage_type: TRAFFIC_LIGHT_PROTECTED_APPROACH
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
}
stage_config: {
stage_type: TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/emergency_stop_config.pb.txt | scenario_type: EMERGENCY_STOP
emergency_stop_config: {
max_stop_deceleration: 6.0
stop_distance: 1.0
}
stage_type: EMERGENCY_STOP_APPROACH
stage_type: EMERGENCY_STOP_STANDBY
stage_config: {
stage_type: EMERGENCY_STOP_APPROACH
enabled: true
# 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: RSS_DECIDER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RSS_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: EMERGENCY_STOP_STANDBY
enabled: true
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_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
} | 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/learning_model_sample_config.pb.txt | scenario_type: LEARNING_MODEL_SAMPLE
learning_model_sample_config: {
}
stage_type: LEARNING_MODEL_RUN
stage_config: {
stage_type: LEARNING_MODEL_RUN
enabled: true
task_type: LEARNING_MODEL_INFERENCE_TASK
task_type: LEARNING_MODEL_INFERENCE_TRAJECTORY_TASK
task_config: {
task_type: LEARNING_MODEL_INFERENCE_TASK
learning_model_inference_task_config {
model_type: CNN_LSTM
cpu_model_file: "/apollo/modules/planning/data/model/cpu_test_model_cnn_lstm.pt"
gpu_model_file: "/apollo/modules/planning/data/model/gpu_test_model_cnn_lstm.pt"
use_cuda: true
}
}
task_config: {
task_type: LEARNING_MODEL_INFERENCE_TRAJECTORY_TASK
learning_model_inference_trajectory_task_config {
min_adc_future_trajectory_time_length: 1.8
}
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/yield_sign_config.pb.txt | scenario_type: YIELD_SIGN
yield_sign_config: {
start_yield_sign_scenario_distance: 10.0
max_valid_stop_distance: 4.5
min_pass_s_distance: 3.0
creep_timeout_sec: 10.0
}
stage_type: YIELD_SIGN_APPROACH
stage_type: YIELD_SIGN_CREEP
stage_config: {
stage_type: YIELD_SIGN_APPROACH
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: YIELD_SIGN_CREEP
enabled: true
task_type: CREEP_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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: CREEP_DECIDER
creep_decider_config: {
stop_distance: 0.3
speed_limit: 1.0
max_valid_stop_distance: 0.4
min_boundary_t: 6.0
ignore_max_st_min_t: 0.1
ignore_min_st_min_s: 15.0
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
} | 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/bare_intersection_unprotected_config.pb.txt | scenario_type: BARE_INTERSECTION_UNPROTECTED
bare_intersection_unprotected_config: {
start_bare_intersection_scenario_distance: 25.0
enable_explicit_stop: false
min_pass_s_distance: 3.0
approach_cruise_speed: 6.7056 # 15 mph
stop_distance: 0.5
stop_timeout_sec: 8.0
creep_timeout_sec: 10.0
}
stage_type: BARE_INTERSECTION_UNPROTECTED_APPROACH
stage_type: BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE
stage_config: {
stage_type: BARE_INTERSECTION_UNPROTECTED_APPROACH
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE
enabled: true
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_NONLINEAR_SPEED_OPTIMIZER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/pull_over_config.pb.txt | scenario_type: PULL_OVER
pull_over_config: {
start_pull_over_scenario_distance: 50.0
pull_over_min_distance_buffer: 10.0
max_distance_stop_search: 25.0
max_s_error_to_end_point: 0.5
max_l_error_to_end_point: 1.0
max_theta_error_to_end_point: 0.2
pass_destination_threshold: 15.0
max_distance_error_to_end_point: 0.2
}
stage_type: PULL_OVER_APPROACH
stage_type: PULL_OVER_RETRY_PARKING
stage_config: {
stage_type: PULL_OVER_APPROACH
enabled: true
# 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: RSS_DECIDER
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
path_bounds_decider_config {
is_lane_borrowing: false
is_pull_over: true
pull_over_destination_to_adc_buffer: 25.0
pull_over_destination_to_pathend_buffer: 4.0
pull_over_road_edge_buffer: 0.15
pull_over_approach_lon_distance_adjust_factor: 1.6
}
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RSS_DECIDER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: PULL_OVER_RETRY_APPROACH_PARKING
enabled: true
task_type: OPEN_SPACE_PRE_STOP_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_config: {
task_type: OPEN_SPACE_PRE_STOP_DECIDER
open_space_pre_stop_decider_config {
stop_type: PULL_OVER
rightaway_stop_distance: 1.0
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: PULL_OVER_RETRY_PARKING
enabled: true
task_type: OPEN_SPACE_ROI_DECIDER
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
task_type: OPEN_SPACE_FALLBACK_DECIDER
task_config: {
task_type: OPEN_SPACE_ROI_DECIDER
open_space_roi_decider_config {
roi_type: PULL_OVER
perception_obstacle_buffer: 0.5
}
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
open_space_trajectory_partition_config {
heading_offset_to_midpoint: 0.79
lateral_offset_to_midpoint: 0.5
longitudinal_offset_to_midpoint: 0.2
vehicle_box_iou_threshold_to_midpoint: 0.8
linear_velocity_threshold_on_ego: 0.2
}
}
task_config: {
task_type: OPEN_SPACE_FALLBACK_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning/conf | apollo_public_repos/apollo/modules/planning/conf/scenario/valet_parking_config.pb.txt | scenario_type: VALET_PARKING
valet_parking_config: {
parking_spot_range_to_start: 20.0
max_valid_stop_distance: 1.0
}
stage_type: VALET_PARKING_APPROACHING_PARKING_SPOT
stage_type: VALET_PARKING_PARKING
stage_config: {
stage_type: VALET_PARKING_APPROACHING_PARKING_SPOT
enabled: true
task_type: OPEN_SPACE_PRE_STOP_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_config: {
task_type: OPEN_SPACE_PRE_STOP_DECIDER
open_space_pre_stop_decider_config {
stop_type: PARKING
}
}
task_config: {
task_type: PATH_LANE_BORROW_DECIDER
path_lane_borrow_decider_config {
allow_lane_borrowing: true
}
}
task_config: {
task_type: PATH_BOUNDS_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
}
task_config: {
task_type: PATH_ASSESSMENT_DECIDER
}
task_config: {
task_type: PATH_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_PRIORI_DECIDER
}
task_config: {
task_type: SPEED_HEURISTIC_OPTIMIZER
}
task_config: {
task_type: SPEED_DECIDER
}
task_config: {
task_type: SPEED_BOUNDS_FINAL_DECIDER
}
task_config: {
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
}
task_config: {
task_type: RULE_BASED_STOP_DECIDER
}
task_config: {
task_type: ST_BOUNDS_DECIDER
}
}
stage_config: {
stage_type: VALET_PARKING_PARKING
enabled: true
task_type: OPEN_SPACE_ROI_DECIDER
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
task_type: OPEN_SPACE_FALLBACK_DECIDER
task_config: {
task_type: OPEN_SPACE_ROI_DECIDER
open_space_roi_decider_config {
roi_type: PARKING
}
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
}
task_config: {
task_type: OPEN_SPACE_TRAJECTORY_PARTITION
}
task_config: {
task_type: OPEN_SPACE_FALLBACK_DECIDER
}
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/constraint_checker/constraint_checker1d.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/constraint_checker/constraint_checker1d.h"
#include "cyber/common/log.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace {
inline bool fuzzy_within(const double v, const double lower, const double upper,
const double e = 1.0e-4) {
return v > lower - e && v < upper + e;
}
} // namespace
bool ConstraintChecker1d::IsValidLongitudinalTrajectory(
const Curve1d& lon_trajectory) {
double t = 0.0;
while (t < lon_trajectory.ParamLength()) {
double v = lon_trajectory.Evaluate(1, t); // evaluate_v
if (!fuzzy_within(v, FLAGS_speed_lower_bound, FLAGS_speed_upper_bound)) {
return false;
}
double a = lon_trajectory.Evaluate(2, t); // evaluate_a
if (!fuzzy_within(a, FLAGS_longitudinal_acceleration_lower_bound,
FLAGS_longitudinal_acceleration_upper_bound)) {
return false;
}
double j = lon_trajectory.Evaluate(3, t);
if (!fuzzy_within(j, FLAGS_longitudinal_jerk_lower_bound,
FLAGS_longitudinal_jerk_upper_bound)) {
return false;
}
t += FLAGS_trajectory_time_resolution;
}
return true;
}
bool ConstraintChecker1d::IsValidLateralTrajectory(
const Curve1d& lat_trajectory, const Curve1d& lon_trajectory) {
double t = 0.0;
while (t < lon_trajectory.ParamLength()) {
double s = lon_trajectory.Evaluate(0, t);
double dd_ds = lat_trajectory.Evaluate(1, s);
double ds_dt = lon_trajectory.Evaluate(1, t);
double d2d_ds2 = lat_trajectory.Evaluate(2, s);
double d2s_dt2 = lon_trajectory.Evaluate(2, t);
double a = 0.0;
if (s < lat_trajectory.ParamLength()) {
a = d2d_ds2 * ds_dt * ds_dt + dd_ds * d2s_dt2;
}
if (!fuzzy_within(a, -FLAGS_lateral_acceleration_bound,
FLAGS_lateral_acceleration_bound)) {
return false;
}
// this is not accurate, just an approximation...
double j = 0.0;
if (s < lat_trajectory.ParamLength()) {
j = lat_trajectory.Evaluate(3, s) * lon_trajectory.Evaluate(3, t);
}
if (!fuzzy_within(j, -FLAGS_lateral_jerk_bound, FLAGS_lateral_jerk_bound)) {
return false;
}
t += FLAGS_trajectory_time_resolution;
}
return true;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/constraint_checker/collision_checker.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <vector>
#include "modules/common/math/box2d.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/common/trajectory/discretized_trajectory.h"
#include "modules/planning/lattice/behavior/path_time_graph.h"
namespace apollo {
namespace planning {
class CollisionChecker {
public:
CollisionChecker(
const std::vector<const Obstacle*>& obstacles, const double ego_vehicle_s,
const double ego_vehicle_d,
const std::vector<common::PathPoint>& discretized_reference_line,
const ReferenceLineInfo* ptr_reference_line_info,
const std::shared_ptr<PathTimeGraph>& ptr_path_time_graph);
bool InCollision(const DiscretizedTrajectory& discretized_trajectory);
static bool InCollision(const std::vector<const Obstacle*>& obstacles,
const DiscretizedTrajectory& ego_trajectory,
const double ego_length, const double ego_width,
const double ego_edge_to_center);
private:
void BuildPredictedEnvironment(
const std::vector<const Obstacle*>& obstacles, const double ego_vehicle_s,
const double ego_vehicle_d,
const std::vector<common::PathPoint>& discretized_reference_line);
bool IsEgoVehicleInLane(const double ego_vehicle_s,
const double ego_vehicle_d);
bool IsObstacleBehindEgoVehicle(
const Obstacle* obstacle, const double ego_vehicle_s,
const std::vector<apollo::common::PathPoint>& discretized_reference_line);
private:
const ReferenceLineInfo* ptr_reference_line_info_;
std::shared_ptr<PathTimeGraph> ptr_path_time_graph_;
std::vector<std::vector<common::math::Box2d>> predicted_bounding_rectangles_;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/constraint_checker/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
PLANNING_COPTS = ["-DMODULE_NAME=\\\"planning\\\""]
cc_library(
name = "constraint_checker",
srcs = ["constraint_checker.cc"],
hdrs = ["constraint_checker.h"],
copts = PLANNING_COPTS,
deps = [
"//cyber",
"//modules/common_msgs/basic_msgs:pnc_point_cc_proto",
"//modules/common/vehicle_state:vehicle_state_provider",
"//modules/planning/common:planning_gflags",
"//modules/planning/common/trajectory:discretized_trajectory",
],
)
cc_library(
name = "constraint_checker1d",
srcs = ["constraint_checker1d.cc"],
hdrs = ["constraint_checker1d.h"],
copts = PLANNING_COPTS,
deps = [
"//cyber",
"//modules/planning/common:frame",
"//modules/planning/common:planning_gflags",
"//modules/planning/common/trajectory:discretized_trajectory",
"//modules/planning/math/curve1d",
],
)
cc_library(
name = "collision_checker",
srcs = ["collision_checker.cc"],
hdrs = ["collision_checker.h"],
copts = PLANNING_COPTS,
deps = [
"//cyber",
"//modules/common/configs:vehicle_config_helper",
"//modules/common/math",
"//modules/planning/common:frame",
"//modules/planning/common:obstacle",
"//modules/planning/common/trajectory:discretized_trajectory",
"//modules/planning/lattice/behavior:path_time_graph",
"//modules/planning/proto:st_drivable_boundary_cc_proto",
"//modules/common_msgs/prediction_msgs:prediction_obstacle_cc_proto",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/constraint_checker/constraint_checker.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file constraint_checker.cc
**/
#include "modules/planning/constraint_checker/constraint_checker.h"
#include "cyber/common/log.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace {
template <typename T>
bool WithinRange(const T v, const T lower, const T upper) {
return lower <= v && v <= upper;
}
} // namespace
ConstraintChecker::Result ConstraintChecker::ValidTrajectory(
const DiscretizedTrajectory& trajectory) {
const double kMaxCheckRelativeTime = FLAGS_trajectory_time_length;
for (const auto& p : trajectory) {
double t = p.relative_time();
if (t > kMaxCheckRelativeTime) {
break;
}
double lon_v = p.v();
if (!WithinRange(lon_v, FLAGS_speed_lower_bound, FLAGS_speed_upper_bound)) {
ADEBUG << "Velocity at relative time " << t
<< " exceeds bound, value: " << lon_v << ", bound ["
<< FLAGS_speed_lower_bound << ", " << FLAGS_speed_upper_bound
<< "].";
return Result::LON_VELOCITY_OUT_OF_BOUND;
}
double lon_a = p.a();
if (!WithinRange(lon_a, FLAGS_longitudinal_acceleration_lower_bound,
FLAGS_longitudinal_acceleration_upper_bound)) {
ADEBUG << "Longitudinal acceleration at relative time " << t
<< " exceeds bound, value: " << lon_a << ", bound ["
<< FLAGS_longitudinal_acceleration_lower_bound << ", "
<< FLAGS_longitudinal_acceleration_upper_bound << "].";
return Result::LON_ACCELERATION_OUT_OF_BOUND;
}
double kappa = p.path_point().kappa();
if (!WithinRange(kappa, -FLAGS_kappa_bound, FLAGS_kappa_bound)) {
ADEBUG << "Kappa at relative time " << t
<< " exceeds bound, value: " << kappa << ", bound ["
<< -FLAGS_kappa_bound << ", " << FLAGS_kappa_bound << "].";
return Result::CURVATURE_OUT_OF_BOUND;
}
}
for (size_t i = 1; i < trajectory.NumOfPoints(); ++i) {
const auto& p0 = trajectory.TrajectoryPointAt(static_cast<uint32_t>(i - 1));
const auto& p1 = trajectory.TrajectoryPointAt(static_cast<uint32_t>(i));
if (p1.relative_time() > kMaxCheckRelativeTime) {
break;
}
double t = p0.relative_time();
double dt = p1.relative_time() - p0.relative_time();
double d_lon_a = p1.a() - p0.a();
double lon_jerk = d_lon_a / dt;
if (!WithinRange(lon_jerk, FLAGS_longitudinal_jerk_lower_bound,
FLAGS_longitudinal_jerk_upper_bound)) {
ADEBUG << "Longitudinal jerk at relative time " << t
<< " exceeds bound, value: " << lon_jerk << ", bound ["
<< FLAGS_longitudinal_jerk_lower_bound << ", "
<< FLAGS_longitudinal_jerk_upper_bound << "].";
return Result::LON_JERK_OUT_OF_BOUND;
}
double lat_a = p1.v() * p1.v() * p1.path_point().kappa();
if (!WithinRange(lat_a, -FLAGS_lateral_acceleration_bound,
FLAGS_lateral_acceleration_bound)) {
ADEBUG << "Lateral acceleration at relative time " << t
<< " exceeds bound, value: " << lat_a << ", bound ["
<< -FLAGS_lateral_acceleration_bound << ", "
<< FLAGS_lateral_acceleration_bound << "].";
return Result::LAT_ACCELERATION_OUT_OF_BOUND;
}
// TODO(zhangyajia): this is temporarily disabled
// due to low quality reference line.
/**
double d_lat_a = p1.v() * p1.v() * p1.path_point().kappa() -
p0.v() * p0.v() * p0.path_point().kappa();
double lat_jerk = d_lat_a / dt;
if (!WithinRange(lat_jerk, -FLAGS_lateral_jerk_bound,
FLAGS_lateral_jerk_bound)) {
ADEBUG << "Lateral jerk at relative time " << t
<< " exceeds bound, value: " << lat_jerk << ", bound ["
<< -FLAGS_lateral_jerk_bound << ", " << FLAGS_lateral_jerk_bound
<< "].";
return Result::LAT_JERK_OUT_OF_BOUND;
}
**/
}
return Result::VALID;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/constraint_checker/collision_checker.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/constraint_checker/collision_checker.h"
#include <utility>
#include "cyber/common/log.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/math/path_matcher.h"
#include "modules/common/math/vec2d.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/common_msgs/prediction_msgs/prediction_obstacle.pb.h"
namespace apollo {
namespace planning {
using apollo::common::PathPoint;
using apollo::common::TrajectoryPoint;
using apollo::common::math::Box2d;
using apollo::common::math::PathMatcher;
using apollo::common::math::Vec2d;
CollisionChecker::CollisionChecker(
const std::vector<const Obstacle*>& obstacles, const double ego_vehicle_s,
const double ego_vehicle_d,
const std::vector<PathPoint>& discretized_reference_line,
const ReferenceLineInfo* ptr_reference_line_info,
const std::shared_ptr<PathTimeGraph>& ptr_path_time_graph) {
ptr_reference_line_info_ = ptr_reference_line_info;
ptr_path_time_graph_ = ptr_path_time_graph;
BuildPredictedEnvironment(obstacles, ego_vehicle_s, ego_vehicle_d,
discretized_reference_line);
}
bool CollisionChecker::InCollision(
const std::vector<const Obstacle*>& obstacles,
const DiscretizedTrajectory& ego_trajectory, const double ego_length,
const double ego_width, const double ego_back_edge_to_center) {
for (size_t i = 0; i < ego_trajectory.NumOfPoints(); ++i) {
const auto& ego_point =
ego_trajectory.TrajectoryPointAt(static_cast<std::uint32_t>(i));
const auto relative_time = ego_point.relative_time();
const auto ego_theta = ego_point.path_point().theta();
Box2d ego_box({ego_point.path_point().x(), ego_point.path_point().y()},
ego_theta, ego_length, ego_width);
// correct the inconsistency of reference point and center point
// TODO(all): move the logic before constructing the ego_box
double shift_distance = ego_length / 2.0 - ego_back_edge_to_center;
Vec2d shift_vec(shift_distance * std::cos(ego_theta),
shift_distance * std::sin(ego_theta));
ego_box.Shift(shift_vec);
std::vector<Box2d> obstacle_boxes;
for (const auto obstacle : obstacles) {
auto obtacle_point = obstacle->GetPointAtTime(relative_time);
Box2d obstacle_box = obstacle->GetBoundingBox(obtacle_point);
if (ego_box.HasOverlap(obstacle_box)) {
return true;
}
}
}
return false;
}
bool CollisionChecker::InCollision(
const DiscretizedTrajectory& discretized_trajectory) {
CHECK_LE(discretized_trajectory.NumOfPoints(),
predicted_bounding_rectangles_.size());
const auto& vehicle_config =
common::VehicleConfigHelper::Instance()->GetConfig();
double ego_length = vehicle_config.vehicle_param().length();
double ego_width = vehicle_config.vehicle_param().width();
for (size_t i = 0; i < discretized_trajectory.NumOfPoints(); ++i) {
const auto& trajectory_point =
discretized_trajectory.TrajectoryPointAt(static_cast<std::uint32_t>(i));
double ego_theta = trajectory_point.path_point().theta();
Box2d ego_box(
{trajectory_point.path_point().x(), trajectory_point.path_point().y()},
ego_theta, ego_length, ego_width);
double shift_distance =
ego_length / 2.0 - vehicle_config.vehicle_param().back_edge_to_center();
Vec2d shift_vec{shift_distance * std::cos(ego_theta),
shift_distance * std::sin(ego_theta)};
ego_box.Shift(shift_vec);
for (const auto& obstacle_box : predicted_bounding_rectangles_[i]) {
if (ego_box.HasOverlap(obstacle_box)) {
return true;
}
}
}
return false;
}
void CollisionChecker::BuildPredictedEnvironment(
const std::vector<const Obstacle*>& obstacles, const double ego_vehicle_s,
const double ego_vehicle_d,
const std::vector<PathPoint>& discretized_reference_line) {
ACHECK(predicted_bounding_rectangles_.empty());
// If the ego vehicle is in lane,
// then, ignore all obstacles from the same lane.
bool ego_vehicle_in_lane = IsEgoVehicleInLane(ego_vehicle_s, ego_vehicle_d);
std::vector<const Obstacle*> obstacles_considered;
for (const Obstacle* obstacle : obstacles) {
if (obstacle->IsVirtual()) {
continue;
}
if (ego_vehicle_in_lane &&
(IsObstacleBehindEgoVehicle(obstacle, ego_vehicle_s,
discretized_reference_line) ||
!ptr_path_time_graph_->IsObstacleInGraph(obstacle->Id()))) {
continue;
}
obstacles_considered.push_back(obstacle);
}
double relative_time = 0.0;
while (relative_time < FLAGS_trajectory_time_length) {
std::vector<Box2d> predicted_env;
for (const Obstacle* obstacle : obstacles_considered) {
// If an obstacle has no trajectory, it is considered as static.
// Obstacle::GetPointAtTime has handled this case.
TrajectoryPoint point = obstacle->GetPointAtTime(relative_time);
Box2d box = obstacle->GetBoundingBox(point);
box.LongitudinalExtend(2.0 * FLAGS_lon_collision_buffer);
box.LateralExtend(2.0 * FLAGS_lat_collision_buffer);
predicted_env.push_back(std::move(box));
}
predicted_bounding_rectangles_.push_back(std::move(predicted_env));
relative_time += FLAGS_trajectory_time_resolution;
}
}
bool CollisionChecker::IsEgoVehicleInLane(const double ego_vehicle_s,
const double ego_vehicle_d) {
double left_width = FLAGS_default_reference_line_width * 0.5;
double right_width = FLAGS_default_reference_line_width * 0.5;
ptr_reference_line_info_->reference_line().GetLaneWidth(
ego_vehicle_s, &left_width, &right_width);
return ego_vehicle_d < left_width && ego_vehicle_d > -right_width;
}
bool CollisionChecker::IsObstacleBehindEgoVehicle(
const Obstacle* obstacle, const double ego_vehicle_s,
const std::vector<PathPoint>& discretized_reference_line) {
double half_lane_width = FLAGS_default_reference_line_width * 0.5;
TrajectoryPoint point = obstacle->GetPointAtTime(0.0);
auto obstacle_reference_line_position = PathMatcher::GetPathFrenetCoordinate(
discretized_reference_line, point.path_point().x(),
point.path_point().y());
if (obstacle_reference_line_position.first < ego_vehicle_s &&
std::fabs(obstacle_reference_line_position.second) < half_lane_width) {
ADEBUG << "Ignore obstacle [" << obstacle->Id() << "]";
return true;
}
return false;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/constraint_checker/constraint_checker1d.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include "modules/planning/common/trajectory/discretized_trajectory.h"
#include "modules/planning/math/curve1d/curve1d.h"
namespace apollo {
namespace planning {
class ConstraintChecker1d {
public:
ConstraintChecker1d() = delete;
static bool IsValidLongitudinalTrajectory(const Curve1d& lon_trajectory);
static bool IsValidLateralTrajectory(const Curve1d& lat_trajectory,
const Curve1d& lon_trajectory);
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/constraint_checker/constraint_checker.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file constraint_checker.h
**/
#pragma once
#include "modules/planning/common/trajectory/discretized_trajectory.h"
namespace apollo {
namespace planning {
class ConstraintChecker {
public:
enum class Result {
VALID,
LON_VELOCITY_OUT_OF_BOUND,
LON_ACCELERATION_OUT_OF_BOUND,
LON_JERK_OUT_OF_BOUND,
LAT_VELOCITY_OUT_OF_BOUND,
LAT_ACCELERATION_OUT_OF_BOUND,
LAT_JERK_OUT_OF_BOUND,
CURVATURE_OUT_OF_BOUND,
};
ConstraintChecker() = delete;
static Result ValidTrajectory(const DiscretizedTrajectory& trajectory);
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/crosswalk.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/crosswalk.h"
#include <algorithm>
#include <limits>
#include <memory>
#include <unordered_map>
#include <utility>
#include "cyber/time/clock.h"
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common/util/util.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/planning/common/ego_info.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/util/common.h"
#include "modules/planning/common/util/util.h"
#include "modules/planning/proto/planning_status.pb.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
using apollo::common::math::Polygon2d;
using apollo::common::math::Vec2d;
using apollo::cyber::Clock;
using apollo::hdmap::CrosswalkInfoConstPtr;
using apollo::hdmap::HDMapUtil;
using apollo::hdmap::PathOverlap;
using apollo::perception::PerceptionObstacle;
using CrosswalkToStop =
std::vector<std::pair<const hdmap::PathOverlap*, std::vector<std::string>>>;
using CrosswalkStopTimer =
std::unordered_map<std::string, std::unordered_map<std::string, double>>;
Crosswalk::Crosswalk(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
Status Crosswalk::ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
if (!FindCrosswalks(reference_line_info)) {
injector_->planning_context()->mutable_planning_status()->clear_crosswalk();
return Status::OK();
}
MakeDecisions(frame, reference_line_info);
return Status::OK();
}
void Crosswalk::MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
auto* mutable_crosswalk_status = injector_->planning_context()
->mutable_planning_status()
->mutable_crosswalk();
auto* path_decision = reference_line_info->path_decision();
double adc_front_edge_s = reference_line_info->AdcSlBoundary().end_s();
CrosswalkToStop crosswalks_to_stop;
// read crosswalk_stop_timer from saved status
CrosswalkStopTimer crosswalk_stop_timer;
std::unordered_map<std::string, double> stop_times;
for (const auto& stop_time : mutable_crosswalk_status->stop_time()) {
stop_times.emplace(stop_time.obstacle_id(), stop_time.stop_timestamp_sec());
}
crosswalk_stop_timer.emplace(mutable_crosswalk_status->crosswalk_id(),
stop_times);
const auto& finished_crosswalks =
mutable_crosswalk_status->finished_crosswalk();
const auto& reference_line = reference_line_info->reference_line();
for (auto crosswalk_overlap : crosswalk_overlaps_) {
auto crosswalk_ptr = HDMapUtil::BaseMap().GetCrosswalkById(
hdmap::MakeMapId(crosswalk_overlap->object_id));
std::string crosswalk_id = crosswalk_ptr->id().id();
// skip crosswalk if master vehicle body already passes the stop line
if (adc_front_edge_s - crosswalk_overlap->end_s >
config_.crosswalk().min_pass_s_distance()) {
if (mutable_crosswalk_status->has_crosswalk_id() &&
mutable_crosswalk_status->crosswalk_id() == crosswalk_id) {
mutable_crosswalk_status->clear_crosswalk_id();
mutable_crosswalk_status->clear_stop_time();
}
ADEBUG << "SKIP: crosswalk_id[" << crosswalk_id
<< "] crosswalk_overlap_end_s[" << crosswalk_overlap->end_s
<< "] adc_front_edge_s[" << adc_front_edge_s
<< "]. adc_front_edge passes crosswalk_end_s + buffer.";
continue;
}
// check if crosswalk already finished
if (finished_crosswalks.end() != std::find(finished_crosswalks.begin(),
finished_crosswalks.end(),
crosswalk_id)) {
ADEBUG << "SKIP: crosswalk_id[" << crosswalk_id << "] crosswalk_end_s["
<< crosswalk_overlap->end_s << "] finished already";
continue;
}
std::vector<std::string> pedestrians;
for (const auto* obstacle : path_decision->obstacles().Items()) {
const double stop_deceleration = util::GetADCStopDeceleration(
injector_->vehicle_state(), adc_front_edge_s,
crosswalk_overlap->start_s);
bool stop = CheckStopForObstacle(reference_line_info, crosswalk_ptr,
*obstacle, stop_deceleration);
const std::string& obstacle_id = obstacle->Id();
const PerceptionObstacle& perception_obstacle = obstacle->Perception();
PerceptionObstacle::Type obstacle_type = perception_obstacle.type();
std::string obstacle_type_name =
PerceptionObstacle_Type_Name(obstacle_type);
// update stop timestamp on static pedestrian for watch timer
const bool is_on_lane =
reference_line.IsOnLane(obstacle->PerceptionSLBoundary());
const double kStartWatchTimerDistance = 40.0;
if (stop && !is_on_lane &&
crosswalk_overlap->start_s - adc_front_edge_s <=
kStartWatchTimerDistance) {
// check on stop timer for static pedestrians/bicycles
// if NOT on_lane ahead of adc
const double kMaxStopSpeed = 0.3;
auto obstacle_speed = std::hypot(perception_obstacle.velocity().x(),
perception_obstacle.velocity().y());
if (obstacle_speed <= kMaxStopSpeed) {
if (crosswalk_stop_timer[crosswalk_id].count(obstacle_id) < 1) {
// add timestamp
ADEBUG << "add timestamp: obstacle_id[" << obstacle_id
<< "] timestamp[" << Clock::NowInSeconds()
<< "]";
crosswalk_stop_timer[crosswalk_id].insert(
{obstacle_id, Clock::NowInSeconds()});
} else {
double stop_time = Clock::NowInSeconds() -
crosswalk_stop_timer[crosswalk_id][obstacle_id];
ADEBUG << "stop_time: obstacle_id[" << obstacle_id << "] stop_time["
<< stop_time << "]";
if (stop_time >= config_.crosswalk().stop_timeout()) {
stop = false;
}
}
}
}
if (stop) {
pedestrians.push_back(obstacle_id);
ADEBUG << "wait for: obstacle_id[" << obstacle_id << "] type["
<< obstacle_type_name << "] crosswalk_id[" << crosswalk_id
<< "]";
} else {
ADEBUG << "skip: obstacle_id[" << obstacle_id << "] type["
<< obstacle_type_name << "] crosswalk_id[" << crosswalk_id
<< "]";
}
}
if (!pedestrians.empty()) {
crosswalks_to_stop.emplace_back(crosswalk_overlap, pedestrians);
ADEBUG << "crosswalk_id[" << crosswalk_id << "] STOP";
}
}
double min_s = std::numeric_limits<double>::max();
hdmap::PathOverlap* firsts_crosswalk_to_stop = nullptr;
for (auto crosswalk_to_stop : crosswalks_to_stop) {
// build stop decision
const auto* crosswalk_overlap = crosswalk_to_stop.first;
ADEBUG << "BuildStopDecision: crosswalk[" << crosswalk_overlap->object_id
<< "] start_s[" << crosswalk_overlap->start_s << "]";
std::string virtual_obstacle_id =
CROSSWALK_VO_ID_PREFIX + crosswalk_overlap->object_id;
util::BuildStopDecision(virtual_obstacle_id, crosswalk_overlap->start_s,
config_.crosswalk().stop_distance(),
StopReasonCode::STOP_REASON_CROSSWALK,
crosswalk_to_stop.second,
TrafficRuleConfig::RuleId_Name(config_.rule_id()),
frame, reference_line_info);
if (crosswalk_to_stop.first->start_s < min_s) {
firsts_crosswalk_to_stop =
const_cast<PathOverlap*>(crosswalk_to_stop.first);
min_s = crosswalk_to_stop.first->start_s;
}
}
if (firsts_crosswalk_to_stop) {
// update CrosswalkStatus
std::string crosswalk = firsts_crosswalk_to_stop->object_id;
mutable_crosswalk_status->set_crosswalk_id(crosswalk);
mutable_crosswalk_status->clear_stop_time();
for (const auto& timer : crosswalk_stop_timer[crosswalk]) {
auto* stop_time = mutable_crosswalk_status->add_stop_time();
stop_time->set_obstacle_id(timer.first);
stop_time->set_stop_timestamp_sec(timer.second);
ADEBUG << "UPDATE stop_time: id[" << crosswalk << "] obstacle_id["
<< timer.first << "] stop_timestamp[" << timer.second << "]";
}
// update CrosswalkStatus.finished_crosswalk
mutable_crosswalk_status->clear_finished_crosswalk();
for (auto crosswalk_overlap : crosswalk_overlaps_) {
if (crosswalk_overlap->start_s < firsts_crosswalk_to_stop->start_s) {
mutable_crosswalk_status->add_finished_crosswalk(
crosswalk_overlap->object_id);
ADEBUG << "UPDATE finished_crosswalk: " << crosswalk_overlap->object_id;
}
}
}
ADEBUG << "crosswalk_status: " << mutable_crosswalk_status->DebugString();
}
bool Crosswalk::FindCrosswalks(ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(reference_line_info);
crosswalk_overlaps_.clear();
const std::vector<hdmap::PathOverlap>& crosswalk_overlaps =
reference_line_info->reference_line().map_path().crosswalk_overlaps();
for (const hdmap::PathOverlap& crosswalk_overlap : crosswalk_overlaps) {
crosswalk_overlaps_.push_back(&crosswalk_overlap);
}
return crosswalk_overlaps_.size() > 0;
}
bool Crosswalk::CheckStopForObstacle(
ReferenceLineInfo* const reference_line_info,
const CrosswalkInfoConstPtr crosswalk_ptr, const Obstacle& obstacle,
const double stop_deceleration) {
CHECK_NOTNULL(reference_line_info);
std::string crosswalk_id = crosswalk_ptr->id().id();
const PerceptionObstacle& perception_obstacle = obstacle.Perception();
const std::string& obstacle_id = obstacle.Id();
PerceptionObstacle::Type obstacle_type = perception_obstacle.type();
std::string obstacle_type_name = PerceptionObstacle_Type_Name(obstacle_type);
double adc_end_edge_s = reference_line_info->AdcSlBoundary().start_s();
// check type
if (obstacle_type != PerceptionObstacle::PEDESTRIAN &&
obstacle_type != PerceptionObstacle::BICYCLE &&
obstacle_type != PerceptionObstacle::UNKNOWN_MOVABLE &&
obstacle_type != PerceptionObstacle::UNKNOWN) {
ADEBUG << "obstacle_id[" << obstacle_id << "] type[" << obstacle_type_name
<< "]. skip";
return false;
}
// expand crosswalk polygon
// note: crosswalk expanded area will include sideway area
Vec2d point(perception_obstacle.position().x(),
perception_obstacle.position().y());
const Polygon2d crosswalk_exp_poly =
crosswalk_ptr->polygon().ExpandByDistance(
config_.crosswalk().expand_s_distance());
bool in_expanded_crosswalk = crosswalk_exp_poly.IsPointIn(point);
if (!in_expanded_crosswalk) {
ADEBUG << "skip: obstacle_id[" << obstacle_id << "] type["
<< obstacle_type_name << "] crosswalk_id[" << crosswalk_id
<< "]: not in crosswalk expanded area";
return false;
}
const auto& reference_line = reference_line_info->reference_line();
common::SLPoint obstacle_sl_point;
reference_line.XYToSL(perception_obstacle.position(), &obstacle_sl_point);
auto& obstacle_sl_boundary = obstacle.PerceptionSLBoundary();
const double obstacle_l_distance =
std::min(std::fabs(obstacle_sl_boundary.start_l()),
std::fabs(obstacle_sl_boundary.end_l()));
const bool is_on_lane =
reference_line.IsOnLane(obstacle.PerceptionSLBoundary());
const bool is_on_road =
reference_line.IsOnRoad(obstacle.PerceptionSLBoundary());
const bool is_path_cross = !obstacle.reference_line_st_boundary().IsEmpty();
ADEBUG << "obstacle_id[" << obstacle_id << "] type[" << obstacle_type_name
<< "] crosswalk_id[" << crosswalk_id << "] obstacle_l["
<< obstacle_sl_point.l() << "] within_expanded_crosswalk_area["
<< in_expanded_crosswalk << "] obstacle_l_distance["
<< obstacle_l_distance << "] on_lane[" << is_on_lane << "] is_on_road["
<< is_on_road << "] is_path_cross[" << is_path_cross << "]";
bool stop = false;
if (obstacle_l_distance >= config_.crosswalk().stop_loose_l_distance()) {
// (1) when obstacle_l_distance is big enough(>= loose_l_distance),
// STOP only if paths crosses
if (is_path_cross) {
stop = true;
ADEBUG << "need_stop(>=l2): obstacle_id[" << obstacle_id << "] type["
<< obstacle_type_name << "] crosswalk_id[" << crosswalk_id << "]";
}
} else if (obstacle_l_distance <=
config_.crosswalk().stop_strict_l_distance()) {
if (is_on_road) {
// (2) when l_distance <= strict_l_distance + on_road
// always STOP
if (obstacle_sl_point.s() > adc_end_edge_s) {
stop = true;
ADEBUG << "need_stop(<=l1): obstacle_id[" << obstacle_id << "] type["
<< obstacle_type_name << "] s[" << obstacle_sl_point.s()
<< "] adc_end_edge_s[ " << adc_end_edge_s << "] crosswalk_id["
<< crosswalk_id << "] ON_ROAD";
}
} else {
// (3) when l_distance <= strict_l_distance
// + NOT on_road(i.e. on crosswalk/median etc)
// STOP if paths cross
if (is_path_cross) {
stop = true;
ADEBUG << "need_stop(<=l1): obstacle_id[" << obstacle_id << "] type["
<< obstacle_type_name << "] crosswalk_id[" << crosswalk_id
<< "] PATH_CRSOSS";
} else {
// (4) when l_distance <= strict_l_distance
// + NOT on_road(i.e. on crosswalk/median etc)
// STOP if he pedestrian is moving toward the ego vehicle
const auto obstacle_v = Vec2d(perception_obstacle.velocity().x(),
perception_obstacle.velocity().y());
const auto adc_path_point =
Vec2d(injector_->ego_info()->start_point().path_point().x(),
injector_->ego_info()->start_point().path_point().y());
const auto ovstacle_position =
Vec2d(perception_obstacle.position().x(),
perception_obstacle.position().y());
auto obs_to_adc = adc_path_point - ovstacle_position;
const double kEpsilon = 1e-6;
if (obstacle_v.InnerProd(obs_to_adc) > kEpsilon) {
stop = true;
ADEBUG << "need_stop(<=l1): obstacle_id[" << obstacle_id << "] type["
<< obstacle_type_name << "] crosswalk_id[" << crosswalk_id
<< "] MOVING_TOWARD_ADC";
}
}
}
} else {
// (4) when l_distance is between loose_l and strict_l
// use history decision of this crosswalk to smooth unsteadiness
// TODO(all): replace this temp implementation
if (is_path_cross) {
stop = true;
}
ADEBUG << "need_stop(between l1 & l2): obstacle_id[" << obstacle_id
<< "] type[" << obstacle_type_name << "] obstacle_l_distance["
<< obstacle_l_distance << "] crosswalk_id[" << crosswalk_id
<< "] USE_PREVIOUS_DECISION";
}
// check stop_deceleration
if (stop) {
if (stop_deceleration >= config_.crosswalk().max_stop_deceleration()) {
if (obstacle_l_distance > config_.crosswalk().stop_strict_l_distance()) {
// SKIP when stop_deceleration is too big but safe to ignore
stop = false;
}
AWARN << "crosswalk_id[" << crosswalk_id << "] stop_deceleration["
<< stop_deceleration << "]";
}
}
return stop;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/reference_line_end.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/reference_line_end.h"
#include <memory>
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
ReferenceLineEnd::ReferenceLineEnd(
const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
Status ReferenceLineEnd::ApplyRule(
Frame* frame, ReferenceLineInfo* const reference_line_info) {
const auto& reference_line = reference_line_info->reference_line();
ADEBUG << "ReferenceLineEnd length[" << reference_line.Length() << "]";
for (const auto& segment : reference_line_info->Lanes()) {
ADEBUG << " lane[" << segment.lane->lane().id().id() << "]";
}
// check
double remain_s =
reference_line.Length() - reference_line_info->AdcSlBoundary().end_s();
if (remain_s >
config_.reference_line_end().min_reference_line_remain_length()) {
return Status::OK();
}
// create avirtual stop wall at the end of reference line to stop the adc
std::string virtual_obstacle_id =
REF_LINE_END_VO_ID_PREFIX + reference_line_info->Lanes().Id();
double obstacle_start_s =
reference_line.Length() - 2 * FLAGS_virtual_stop_wall_length;
auto* obstacle = frame->CreateStopObstacle(
reference_line_info, virtual_obstacle_id, obstacle_start_s);
if (!obstacle) {
return Status(common::PLANNING_ERROR,
"Failed to create reference line end obstacle");
}
Obstacle* stop_wall = reference_line_info->AddObstacle(obstacle);
if (!stop_wall) {
return Status(
common::PLANNING_ERROR,
"Failed to create path obstacle for reference line end obstacle");
}
// build stop decision
const double stop_line_s =
obstacle_start_s - config_.reference_line_end().stop_distance();
auto stop_point = reference_line.GetReferencePoint(stop_line_s);
ObjectDecisionType stop;
auto stop_decision = stop.mutable_stop();
stop_decision->set_reason_code(StopReasonCode::STOP_REASON_DESTINATION);
stop_decision->set_distance_s(-config_.reference_line_end().stop_distance());
stop_decision->set_stop_heading(stop_point.heading());
stop_decision->mutable_stop_point()->set_x(stop_point.x());
stop_decision->mutable_stop_point()->set_y(stop_point.y());
stop_decision->mutable_stop_point()->set_z(0.0);
auto* path_decision = reference_line_info->path_decision();
path_decision->AddLongitudinalDecision(
TrafficRuleConfig::RuleId_Name(config_.rule_id()), stop_wall->Id(), stop);
return Status::OK();
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/stop_sign.h | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include <vector>
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
class StopSign : public TrafficRule {
public:
StopSign(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~StopSign() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
void MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
static constexpr char const* STOP_SIGN_VO_ID_PREFIX = "SS_";
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/rerouting.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
/**
* This class decides whether we should send rerouting request based on traffic
* situation.
*/
class Rerouting : public TrafficRule {
public:
Rerouting(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~Rerouting() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
bool ChangeLaneFailRerouting();
ReferenceLineInfo* reference_line_info_ = nullptr;
Frame* frame_ = nullptr;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/rerouting.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/rerouting.h"
#include <memory>
#include "cyber/time/clock.h"
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/planning/common/planning_context.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
using apollo::cyber::Clock;
Rerouting::Rerouting(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
bool Rerouting::ChangeLaneFailRerouting() {
static constexpr double kRerouteThresholdToEnd = 20.0;
for (const auto& ref_line_info : frame_->reference_line_info()) {
if (ref_line_info.ReachedDestination() ||
ref_line_info.SDistanceToDestination() < kRerouteThresholdToEnd) {
return true;
}
}
const auto& segments = reference_line_info_->Lanes();
// 1. If current reference line is drive forward, no rerouting.
if (segments.NextAction() == routing::FORWARD) {
// if not current lane, do not check for rerouting
return true;
}
// 2. If vehicle is not on current reference line yet, no rerouting
if (!segments.IsOnSegment()) {
return true;
}
// 3. If current reference line can connect to next passage, no rerouting
if (segments.CanExit()) {
return true;
}
// 4. If the end of current passage region not appeared, no rerouting
const auto& route_end_waypoint = segments.RouteEndWaypoint();
if (!route_end_waypoint.lane) {
return true;
}
auto point = route_end_waypoint.lane->GetSmoothPoint(route_end_waypoint.s);
const auto& reference_line = reference_line_info_->reference_line();
common::SLPoint sl_point;
if (!reference_line.XYToSL(point, &sl_point)) {
AERROR << "Failed to project point: " << point.ShortDebugString();
return false;
}
if (!reference_line.IsOnLane(sl_point)) {
return true;
}
// 5. If the end of current passage region is further than kPrepareRoutingTime
// * speed, no rerouting
double adc_s = reference_line_info_->AdcSlBoundary().end_s();
const auto vehicle_state = injector_->vehicle_state();
double speed = vehicle_state->linear_velocity();
const double prepare_rerouting_time =
config_.rerouting().prepare_rerouting_time();
const double prepare_distance = speed * prepare_rerouting_time;
if (sl_point.s() > adc_s + prepare_distance) {
ADEBUG << "No need rerouting now because still can drive for time: "
<< prepare_rerouting_time << " seconds";
return true;
}
// 6. Check if we have done rerouting before
auto* rerouting = injector_->planning_context()
->mutable_planning_status()
->mutable_rerouting();
if (rerouting == nullptr) {
AERROR << "rerouting is nullptr.";
return false;
}
double current_time = Clock::NowInSeconds();
if (rerouting->has_last_rerouting_time() &&
(current_time - rerouting->last_rerouting_time() <
config_.rerouting().cooldown_time())) {
ADEBUG << "Skip rerouting and wait for previous rerouting result";
return true;
}
if (!frame_->Rerouting(injector_->planning_context())) {
AERROR << "Failed to send rerouting request";
return false;
}
// store last rerouting time.
rerouting->set_last_rerouting_time(current_time);
return true;
}
Status Rerouting::ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
frame_ = frame;
reference_line_info_ = reference_line_info;
if (!ChangeLaneFailRerouting()) {
return Status(common::PLANNING_ERROR,
"In un-successful lane change case, rerouting failed");
}
return Status::OK();
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/traffic_decider.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/traffic_decider.h"
#include <limits>
#include <memory>
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/traffic_rules/backside_vehicle.h"
#include "modules/planning/traffic_rules/crosswalk.h"
#include "modules/planning/traffic_rules/destination.h"
#include "modules/planning/traffic_rules/keep_clear.h"
#include "modules/planning/traffic_rules/reference_line_end.h"
#include "modules/planning/traffic_rules/rerouting.h"
#include "modules/planning/traffic_rules/stop_sign.h"
#include "modules/planning/traffic_rules/traffic_light.h"
#include "modules/planning/traffic_rules/yield_sign.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
apollo::common::util::Factory<
TrafficRuleConfig::RuleId, TrafficRule,
TrafficRule *(*)(const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector)>
TrafficDecider::s_rule_factory;
void TrafficDecider::RegisterRules() {
s_rule_factory.Register(
TrafficRuleConfig::BACKSIDE_VEHICLE,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new BacksideVehicle(config);
});
s_rule_factory.Register(
TrafficRuleConfig::CROSSWALK,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new Crosswalk(config, injector);
});
s_rule_factory.Register(
TrafficRuleConfig::DESTINATION,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new Destination(config, injector);
});
s_rule_factory.Register(
TrafficRuleConfig::KEEP_CLEAR,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new KeepClear(config, injector);
});
s_rule_factory.Register(
TrafficRuleConfig::REFERENCE_LINE_END,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new ReferenceLineEnd(config, injector);
});
s_rule_factory.Register(
TrafficRuleConfig::REROUTING,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new Rerouting(config, injector);
});
s_rule_factory.Register(
TrafficRuleConfig::STOP_SIGN,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new StopSign(config, injector);
});
s_rule_factory.Register(
TrafficRuleConfig::YIELD_SIGN,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new YieldSign(config, injector);
});
s_rule_factory.Register(
TrafficRuleConfig::TRAFFIC_LIGHT,
[](const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector) -> TrafficRule * {
return new TrafficLight(config, injector);
});
}
bool TrafficDecider::Init(const TrafficRuleConfigs &config) {
if (s_rule_factory.Empty()) {
RegisterRules();
}
rule_configs_ = config;
return true;
}
void TrafficDecider::BuildPlanningTarget(
ReferenceLineInfo *reference_line_info) {
double min_s = std::numeric_limits<double>::infinity();
StopPoint stop_point;
for (const auto *obstacle :
reference_line_info->path_decision()->obstacles().Items()) {
if (obstacle->IsVirtual() && obstacle->HasLongitudinalDecision() &&
obstacle->LongitudinalDecision().has_stop() &&
obstacle->PerceptionSLBoundary().start_s() < min_s) {
min_s = obstacle->PerceptionSLBoundary().start_s();
const auto &stop_code =
obstacle->LongitudinalDecision().stop().reason_code();
if (stop_code == StopReasonCode::STOP_REASON_DESTINATION ||
stop_code == StopReasonCode::STOP_REASON_CROSSWALK ||
stop_code == StopReasonCode::STOP_REASON_STOP_SIGN ||
stop_code == StopReasonCode::STOP_REASON_YIELD_SIGN ||
stop_code == StopReasonCode::STOP_REASON_CREEPER ||
stop_code == StopReasonCode::STOP_REASON_REFERENCE_END ||
stop_code == StopReasonCode::STOP_REASON_SIGNAL) {
stop_point.set_type(StopPoint::HARD);
ADEBUG << "Hard stop at: " << min_s
<< "REASON: " << StopReasonCode_Name(stop_code);
} else if (stop_code == StopReasonCode::STOP_REASON_YELLOW_SIGNAL) {
stop_point.set_type(StopPoint::SOFT);
ADEBUG << "Soft stop at: " << min_s << " STOP_REASON_YELLOW_SIGNAL";
} else {
ADEBUG << "No planning target found at reference line.";
}
}
}
if (min_s != std::numeric_limits<double>::infinity()) {
const auto &vehicle_config =
common::VehicleConfigHelper::Instance()->GetConfig();
double front_edge_to_center =
vehicle_config.vehicle_param().front_edge_to_center();
stop_point.set_s(min_s - front_edge_to_center +
FLAGS_virtual_stop_wall_length / 2.0);
reference_line_info->SetLatticeStopPoint(stop_point);
}
}
Status TrafficDecider::Execute(
Frame *frame, ReferenceLineInfo *reference_line_info,
const std::shared_ptr<DependencyInjector> &injector) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
for (const auto &rule_config : rule_configs_.config()) {
if (!rule_config.enabled()) {
ADEBUG << "Rule " << rule_config.rule_id() << " not enabled";
continue;
}
auto rule = s_rule_factory.CreateObject(rule_config.rule_id(), rule_config,
injector);
if (!rule) {
AERROR << "Could not find rule " << rule_config.DebugString();
continue;
}
rule->ApplyRule(frame, reference_line_info);
ADEBUG << "Applied rule "
<< TrafficRuleConfig::RuleId_Name(rule_config.rule_id());
}
BuildPlanningTarget(reference_line_info);
return Status::OK();
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/traffic_decider.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common/status/status.h"
#include "modules/common/util/factory.h"
#include "modules/planning/proto/traffic_rule_config.pb.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
/**
* @class TrafficDecider
* @brief Create traffic related decision in this class.
* The created obstacles is added to obstacles_, and the decision is added to
* obstacles_
* Traffic obstacle examples include:
* * Traffic Light
* * End of routing
* * Select the drivable reference line.
*/
class TrafficDecider {
public:
TrafficDecider() = default;
bool Init(const TrafficRuleConfigs &config);
virtual ~TrafficDecider() = default;
apollo::common::Status Execute(
Frame *frame, ReferenceLineInfo *reference_line_info,
const std::shared_ptr<DependencyInjector> &injector);
private:
static apollo::common::util::Factory<
TrafficRuleConfig::RuleId, TrafficRule,
TrafficRule *(*)(const TrafficRuleConfig &config,
const std::shared_ptr<DependencyInjector> &injector)>
s_rule_factory;
void RegisterRules();
void BuildPlanningTarget(ReferenceLineInfo *reference_line_info);
TrafficRuleConfigs rule_configs_;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/traffic_light.h | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
class TrafficLight : public TrafficRule {
public:
TrafficLight(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~TrafficLight() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
void MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
static constexpr char const* TRAFFIC_LIGHT_VO_ID_PREFIX = "TL_";
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/keep_clear.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/keep_clear.h"
#include <memory>
#include <vector>
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/proto/planning_status.pb.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
using apollo::hdmap::PathOverlap;
KeepClear::KeepClear(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
Status KeepClear::ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
// keep_clear zone
if (config_.keep_clear().enable_keep_clear_zone()) {
const std::vector<PathOverlap>& keep_clear_overlaps =
reference_line_info->reference_line().map_path().clear_area_overlaps();
for (const auto& keep_clear_overlap : keep_clear_overlaps) {
const auto obstacle_id =
KEEP_CLEAR_VO_ID_PREFIX + keep_clear_overlap.object_id;
if (BuildKeepClearObstacle(frame, reference_line_info, obstacle_id,
keep_clear_overlap.start_s,
keep_clear_overlap.end_s)) {
ADEBUG << "KEEP_CLAER for keep_clear_zone["
<< keep_clear_overlap.object_id << "] s["
<< keep_clear_overlap.start_s << ", " << keep_clear_overlap.end_s
<< "] BUILD";
}
}
}
// junction
if (config_.keep_clear().enable_junction()) {
hdmap::PathOverlap* crosswalk_overlap = nullptr;
hdmap::PathOverlap* stop_sign_overlap = nullptr;
hdmap::PathOverlap* traffic_light_overlap = nullptr;
hdmap::PathOverlap* pnc_junction_overlap = nullptr;
const auto& first_encountered_overlaps =
reference_line_info->FirstEncounteredOverlaps();
for (const auto& overlap : first_encountered_overlaps) {
ADEBUG << overlap.first << ", " << overlap.second.DebugString();
switch (overlap.first) {
case ReferenceLineInfo::CROSSWALK:
ADEBUG << "CROSSWALK[" << overlap.second.object_id << "] s["
<< overlap.second.start_s << ", " << overlap.second.end_s
<< "]";
crosswalk_overlap = const_cast<PathOverlap*>(&overlap.second);
break;
case ReferenceLineInfo::STOP_SIGN:
ADEBUG << "STOP_SIGN[" << overlap.second.object_id << "] s["
<< overlap.second.start_s << ", " << overlap.second.end_s
<< "]";
stop_sign_overlap = const_cast<PathOverlap*>(&overlap.second);
break;
case ReferenceLineInfo::SIGNAL:
ADEBUG << "SIGNAL[" << overlap.second.object_id << "] s["
<< overlap.second.start_s << ", " << overlap.second.end_s
<< "]";
traffic_light_overlap = const_cast<PathOverlap*>(&overlap.second);
break;
case ReferenceLineInfo::PNC_JUNCTION:
ADEBUG << "PNC_JUNCTION[" << overlap.second.object_id << "] s["
<< overlap.second.start_s << ", " << overlap.second.end_s
<< "]";
pnc_junction_overlap = const_cast<PathOverlap*>(&overlap.second);
break;
default:
break;
}
}
if (pnc_junction_overlap != nullptr) {
const double adc_front_edge_s =
reference_line_info->AdcSlBoundary().end_s();
if (!IsCreeping(pnc_junction_overlap->start_s, adc_front_edge_s)) {
// adjust pnc_junction start_s to align with
// the start_s of other "stop type" overlaps
double pnc_junction_start_s = pnc_junction_overlap->start_s;
// traffic_light, stop_sign, and then crosswalk if neither
if (traffic_light_overlap != nullptr &&
std::fabs(pnc_junction_start_s - traffic_light_overlap->start_s) <=
config_.keep_clear().align_with_traffic_sign_tolerance()) {
ADEBUG << "adjust pnc_junction_start_s[" << pnc_junction_start_s
<< "] to traffic_light_start_s"
<< traffic_light_overlap->start_s << "]";
pnc_junction_start_s = traffic_light_overlap->start_s;
} else if (stop_sign_overlap != nullptr &&
std::fabs(pnc_junction_start_s -
stop_sign_overlap->start_s) <=
config_.keep_clear()
.align_with_traffic_sign_tolerance()) {
ADEBUG << "adjust pnc_junction_start_s[" << pnc_junction_start_s
<< "] to stop_sign_start_s" << stop_sign_overlap->start_s
<< "]";
pnc_junction_start_s = stop_sign_overlap->start_s;
} else if (crosswalk_overlap != nullptr &&
std::fabs(pnc_junction_start_s -
crosswalk_overlap->start_s) <=
config_.keep_clear()
.align_with_traffic_sign_tolerance()) {
ADEBUG << "adjust pnc_junction_start_s[" << pnc_junction_start_s
<< "] to cross_walk_start_s" << crosswalk_overlap->start_s
<< "]";
pnc_junction_start_s = crosswalk_overlap->start_s;
}
const auto obstacle_id =
KEEP_CLEAR_JUNCTION_VO_ID_PREFIX + pnc_junction_overlap->object_id;
if (BuildKeepClearObstacle(frame, reference_line_info, obstacle_id,
pnc_junction_start_s,
pnc_junction_overlap->end_s)) {
ADEBUG << "KEEP_CLAER for junction["
<< pnc_junction_overlap->object_id << "] s["
<< pnc_junction_start_s << ", " << pnc_junction_overlap->end_s
<< "] BUILD";
}
}
}
}
return Status::OK();
}
bool KeepClear::IsCreeping(const double pnc_junction_start_s,
const double adc_front_edge_s) const {
// check if in scenario creep stage
// while creeping, no need create keep clear obstacle
const auto& stage_type =
injector_->planning_context()->planning_status().scenario().stage_type();
if (stage_type != StageType::STOP_SIGN_UNPROTECTED_CREEP &&
stage_type !=
StageType::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP &&
stage_type != StageType::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP) {
return false;
}
// check distance
static constexpr double kDistance = 5.0;
return (fabs(adc_front_edge_s - pnc_junction_start_s) <= kDistance);
}
bool KeepClear::BuildKeepClearObstacle(
Frame* const frame, ReferenceLineInfo* const reference_line_info,
const std::string& virtual_obstacle_id, const double keep_clear_start_s,
const double keep_clear_end_s) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
// check
const double adc_front_edge_s = reference_line_info->AdcSlBoundary().end_s();
if (adc_front_edge_s - keep_clear_start_s >
config_.keep_clear().min_pass_s_distance()) {
ADEBUG << "adc inside keep_clear zone[" << virtual_obstacle_id << "] s["
<< keep_clear_start_s << ", " << keep_clear_end_s
<< "] adc_front_edge_s[" << adc_front_edge_s
<< "]. skip this keep clear zone";
return false;
}
ADEBUG << "keep clear obstacle: [" << keep_clear_start_s << ", "
<< keep_clear_end_s << "]";
// create virtual static obstacle
auto* obstacle =
frame->CreateStaticObstacle(reference_line_info, virtual_obstacle_id,
keep_clear_start_s, keep_clear_end_s);
if (!obstacle) {
AERROR << "Failed to create obstacle [" << virtual_obstacle_id << "]";
return false;
}
auto* path_obstacle = reference_line_info->AddObstacle(obstacle);
if (!path_obstacle) {
AERROR << "Failed to create path_obstacle: " << virtual_obstacle_id;
return false;
}
path_obstacle->SetReferenceLineStBoundaryType(
STBoundary::BoundaryType::KEEP_CLEAR);
return true;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/crosswalk.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include <vector>
#include "modules/planning/common/planning_context.h"
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
class Crosswalk : public TrafficRule {
public:
Crosswalk(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~Crosswalk() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
void MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
bool FindCrosswalks(ReferenceLineInfo* const reference_line_info);
bool CheckStopForObstacle(ReferenceLineInfo* const reference_line_info,
const hdmap::CrosswalkInfoConstPtr crosswalk_ptr,
const Obstacle& obstacle,
const double stop_deceleration);
private:
static constexpr char const* CROSSWALK_VO_ID_PREFIX = "CW_";
std::vector<const hdmap::PathOverlap*> crosswalk_overlaps_;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/backside_vehicle.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
class BacksideVehicle : public TrafficRule {
public:
explicit BacksideVehicle(const TrafficRuleConfig& config);
virtual ~BacksideVehicle() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
/**
* @brief When the reference line info indicates that there is no lane change,
* use lane keeping strategy for back side vehicles.
*/
void MakeLaneKeepingObstacleDecision(const SLBoundary& adc_sl_boundary,
PathDecision* path_decision);
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/yield_sign.cc | /*****************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/yield_sign.h"
#include <memory>
#include "modules/map/pnc_map/path.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/util/common.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
using apollo::hdmap::PathOverlap;
YieldSign::YieldSign(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
Status YieldSign::ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
MakeDecisions(frame, reference_line_info);
return Status::OK();
}
void YieldSign::MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
if (!config_.yield_sign().enabled()) {
return;
}
const auto& yield_sign_status =
injector_->planning_context()->planning_status().yield_sign();
const double adc_front_edge_s = reference_line_info->AdcSlBoundary().end_s();
const std::vector<PathOverlap>& yield_sign_overlaps =
reference_line_info->reference_line().map_path().yield_sign_overlaps();
for (const auto& yield_sign_overlap : yield_sign_overlaps) {
if (yield_sign_overlap.end_s <= adc_front_edge_s) {
continue;
}
// check if yield-sign-stop already finished, set by scenario/stage
bool yield_sign_done = false;
for (const auto& done_yield_sign_overlap_id :
yield_sign_status.done_yield_sign_overlap_id()) {
if (yield_sign_overlap.object_id == done_yield_sign_overlap_id) {
yield_sign_done = true;
break;
}
}
if (yield_sign_done) {
continue;
}
// build stop decision
ADEBUG << "BuildStopDecision: yield_sign[" << yield_sign_overlap.object_id
<< "] start_s[" << yield_sign_overlap.start_s << "]";
const std::string virtual_obstacle_id =
YIELD_SIGN_VO_ID_PREFIX + yield_sign_overlap.object_id;
const std::vector<std::string> wait_for_obstacle_ids(
yield_sign_status.wait_for_obstacle_id().begin(),
yield_sign_status.wait_for_obstacle_id().end());
util::BuildStopDecision(virtual_obstacle_id, yield_sign_overlap.start_s,
config_.yield_sign().stop_distance(),
StopReasonCode::STOP_REASON_YIELD_SIGN,
wait_for_obstacle_ids,
TrafficRuleConfig::RuleId_Name(config_.rule_id()),
frame, reference_line_info);
}
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/traffic_rule.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/planning/common/dependency_injector.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/proto/traffic_rule_config.pb.h"
namespace apollo {
namespace planning {
class TrafficRule {
public:
explicit TrafficRule(const TrafficRuleConfig& config) : config_(config) {}
TrafficRule(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: config_(config), injector_(injector) {}
virtual ~TrafficRule() = default;
virtual TrafficRuleConfig::RuleId Id() const { return config_.rule_id(); }
const TrafficRuleConfig& GetConfig() const { return config_; }
virtual common::Status ApplyRule(
Frame* const frame, ReferenceLineInfo* const reference_line_info) = 0;
protected:
TrafficRuleConfig config_;
std::shared_ptr<DependencyInjector> injector_;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/stop_sign.cc | /*****************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/stop_sign.h"
#include <memory>
#include "modules/map/pnc_map/path.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/util/common.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
using apollo::hdmap::PathOverlap;
StopSign::StopSign(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
Status StopSign::ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
MakeDecisions(frame, reference_line_info);
return Status::OK();
}
void StopSign::MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
if (!config_.stop_sign().enabled()) {
return;
}
const auto& stop_sign_status =
injector_->planning_context()->planning_status().stop_sign();
const double adc_back_edge_s = reference_line_info->AdcSlBoundary().start_s();
const std::vector<PathOverlap>& stop_sign_overlaps =
reference_line_info->reference_line().map_path().stop_sign_overlaps();
for (const auto& stop_sign_overlap : stop_sign_overlaps) {
if (stop_sign_overlap.end_s <= adc_back_edge_s) {
continue;
}
if (stop_sign_overlap.object_id ==
stop_sign_status.done_stop_sign_overlap_id()) {
continue;
}
// build stop decision
ADEBUG << "BuildStopDecision: stop_sign[" << stop_sign_overlap.object_id
<< "] start_s[" << stop_sign_overlap.start_s << "]";
const std::string virtual_obstacle_id =
STOP_SIGN_VO_ID_PREFIX + stop_sign_overlap.object_id;
const std::vector<std::string> wait_for_obstacle_ids(
stop_sign_status.wait_for_obstacle_id().begin(),
stop_sign_status.wait_for_obstacle_id().end());
util::BuildStopDecision(virtual_obstacle_id, stop_sign_overlap.start_s,
config_.stop_sign().stop_distance(),
StopReasonCode::STOP_REASON_STOP_SIGN,
wait_for_obstacle_ids,
TrafficRuleConfig::RuleId_Name(config_.rule_id()),
frame, reference_line_info);
}
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/reference_line_end.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
/**
* This class decides whether we should send rerouting request based on traffic
* situation.
*/
class ReferenceLineEnd : public TrafficRule {
public:
ReferenceLineEnd(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~ReferenceLineEnd() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
static constexpr char const* REF_LINE_END_VO_ID_PREFIX = "REF_END_";
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/destination.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
/**
* This class decides whether we should stop for destination.
* situation.
*/
class Destination : public TrafficRule {
public:
Destination(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~Destination() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
int MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/yield_sign.h | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include <vector>
#include "modules/planning/common/planning_context.h"
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
class YieldSign : public TrafficRule {
public:
YieldSign(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~YieldSign() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
void MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
static constexpr char const* YIELD_SIGN_VO_ID_PREFIX = "YS_";
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/keep_clear.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include "modules/planning/traffic_rules/traffic_rule.h"
namespace apollo {
namespace planning {
/**
* This class creates a virtual obstacle for each clear area region.
*/
class KeepClear : public TrafficRule {
public:
KeepClear(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~KeepClear() = default;
common::Status ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info);
private:
bool IsCreeping(const double pnc_junction_start_s,
const double adc_front_edge_s) const;
bool BuildKeepClearObstacle(Frame* const frame,
ReferenceLineInfo* const reference_line_info,
const std::string& virtual_obstacle_id,
const double keep_clear_start_s,
const double keep_clear_end_s);
private:
static constexpr char const* KEEP_CLEAR_VO_ID_PREFIX = "KC_";
static constexpr char const* KEEP_CLEAR_JUNCTION_VO_ID_PREFIX = "KC_JC_";
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/BUILD | load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
PLANNING_COPTS = ["-DMODULE_NAME=\\\"planning\\\""]
cc_library(
name = "traffic_rules",
srcs = [
# TODO(all): Split to separate targets to gain better building cache.
"backside_vehicle.cc",
"crosswalk.cc",
"destination.cc",
"keep_clear.cc",
"reference_line_end.cc",
"rerouting.cc",
"stop_sign.cc",
"traffic_light.cc",
"yield_sign.cc",
],
hdrs = [
"backside_vehicle.h",
"crosswalk.h",
"destination.h",
"keep_clear.h",
"reference_line_end.h",
"rerouting.h",
"stop_sign.h",
"traffic_light.h",
"traffic_rule.h",
"yield_sign.h",
],
copts = PLANNING_COPTS,
deps = [
"//modules/common/util:util_tool",
"//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
"//modules/planning/common:dependency_injector",
"//modules/planning/common:frame",
"//modules/planning/common:planning_context",
"//modules/planning/common:planning_gflags",
"//modules/planning/common:reference_line_info",
"//modules/planning/common/util:common_lib",
"//modules/common_msgs/planning_msgs:planning_cc_proto",
"//modules/planning/proto:planning_config_cc_proto",
"//modules/planning/proto:traffic_rule_config_cc_proto",
],
)
cc_library(
name = "traffic_decider",
srcs = ["traffic_decider.cc"],
hdrs = ["traffic_decider.h"],
copts = PLANNING_COPTS,
deps = [
":traffic_rules",
"//modules/common_msgs/basic_msgs:pnc_point_cc_proto",
"//modules/common/configs:vehicle_config_helper",
"//modules/common/status",
"//modules/common/util:util_tool",
"//modules/planning/common:planning_gflags",
"//modules/planning/proto:traffic_rule_config_cc_proto",
"//modules/planning/reference_line",
],
)
cpplint()
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/traffic_light.cc | /******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/traffic_light.h"
#include <memory>
#include <string>
#include <vector>
#include "modules/common/util/util.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/pnc_map/path.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/util/common.h"
#include "modules/planning/common/util/util.h"
#include "modules/common_msgs/planning_msgs/planning_internal.pb.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
using apollo::hdmap::PathOverlap;
TrafficLight::TrafficLight(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
Status TrafficLight::ApplyRule(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
MakeDecisions(frame, reference_line_info);
return Status::OK();
}
void TrafficLight::MakeDecisions(Frame* const frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
if (!config_.traffic_light().enabled()) {
return;
}
const auto& traffic_light_status =
injector_->planning_context()->planning_status().traffic_light();
const double adc_front_edge_s = reference_line_info->AdcSlBoundary().end_s();
const double adc_back_edge_s = reference_line_info->AdcSlBoundary().start_s();
// debug info
planning_internal::SignalLightDebug* signal_light_debug =
reference_line_info->mutable_debug()
->mutable_planning_data()
->mutable_signal_light();
signal_light_debug->set_adc_front_s(adc_front_edge_s);
signal_light_debug->set_adc_speed(
injector_->vehicle_state()->linear_velocity());
const std::vector<PathOverlap>& traffic_light_overlaps =
reference_line_info->reference_line().map_path().signal_overlaps();
for (const auto& traffic_light_overlap : traffic_light_overlaps) {
if (traffic_light_overlap.end_s <= adc_back_edge_s) {
continue;
}
// check if traffic-light-stop already finished, set by scenario/stage
bool traffic_light_done = false;
for (const auto& done_traffic_light_overlap_id :
traffic_light_status.done_traffic_light_overlap_id()) {
if (traffic_light_overlap.object_id == done_traffic_light_overlap_id) {
traffic_light_done = true;
break;
}
}
if (traffic_light_done) {
continue;
}
// work around incorrect s-projection along round routing
static constexpr double kSDiscrepanceTolerance = 10.0;
const auto& reference_line = reference_line_info->reference_line();
common::SLPoint traffic_light_sl;
traffic_light_sl.set_s(traffic_light_overlap.start_s);
traffic_light_sl.set_l(0);
common::math::Vec2d traffic_light_point;
reference_line.SLToXY(traffic_light_sl, &traffic_light_point);
common::math::Vec2d adc_position = {injector_->vehicle_state()->x(),
injector_->vehicle_state()->y()};
const double distance =
common::util::DistanceXY(traffic_light_point, adc_position);
const double s_distance = traffic_light_overlap.start_s - adc_front_edge_s;
ADEBUG << "traffic_light[" << traffic_light_overlap.object_id
<< "] start_s[" << traffic_light_overlap.start_s << "] s_distance["
<< s_distance << "] actual_distance[" << distance << "]";
if (s_distance >= 0 &&
fabs(s_distance - distance) > kSDiscrepanceTolerance) {
ADEBUG << "SKIP traffic_light[" << traffic_light_overlap.object_id
<< "] close in position, but far away along reference line";
continue;
}
auto signal_color =
frame->GetSignal(traffic_light_overlap.object_id).color();
const double stop_deceleration = util::GetADCStopDeceleration(
injector_->vehicle_state(), adc_front_edge_s,
traffic_light_overlap.start_s);
ADEBUG << "traffic_light_id[" << traffic_light_overlap.object_id
<< "] start_s[" << traffic_light_overlap.start_s << "] color["
<< signal_color << "] stop_deceleration[" << stop_deceleration
<< "]";
// debug info
planning_internal::SignalLightDebug::SignalDebug* signal_debug =
signal_light_debug->add_signal();
signal_debug->set_adc_stop_deceleration(stop_deceleration);
signal_debug->set_color(signal_color);
signal_debug->set_light_id(traffic_light_overlap.object_id);
signal_debug->set_light_stop_s(traffic_light_overlap.start_s);
if (signal_color == perception::TrafficLight::GREEN) {
continue;
}
// Red/Yellow/Unknown: check deceleration
if (stop_deceleration > config_.traffic_light().max_stop_deceleration()) {
AWARN << "stop_deceleration too big to achieve. SKIP red light";
continue;
}
// build stop decision
ADEBUG << "BuildStopDecision: traffic_light["
<< traffic_light_overlap.object_id << "] start_s["
<< traffic_light_overlap.start_s << "]";
std::string virtual_obstacle_id =
TRAFFIC_LIGHT_VO_ID_PREFIX + traffic_light_overlap.object_id;
const std::vector<std::string> wait_for_obstacles;
util::BuildStopDecision(virtual_obstacle_id, traffic_light_overlap.start_s,
config_.traffic_light().stop_distance(),
StopReasonCode::STOP_REASON_SIGNAL,
wait_for_obstacles,
TrafficRuleConfig::RuleId_Name(config_.rule_id()),
frame, reference_line_info);
}
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/backside_vehicle.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/backside_vehicle.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
BacksideVehicle::BacksideVehicle(const TrafficRuleConfig& config)
: TrafficRule(config) {}
void BacksideVehicle::MakeLaneKeepingObstacleDecision(
const SLBoundary& adc_sl_boundary, PathDecision* path_decision) {
ObjectDecisionType ignore;
ignore.mutable_ignore();
const double adc_length_s =
adc_sl_boundary.end_s() - adc_sl_boundary.start_s();
for (const auto* obstacle : path_decision->obstacles().Items()) {
if (obstacle->PerceptionSLBoundary().end_s() >= adc_sl_boundary.end_s() ||
obstacle->IsCautionLevelObstacle()) {
// don't ignore such vehicles.
continue;
}
if (obstacle->reference_line_st_boundary().IsEmpty()) {
path_decision->AddLongitudinalDecision("backside_vehicle/no-st-region",
obstacle->Id(), ignore);
path_decision->AddLateralDecision("backside_vehicle/no-st-region",
obstacle->Id(), ignore);
continue;
}
// Ignore the car comes from back of ADC
if (obstacle->reference_line_st_boundary().min_s() < -adc_length_s) {
path_decision->AddLongitudinalDecision("backside_vehicle/st-min-s < adc",
obstacle->Id(), ignore);
path_decision->AddLateralDecision("backside_vehicle/st-min-s < adc",
obstacle->Id(), ignore);
continue;
}
const double lane_boundary =
config_.backside_vehicle().backside_lane_width();
if (obstacle->PerceptionSLBoundary().start_s() < adc_sl_boundary.end_s()) {
if (obstacle->PerceptionSLBoundary().start_l() > lane_boundary ||
obstacle->PerceptionSLBoundary().end_l() < -lane_boundary) {
continue;
}
path_decision->AddLongitudinalDecision("backside_vehicle/sl < adc.end_s",
obstacle->Id(), ignore);
path_decision->AddLateralDecision("backside_vehicle/sl < adc.end_s",
obstacle->Id(), ignore);
continue;
}
}
}
Status BacksideVehicle::ApplyRule(
Frame* const, ReferenceLineInfo* const reference_line_info) {
auto* path_decision = reference_line_info->path_decision();
const auto& adc_sl_boundary = reference_line_info->AdcSlBoundary();
// The lane keeping reference line.
if (reference_line_info->Lanes().IsOnSegment()) {
MakeLaneKeepingObstacleDecision(adc_sl_boundary, path_decision);
}
return Status::OK();
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/traffic_rules/destination.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/traffic_rules/destination.h"
#include <memory>
#include <vector>
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/common/util/common.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
using apollo::common::VehicleConfigHelper;
Destination::Destination(const TrafficRuleConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: TrafficRule(config, injector) {}
Status Destination::ApplyRule(Frame* frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
MakeDecisions(frame, reference_line_info);
return Status::OK();
}
/**
* @brief: build stop decision
*/
int Destination::MakeDecisions(Frame* frame,
ReferenceLineInfo* const reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
if (!frame->is_near_destination()) {
return 0;
}
const auto& routing = frame->local_view().routing;
if (routing->routing_request().waypoint_size() < 2) {
AERROR << "routing_request has no end";
return -1;
}
common::SLPoint dest_sl;
const auto& reference_line = reference_line_info->reference_line();
const auto& routing_end = *(routing->routing_request().waypoint().rbegin());
reference_line.XYToSL(routing_end.pose(), &dest_sl);
const auto& adc_sl = reference_line_info->AdcSlBoundary();
const auto& dest =
injector_->planning_context()->mutable_planning_status()->destination();
if (adc_sl.start_s() > dest_sl.s() && !dest.has_passed_destination()) {
ADEBUG << "Destination at back, but we have not reached destination yet";
return 0;
}
const std::string stop_wall_id = FLAGS_destination_obstacle_id;
const std::vector<std::string> wait_for_obstacle_ids;
if (FLAGS_enable_scenario_pull_over) {
const auto& pull_over_status =
injector_->planning_context()->planning_status().pull_over();
if (pull_over_status.has_position() &&
pull_over_status.position().has_x() &&
pull_over_status.position().has_y()) {
// build stop decision based on pull-over position
ADEBUG << "BuildStopDecision: pull-over position";
common::SLPoint pull_over_sl;
reference_line.XYToSL(pull_over_status.position(), &pull_over_sl);
const double stop_line_s = pull_over_sl.s() +
VehicleConfigHelper::GetConfig()
.vehicle_param()
.front_edge_to_center() +
config_.destination().stop_distance();
util::BuildStopDecision(
stop_wall_id, stop_line_s, config_.destination().stop_distance(),
StopReasonCode::STOP_REASON_PULL_OVER, wait_for_obstacle_ids,
TrafficRuleConfig::RuleId_Name(config_.rule_id()), frame,
reference_line_info);
return 0;
}
}
// build stop decision
ADEBUG << "BuildStopDecision: destination";
const double dest_lane_s =
std::fmax(0.0, routing_end.s() - FLAGS_virtual_stop_wall_length -
config_.destination().stop_distance());
util::BuildStopDecision(stop_wall_id, routing_end.id(), dest_lane_s,
config_.destination().stop_distance(),
StopReasonCode::STOP_REASON_DESTINATION,
wait_for_obstacle_ids,
TrafficRuleConfig::RuleId_Name(config_.rule_id()),
frame, reference_line_info);
return 0;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/spiral_problem_interface.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/*
* spiral_problem_interface.h
*/
#pragma once
/* Workaround for coin/IpSmartPtr.hpp:18:4: error: #error "don't have header
* file for stddef" */
#include <cstddef>
#include <vector>
#include <coin/IpTNLP.hpp>
#include <coin/IpTypes.hpp>
#include "Eigen/Dense"
#include "modules/planning/math/curve1d/quintic_spiral_path_with_derivation.h"
namespace apollo {
namespace planning {
class SpiralProblemInterface : public Ipopt::TNLP {
public:
explicit SpiralProblemInterface(std::vector<Eigen::Vector2d> points);
virtual ~SpiralProblemInterface() = default;
void set_default_max_point_deviation(const double point_max_deviation);
void set_start_point(const double x, const double y, const double theta,
const double kappa, const double dkappa);
void set_end_point(const double x, const double y, const double theta,
const double kappa, const double dkappa);
void set_end_point_position(const double x, const double y);
void set_element_weight_curve_length(const double weight_curve_length);
void set_element_weight_kappa(const double weight_kappa);
void set_element_weight_dkappa(const double weight_dkappa);
void get_optimization_results(std::vector<double>* ptr_theta,
std::vector<double>* ptr_kappa,
std::vector<double>* ptr_dkappa,
std::vector<double>* ptr_s,
std::vector<double>* ptr_x,
std::vector<double>* ptr_y) const;
/** Method to return some info about the nlp */
bool get_nlp_info(int& n, int& m, int& nnz_jac_g, int& nnz_h_lag,
IndexStyleEnum& index_style) override;
/** Method to return the bounds for my problem */
bool get_bounds_info(int n, double* x_l, double* x_u, int m, double* g_l,
double* g_u) override;
/** Method to return the starting point for the algorithm */
bool get_starting_point(int n, bool init_x, double* x, bool init_z,
double* z_L, double* z_U, int m, bool init_lambda,
double* lambda) override;
/** Method to return the objective value */
bool eval_f(int n, const double* x, bool new_x, double& obj_value) override;
/** Method to return the gradient of the objective */
bool eval_grad_f(int n, const double* x, bool new_x, double* grad_f) override;
/** Method to return the constraint residuals */
bool eval_g(int n, const double* x, bool new_x, int m, double* g) override;
/** Method to return:
* 1) The structure of the jacobian (if "values" is nullptr)
* 2) The values of the jacobian (if "values" is not nullptr)
*/
bool eval_jac_g(int n, const double* x, bool new_x, int m, int nele_jac,
int* iRow, int* jCol, double* values) override;
/** Method to return:
* 1) The structure of the hessian of the lagrangian (if "values" is
* nullptr) 2) The values of the hessian of the lagrangian (if "values" is not
* nullptr)
*/
bool eval_h(int n, const double* x, bool new_x, double obj_factor, int m,
const double* lambda, bool new_lambda, int nele_hess, int* iRow,
int* jCol, double* values) override;
/** @name Solution Methods */
/** This method is called when the algorithm is complete so the TNLP can
* store/write the solution */
void finalize_solution(Ipopt::SolverReturn status, int n, const double* x,
const double* z_L, const double* z_U, int m,
const double* g, const double* lambda,
double obj_value, const Ipopt::IpoptData* ip_data,
Ipopt::IpoptCalculatedQuantities* ip_cq) override;
public:
static constexpr size_t N = 10;
private:
void update_piecewise_spiral_paths(const double* x, const int n);
std::vector<Eigen::Vector2d> init_points_;
std::vector<double> opt_theta_;
std::vector<double> opt_kappa_;
std::vector<double> opt_dkappa_;
std::vector<double> opt_s_;
std::vector<double> opt_x_;
std::vector<double> opt_y_;
std::vector<double> point_distances_;
int num_of_variables_ = 0;
int num_of_constraints_ = 0;
int num_of_points_ = 0;
double default_max_point_deviation_ = 0.0;
const int num_of_internal_points_ = 5;
std::vector<double> relative_theta_;
std::vector<QuinticSpiralPathWithDerivation<N>> piecewise_paths_;
bool has_fixed_start_point_ = false;
double start_x_ = 0.0;
double start_y_ = 0.0;
double start_theta_ = 0.0;
double start_kappa_ = 0.0;
double start_dkappa_ = 0.0;
bool has_fixed_end_point_ = false;
double end_x_ = 0.0;
double end_y_ = 0.0;
double end_theta_ = 0.0;
double end_kappa_ = 0.0;
double end_dkappa_ = 0.0;
bool has_fixed_end_point_position_ = false;
double weight_curve_length_ = 1.0;
double weight_kappa_ = 1.0;
double weight_dkappa_ = 1.0;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/smoother_util.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "gflags/gflags.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/util/future.h"
#include "modules/common/util/util.h"
#include "modules/map/pnc_map/path.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/reference_line/qp_spline_reference_line_smoother.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/reference_line/reference_line_smoother.h"
DEFINE_string(input_file, "", "input file with format x,y per line");
DEFINE_string(output_file, "", "output file with format x,y per line");
DEFINE_double(smooth_length, 200, "Smooth this amount of length ");
namespace apollo {
namespace planning {
using apollo::common::math::LineSegment2d;
using apollo::common::math::Vec2d;
using apollo::common::util::DistanceXY;
using apollo::hdmap::MapPathPoint;
class SmootherUtil {
public:
explicit SmootherUtil(const std::string& filename) : filename_(filename) {
std::ifstream ifs(filename.c_str(), std::ifstream::in);
std::string point_str;
while (std::getline(ifs, point_str)) {
size_t idx = point_str.find(',');
if (idx == std::string::npos) {
continue;
}
auto x_str = point_str.substr(0, idx);
auto y_str = point_str.substr(idx + 1);
raw_points_.emplace_back(std::stod(x_str), std::stod(y_str));
}
ACHECK(cyber::common::GetProtoFromFile(FLAGS_smoother_config_filename,
&config_))
<< "Failed to read smoother config file: "
<< FLAGS_smoother_config_filename;
}
bool Smooth() {
if (raw_points_.size() <= 2) {
AERROR << "the original point size is " << raw_points_.size();
return false;
}
size_t i = 1;
{
std::vector<ReferencePoint> ref_points;
double s = 0.0;
for (; s < FLAGS_smooth_length && i < raw_points_.size(); ++i) {
LineSegment2d segment(raw_points_[i - 1], raw_points_[i]);
ref_points.emplace_back(MapPathPoint(raw_points_[i], segment.heading()),
0.0, 0.0);
s += segment.length();
}
ReferenceLine init_ref(ref_points);
// Prefer "std::make_unique" to direct use of "new".
// Reference "https://herbsutter.com/gotw/_102/" for details.
auto smoother_ptr =
std::make_unique<QpSplineReferenceLineSmoother>(config_);
auto anchors =
CreateAnchorPoints(init_ref.reference_points().front(), init_ref);
smoother_ptr->SetAnchorPoints(anchors);
ReferenceLine smoothed_init_ref;
if (!smoother_ptr->Smooth(init_ref, &smoothed_init_ref)) {
AERROR << "smooth initial reference line failed";
return false;
}
ref_points_ = smoothed_init_ref.reference_points();
}
for (; i < raw_points_.size(); ++i) {
double s = 0.0;
size_t j = ref_points_.size() - 1;
while (j > 0 && s < FLAGS_smooth_length / 2.0) {
s += DistanceXY(ref_points_[j - 1], ref_points_[j]);
--j;
}
ReferenceLine prev_half_ref(ref_points_.begin() + j, ref_points_.end());
ref_points_.erase(ref_points_.begin() + j, ref_points_.end());
common::SLPoint sl;
prev_half_ref.XYToSL(raw_points_[i], &sl);
while (sl.s() <= prev_half_ref.Length() && i + 1 < raw_points_.size()) {
prev_half_ref.XYToSL(raw_points_[i + 1], &sl);
++i;
}
s = 0.0;
j = i;
auto ref_points = prev_half_ref.reference_points();
while (j + 1 < raw_points_.size() && s < FLAGS_smooth_length / 2.0) {
Vec2d vec = raw_points_[j + 1] - raw_points_[j];
s += vec.Length();
ref_points.emplace_back(MapPathPoint(raw_points_[j], vec.Angle()), 0.0,
0.0);
++j;
}
i = j;
ReferenceLine local_ref(ref_points);
auto anchors = CreateAnchorPoints(ref_points.front(), local_ref);
// Prefer "std::make_unique" to direct use of "new".
// Reference "https://herbsutter.com/gotw/_102/" for details.
auto smoother_ptr =
std::make_unique<QpSplineReferenceLineSmoother>(config_);
smoother_ptr->SetAnchorPoints(anchors);
ReferenceLine smoothed_local_ref;
if (!smoother_ptr->Smooth(local_ref, &smoothed_local_ref)) {
AERROR << "Failed to smooth reference line";
return false;
}
ref_points_.insert(ref_points_.end(),
smoothed_local_ref.reference_points().begin(),
smoothed_local_ref.reference_points().end());
}
return true;
}
void Export(const std::string& filename) {
std::ofstream ofs(filename.c_str());
if (ofs.fail()) {
AERROR << "Fail to open file " << filename;
return;
}
ofs.precision(6);
double s = 0.0;
// skip the first point and the last point
for (size_t i = 1; i + 1 < ref_points_.size(); ++i) {
const auto& point = ref_points_[i];
ofs << std::fixed << "{\"kappa\": " << point.kappa() << ", \"s\": " << s
<< ", \"theta\": " << point.heading() << ", \"x\":" << point.x()
<< ", \"y\":" << point.y() << ", \"dkappa\":" << point.dkappa()
<< "}";
s += DistanceXY(point, ref_points_[i + 1]);
}
ofs.close();
AINFO << "Smoothed result saved to " << filename;
}
private:
std::vector<AnchorPoint> CreateAnchorPoints(const ReferencePoint& init_point,
const ReferenceLine& ref_line) {
std::vector<AnchorPoint> anchor_points;
int num_of_anchors = std::max(
2, static_cast<int>(
ref_line.Length() / config_.max_constraint_interval() + 0.5));
std::vector<double> anchor_s;
common::util::uniform_slice(0.0, ref_line.Length(), num_of_anchors - 1,
&anchor_s);
common::SLPoint sl;
if (!ref_line.XYToSL(init_point, &sl)) {
AERROR << "Failed to project init point to reference line";
return anchor_points;
}
bool set_init_point = false;
for (const double s : anchor_s) {
if (s + config_.max_constraint_interval() / 2.0 < sl.s()) {
continue;
}
ReferencePoint ref_point;
if (!set_init_point) {
set_init_point = true;
ref_point = init_point;
} else {
ref_point = ref_line.GetReferencePoint(s);
}
AnchorPoint anchor;
anchor.path_point.set_x(ref_point.x());
anchor.path_point.set_y(ref_point.y());
anchor.path_point.set_z(0.0);
anchor.path_point.set_s(s);
anchor.path_point.set_theta(ref_point.heading());
anchor.path_point.set_kappa(ref_point.kappa());
anchor.lateral_bound = config_.max_lateral_boundary_bound();
anchor.longitudinal_bound = config_.longitudinal_boundary_bound();
anchor_points.emplace_back(anchor);
}
anchor_points.front().longitudinal_bound = 0;
anchor_points.front().lateral_bound = 0;
anchor_points.front().enforced = true;
anchor_points.back().longitudinal_bound = 0;
anchor_points.back().lateral_bound = 0;
anchor_points.back().enforced = true;
return anchor_points;
}
private:
std::string filename_;
std::vector<common::math::Vec2d> raw_points_;
std::vector<ReferencePoint> ref_points_;
ReferenceLine smoothed_ref_;
ReferenceLineSmootherConfig config_;
};
} // namespace planning
} // namespace apollo
int main(int argc, char* argv[]) {
google::InitGoogleLogging(argv[0]);
google::ParseCommandLineFlags(&argc, &argv, true);
if (FLAGS_input_file.empty()) {
AERROR << "need to provide --input_file";
return 0;
}
apollo::planning::SmootherUtil smoother_util(FLAGS_input_file);
if (!smoother_util.Smooth()) {
AERROR << "Failed to smooth a the line";
}
if (FLAGS_output_file.empty()) {
FLAGS_output_file = FLAGS_input_file + ".smoothed";
AINFO << "Output file not provided, set to: " << FLAGS_output_file;
}
smoother_util.Export(FLAGS_output_file);
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/discrete_points_reference_line_smoother.h | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <utility>
#include <vector>
#include "modules/planning/proto/reference_line_smoother_config.pb.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/reference_line/reference_line_smoother.h"
#include "modules/planning/reference_line/reference_point.h"
namespace apollo {
namespace planning {
class DiscretePointsReferenceLineSmoother : public ReferenceLineSmoother {
public:
explicit DiscretePointsReferenceLineSmoother(
const ReferenceLineSmootherConfig& config);
virtual ~DiscretePointsReferenceLineSmoother() = default;
bool Smooth(const ReferenceLine& raw_reference_line,
ReferenceLine* const smoothed_reference_line) override;
void SetAnchorPoints(const std::vector<AnchorPoint>&) override;
private:
bool CosThetaSmooth(
const std::vector<std::pair<double, double>>& raw_point2d,
const std::vector<double>& bounds,
std::vector<std::pair<double, double>>* ptr_smoothed_point2d);
bool FemPosSmooth(
const std::vector<std::pair<double, double>>& raw_point2d,
const std::vector<double>& bounds,
std::vector<std::pair<double, double>>* ptr_smoothed_point2d);
void NormalizePoints(std::vector<std::pair<double, double>>* xy_points);
void DeNormalizePoints(std::vector<std::pair<double, double>>* xy_points);
bool GenerateRefPointProfile(
const ReferenceLine& raw_reference_line,
const std::vector<std::pair<double, double>>& xy_points,
std::vector<ReferencePoint>* reference_points);
std::vector<AnchorPoint> anchor_points_;
double zero_x_ = 0.0;
double zero_y_ = 0.0;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/spiral_smoother_util.cc | /******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "gflags/gflags.h"
#include "modules/common/util/util.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/reference_line/spiral_reference_line_smoother.h"
DEFINE_string(input_file, "", "input file with format x,y per line");
DEFINE_string(output_file, "", "output file with format x,y per line");
DEFINE_double(smooth_length, 200.0, "Smooth this amount of length ");
DEFINE_double(minimum_point_spacing, 5.0,
"The minimum distance for input points.");
namespace apollo {
namespace planning {
class SpiralSmootherUtil {
public:
static std::vector<Eigen::Vector2d> ReadCoordinatesFromFile(
const std::string& filename) {
std::vector<Eigen::Vector2d> raw_points;
std::ifstream ifs(filename.c_str(), std::ifstream::in);
std::string point_str;
auto spacing_thres =
FLAGS_minimum_point_spacing * FLAGS_minimum_point_spacing;
while (std::getline(ifs, point_str)) {
size_t idx = point_str.find(',');
if (idx == std::string::npos) {
continue;
}
auto x_str = point_str.substr(0, idx);
auto y_str = point_str.substr(idx + 1);
auto x = std::stod(x_str);
auto y = std::stod(y_str);
if (raw_points.size() > 0) {
auto last_x = raw_points.back().x();
auto last_y = raw_points.back().y();
auto dx = x - last_x;
auto dy = y - last_y;
if (dx * dx + dy * dy < spacing_thres) {
continue;
}
}
raw_points.emplace_back(x, y);
}
return raw_points;
}
static bool Smooth(std::vector<Eigen::Vector2d> raw_points,
std::vector<common::PathPoint>* ptr_smooth_points) {
if (raw_points.size() <= 2) {
AERROR << "the original point size is " << raw_points.size();
return false;
}
std::vector<Eigen::Vector2d> processed_points;
processed_points.push_back(raw_points.front());
for (const Eigen::Vector2d& p : raw_points) {
Eigen::Vector2d d = p - processed_points.back();
if (d.norm() < FLAGS_minimum_point_spacing) {
continue;
}
processed_points.push_back(p);
}
if (processed_points.size() < 2) {
processed_points.push_back(raw_points.back());
}
Eigen::Vector2d start_point = processed_points.front();
std::for_each(processed_points.begin(), processed_points.end(),
[&start_point](Eigen::Vector2d& p) { p = p - start_point; });
ReferenceLineSmootherConfig config;
ACHECK(cyber::common::GetProtoFromFile(
"modules/planning/conf/spiral_smoother_config.pb.txt", &config));
std::vector<double> opt_theta;
std::vector<double> opt_kappa;
std::vector<double> opt_dkappa;
std::vector<double> opt_s;
std::vector<double> opt_x;
std::vector<double> opt_y;
SpiralReferenceLineSmoother spiral_smoother(config);
auto res = spiral_smoother.SmoothStandAlone(processed_points, &opt_theta,
&opt_kappa, &opt_dkappa, &opt_s,
&opt_x, &opt_y);
if (!res) {
AWARN << "Optimization failed; the result may not be smooth";
} else {
AINFO << "Optimal solution found";
}
std::for_each(opt_x.begin(), opt_x.end(),
[&start_point](double& x) { x += start_point.x(); });
std::for_each(opt_y.begin(), opt_y.end(),
[&start_point](double& y) { y += start_point.y(); });
*ptr_smooth_points =
spiral_smoother.Interpolate(opt_theta, opt_kappa, opt_dkappa, opt_s,
opt_x, opt_y, config.resolution());
return true;
}
static void Export(const std::string& filename,
const std::vector<common::PathPoint>& smoothed_points) {
std::ofstream ofs(filename.c_str());
if (ofs.fail()) {
AERROR << "Fail to open file " << filename;
return;
}
ofs.precision(12);
// skip the first point and the last point
for (size_t i = 1; i + 1 < smoothed_points.size(); ++i) {
const auto& point = smoothed_points[i];
ofs << std::fixed << "{\"kappa\": " << point.kappa()
<< ", \"s\": " << point.s() << ", \"theta\": " << point.theta()
<< ", \"x\":" << point.x() << ", \"y\":" << point.y()
<< ", \"dkappa\":" << point.dkappa() << "}";
}
ofs.close();
AINFO << "Smoothed result saved to " << filename;
}
};
} // namespace planning
} // namespace apollo
int main(int argc, char* argv[]) {
google::InitGoogleLogging(argv[0]);
google::ParseCommandLineFlags(&argc, &argv, true);
if (FLAGS_input_file.empty()) {
AERROR << "need to provide --input_file";
return 0;
}
std::vector<Eigen::Vector2d> raw_points =
apollo::planning::SpiralSmootherUtil::ReadCoordinatesFromFile(
FLAGS_input_file);
std::vector<apollo::common::PathPoint> smooth_points;
auto res =
apollo::planning::SpiralSmootherUtil::Smooth(raw_points, &smooth_points);
if (!res) {
AERROR << "Failed to smooth a the line";
}
if (FLAGS_output_file.empty()) {
FLAGS_output_file = FLAGS_input_file + ".smoothed";
AINFO << "Output file not provided, set to: " << FLAGS_output_file;
}
apollo::planning::SpiralSmootherUtil::Export(FLAGS_output_file,
smooth_points);
return 0;
}
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/reference_point.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file reference_point.h
**/
#pragma once
#include <string>
#include <vector>
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/map/pnc_map/path.h"
namespace apollo {
namespace planning {
class ReferencePoint : public hdmap::MapPathPoint {
public:
ReferencePoint() = default;
ReferencePoint(const MapPathPoint& map_path_point, const double kappa,
const double dkappa);
common::PathPoint ToPathPoint(double s) const;
double kappa() const;
double dkappa() const;
std::string DebugString() const;
static void RemoveDuplicates(std::vector<ReferencePoint>* points);
private:
double kappa_ = 0.0;
double dkappa_ = 0.0;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/reference_line_provider.h | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file reference_line_provider.h
*
* @brief Declaration of the class ReferenceLineProvider.
*/
#pragma once
#include <list>
#include <memory>
#include <queue>
#include <string>
#include <unordered_set>
#include <vector>
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "cyber/cyber.h"
#include "modules/common/util/factory.h"
#include "modules/common/util/util.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/pnc_map/pnc_map.h"
#include "modules/planning/common/indexed_queue.h"
#include "modules/planning/math/smoothing_spline/spline_2d_solver.h"
#include "modules/planning/reference_line/discrete_points_reference_line_smoother.h"
#include "modules/planning/reference_line/qp_spline_reference_line_smoother.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/reference_line/spiral_reference_line_smoother.h"
/**
* @namespace apollo::planning
* @brief apollo::planning
*/
namespace apollo {
namespace planning {
/**
* @class ReferenceLineProvider
* @brief The class of ReferenceLineProvider.
* It provides smoothed reference line to planning.
*/
class ReferenceLineProvider {
public:
ReferenceLineProvider() = default;
ReferenceLineProvider(
const common::VehicleStateProvider* vehicle_state_provider,
const hdmap::HDMap* base_map,
const std::shared_ptr<relative_map::MapMsg>& relative_map = nullptr);
/**
* @brief Default destructor.
*/
~ReferenceLineProvider();
bool UpdateRoutingResponse(const routing::RoutingResponse& routing);
void UpdateVehicleState(const common::VehicleState& vehicle_state);
bool Start();
void Stop();
bool GetReferenceLines(std::list<ReferenceLine>* reference_lines,
std::list<hdmap::RouteSegments>* segments);
double LastTimeDelay();
std::vector<routing::LaneWaypoint> FutureRouteWaypoints();
bool UpdatedReferenceLine() { return is_reference_line_updated_.load(); }
private:
/**
* @brief Use PncMap to create reference line and the corresponding segments
* based on routing and current position. This is a thread safe function.
* @return true if !reference_lines.empty() && reference_lines.size() ==
* segments.size();
**/
bool CreateReferenceLine(std::list<ReferenceLine>* reference_lines,
std::list<hdmap::RouteSegments>* segments);
/**
* @brief store the computed reference line. This function can avoid
* unnecessary copy if the reference lines are the same.
*/
void UpdateReferenceLine(
const std::list<ReferenceLine>& reference_lines,
const std::list<hdmap::RouteSegments>& route_segments);
void GenerateThread();
void IsValidReferenceLine();
void PrioritzeChangeLane(std::list<hdmap::RouteSegments>* route_segments);
bool CreateRouteSegments(const common::VehicleState& vehicle_state,
std::list<hdmap::RouteSegments>* segments);
bool IsReferenceLineSmoothValid(const ReferenceLine& raw,
const ReferenceLine& smoothed) const;
bool SmoothReferenceLine(const ReferenceLine& raw_reference_line,
ReferenceLine* reference_line);
bool SmoothPrefixedReferenceLine(const ReferenceLine& prefix_ref,
const ReferenceLine& raw_ref,
ReferenceLine* reference_line);
void GetAnchorPoints(const ReferenceLine& reference_line,
std::vector<AnchorPoint>* anchor_points) const;
bool SmoothRouteSegment(const hdmap::RouteSegments& segments,
ReferenceLine* reference_line);
/**
* @brief This function creates a smoothed forward reference line
* based on the given segments.
*/
bool ExtendReferenceLine(const common::VehicleState& state,
hdmap::RouteSegments* segments,
ReferenceLine* reference_line);
AnchorPoint GetAnchorPoint(const ReferenceLine& reference_line,
double s) const;
bool GetReferenceLinesFromRelativeMap(
std::list<ReferenceLine>* reference_lines,
std::list<hdmap::RouteSegments>* segments);
/**
* @brief This function get adc lane info from navigation path and map
* by vehicle state.
*/
bool GetNearestWayPointFromNavigationPath(
const common::VehicleState& state,
const std::unordered_set<std::string>& navigation_lane_ids,
hdmap::LaneWaypoint* waypoint);
bool Shrink(const common::SLPoint& sl, ReferenceLine* ref,
hdmap::RouteSegments* segments);
private:
bool is_initialized_ = false;
std::atomic<bool> is_stop_{false};
std::unique_ptr<ReferenceLineSmoother> smoother_;
ReferenceLineSmootherConfig smoother_config_;
std::mutex pnc_map_mutex_;
std::unique_ptr<hdmap::PncMap> pnc_map_;
// Used in Navigation mode
std::shared_ptr<relative_map::MapMsg> relative_map_;
std::mutex vehicle_state_mutex_;
common::VehicleState vehicle_state_;
std::mutex routing_mutex_;
routing::RoutingResponse routing_;
bool has_routing_ = false;
std::mutex reference_lines_mutex_;
std::list<ReferenceLine> reference_lines_;
std::list<hdmap::RouteSegments> route_segments_;
double last_calculation_time_ = 0.0;
std::queue<std::list<ReferenceLine>> reference_line_history_;
std::queue<std::list<hdmap::RouteSegments>> route_segments_history_;
std::future<void> task_future_;
std::atomic<bool> is_reference_line_updated_{true};
const common::VehicleStateProvider* vehicle_state_provider_ = nullptr;
};
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/spiral_problem_interface.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/*
* spiral_problem_interface.cc
*/
#include "modules/planning/reference_line/spiral_problem_interface.h"
#include <utility>
#include "modules/common/math/math_utils.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
namespace {
auto THETA0 =
QuinticSpiralPathWithDerivation<SpiralProblemInterface::N>::THETA0;
auto KAPPA0 =
QuinticSpiralPathWithDerivation<SpiralProblemInterface::N>::KAPPA0;
auto DKAPPA0 =
QuinticSpiralPathWithDerivation<SpiralProblemInterface::N>::DKAPPA0;
auto THETA1 =
QuinticSpiralPathWithDerivation<SpiralProblemInterface::N>::THETA1;
auto KAPPA1 =
QuinticSpiralPathWithDerivation<SpiralProblemInterface::N>::KAPPA1;
auto DKAPPA1 =
QuinticSpiralPathWithDerivation<SpiralProblemInterface::N>::DKAPPA1;
auto DELTA_S =
QuinticSpiralPathWithDerivation<SpiralProblemInterface::N>::DELTA_S;
} // namespace
SpiralProblemInterface::SpiralProblemInterface(
std::vector<Eigen::Vector2d> points)
: init_points_(std::move(points)) {
num_of_points_ = static_cast<int>(init_points_.size());
CHECK_GT(num_of_points_, 1);
point_distances_.reserve(num_of_points_ - 1);
for (int i = 0; i + 1 < num_of_points_; ++i) {
point_distances_.push_back((init_points_[i + 1] - init_points_[i]).norm());
}
std::vector<double> normalized_theta;
for (int i = 0; i + 1 < num_of_points_; ++i) {
Eigen::Vector2d v = init_points_[i + 1] - init_points_[i];
double theta = std::atan2(v.y(), v.x());
normalized_theta.push_back(theta);
}
normalized_theta.push_back(normalized_theta.back());
relative_theta_.push_back(normalized_theta.front());
for (int i = 1; i < num_of_points_; ++i) {
double theta_diff =
common::math::AngleDiff(relative_theta_.back(), normalized_theta[i]);
relative_theta_.push_back(relative_theta_.back() + theta_diff);
}
piecewise_paths_.resize(num_of_points_ - 1);
}
void SpiralProblemInterface::get_optimization_results(
std::vector<double>* ptr_theta, std::vector<double>* ptr_kappa,
std::vector<double>* ptr_dkappa, std::vector<double>* ptr_s,
std::vector<double>* ptr_x, std::vector<double>* ptr_y) const {
*ptr_theta = opt_theta_;
*ptr_kappa = opt_kappa_;
*ptr_dkappa = opt_dkappa_;
*ptr_s = opt_s_;
*ptr_x = opt_x_;
*ptr_y = opt_y_;
}
bool SpiralProblemInterface::get_nlp_info(int& n, int& m, int& nnz_jac_g,
int& nnz_h_lag,
IndexStyleEnum& index_style) {
// number of variables
n = num_of_points_ * 5 + num_of_points_ - 1;
num_of_variables_ = n;
// number of constraints
// b. positional equality constraints;
// totally 2 * (num_of_points - 1) considering x and y separately
m = (num_of_points_ - 1) * 2;
// a. positional movements; totally num_of_points
m += num_of_points_;
num_of_constraints_ = m;
// number of nonzero constraint jacobian.
nnz_jac_g = (num_of_points_ - 1) * 2 * 9 + num_of_points_ * 2;
// number of nonzero hessian and lagrangian.
nnz_h_lag = 0;
index_style = IndexStyleEnum::C_STYLE;
return true;
}
bool SpiralProblemInterface::get_bounds_info(int n, double* x_l, double* x_u,
int m, double* g_l, double* g_u) {
CHECK_EQ(n, num_of_variables_);
CHECK_EQ(m, num_of_constraints_);
// variables
// a. for theta, kappa, dkappa, x, y
for (int i = 0; i < num_of_points_; ++i) {
int index = i * 5;
double theta_lower = 0.0;
double theta_upper = 0.0;
double kappa_lower = 0.0;
double kappa_upper = 0.0;
double dkappa_lower = 0.0;
double dkappa_upper = 0.0;
double x_lower = 0.0;
double x_upper = 0.0;
double y_lower = 0.0;
double y_upper = 0.0;
if (i == 0 && has_fixed_start_point_) {
theta_lower = start_theta_;
theta_upper = start_theta_;
kappa_lower = start_kappa_;
kappa_upper = start_kappa_;
dkappa_lower = start_dkappa_;
dkappa_upper = start_dkappa_;
x_lower = start_x_;
x_upper = start_x_;
y_lower = start_y_;
y_upper = start_y_;
} else if (i + 1 == num_of_points_ && has_fixed_end_point_) {
theta_lower = end_theta_;
theta_upper = end_theta_;
kappa_lower = end_kappa_;
kappa_upper = end_kappa_;
dkappa_lower = end_dkappa_;
dkappa_upper = end_dkappa_;
x_lower = end_x_;
x_upper = end_x_;
y_lower = end_y_;
y_upper = end_y_;
} else if (i + 1 == num_of_points_ && has_fixed_end_point_position_) {
theta_lower = relative_theta_[i] - M_PI * 0.2;
theta_upper = relative_theta_[i] + M_PI * 0.2;
kappa_lower = -0.25;
kappa_upper = 0.25;
dkappa_lower = -0.02;
dkappa_upper = 0.02;
x_lower = end_x_;
x_upper = end_x_;
y_lower = end_y_;
y_upper = end_y_;
} else {
theta_lower = relative_theta_[i] - M_PI * 0.2;
theta_upper = relative_theta_[i] + M_PI * 0.2;
kappa_lower = -0.25;
kappa_upper = 0.25;
dkappa_lower = -0.02;
dkappa_upper = 0.02;
x_lower = init_points_[i].x() - default_max_point_deviation_;
x_upper = init_points_[i].x() + default_max_point_deviation_;
y_lower = init_points_[i].y() - default_max_point_deviation_;
y_upper = init_points_[i].y() + default_max_point_deviation_;
}
// theta
x_l[index] = theta_lower;
x_u[index] = theta_upper;
// kappa
x_l[index + 1] = kappa_lower;
x_u[index + 1] = kappa_upper;
// dkappa
x_l[index + 2] = dkappa_lower;
x_u[index + 2] = dkappa_upper;
// x
x_l[index + 3] = x_lower;
x_u[index + 3] = x_upper;
// y
x_l[index + 4] = y_lower;
x_u[index + 4] = y_upper;
}
// b. for delta_s
int variable_offset = num_of_points_ * 5;
for (int i = 0; i + 1 < num_of_points_; ++i) {
x_l[variable_offset + i] =
point_distances_[i] - 2.0 * default_max_point_deviation_;
x_u[variable_offset + i] = point_distances_[i] * M_PI * 0.5;
}
// constraints
// a. positional equality constraints
for (int i = 0; i + 1 < num_of_points_; ++i) {
// for x
g_l[i * 2] = 0.0;
g_u[i * 2] = 0.0;
// for y
g_l[i * 2 + 1] = 0.0;
g_u[i * 2 + 1] = 0.0;
}
// b. positional deviation constraints
int constraint_offset = 2 * (num_of_points_ - 1);
for (int i = 0; i < num_of_points_; ++i) {
g_l[constraint_offset + i] = 0.0;
g_u[constraint_offset + i] =
default_max_point_deviation_ * default_max_point_deviation_;
}
return true;
}
bool SpiralProblemInterface::get_starting_point(int n, bool init_x, double* x,
bool init_z, double* z_L,
double* z_U, int m,
bool init_lambda,
double* lambda) {
CHECK_EQ(n, num_of_variables_);
ACHECK(init_x);
ACHECK(!init_z);
ACHECK(!init_lambda);
for (int i = 0; i < num_of_points_; ++i) {
int index = i * 5;
x[index] = relative_theta_[i];
x[index + 1] = 0.0;
x[index + 2] = 0.0;
x[index + 3] = init_points_[i].x();
x[index + 4] = init_points_[i].y();
}
int variable_offset = num_of_points_ * 5;
for (int i = 0; i + 1 < num_of_points_; ++i) {
double delta_theta = relative_theta_[i + 1] - relative_theta_[i];
x[variable_offset + i] = point_distances_[i] / std::cos(0.5 * delta_theta);
}
for (int i = 0; i + 1 < num_of_points_; ++i) {
double delta_theta = relative_theta_[i + 1] - relative_theta_[i];
x[(i + 1) * 5 + 1] = delta_theta / x[variable_offset + i];
}
x[1] = x[6];
if (has_fixed_start_point_) {
x[0] = start_theta_;
x[1] = start_kappa_;
x[2] = start_dkappa_;
}
return true;
}
bool SpiralProblemInterface::eval_f(int n, const double* x, bool new_x,
double& obj_value) {
CHECK_EQ(n, num_of_variables_);
if (new_x) {
update_piecewise_spiral_paths(x, n);
}
obj_value = 0.0;
for (int i = 0; i + 1 < num_of_points_; ++i) {
const auto& spiral_curve = piecewise_paths_[i];
double delta_s = spiral_curve.ParamLength();
obj_value += delta_s * weight_curve_length_;
for (int j = 0; j < num_of_internal_points_; ++j) {
double ratio =
static_cast<double>(j) / static_cast<double>(num_of_internal_points_);
double s = ratio * delta_s;
double kappa = spiral_curve.Evaluate(1, s);
obj_value += kappa * kappa * weight_kappa_;
double dkappa = spiral_curve.Evaluate(2, s);
obj_value += dkappa * dkappa * weight_dkappa_;
}
}
return true;
}
bool SpiralProblemInterface::eval_grad_f(int n, const double* x, bool new_x,
double* grad_f) {
CHECK_EQ(n, num_of_variables_);
std::fill(grad_f, grad_f + n, 0.0);
if (new_x) {
update_piecewise_spiral_paths(x, n);
}
int variable_offset = num_of_points_ * 5;
for (int i = 0; i + 1 < num_of_points_; ++i) {
int index0 = i * 5;
int index1 = (i + 1) * 5;
auto& spiral_curve = piecewise_paths_[i];
double delta_s = spiral_curve.ParamLength();
grad_f[variable_offset + i] += weight_curve_length_ * 1.0;
for (int j = 0; j < num_of_internal_points_; ++j) {
double ratio =
static_cast<double>(j) / static_cast<double>(num_of_internal_points_);
double s = ratio * delta_s;
double kappa = spiral_curve.Evaluate(1, s);
grad_f[index0] += weight_kappa_ * 2.0 * kappa *
spiral_curve.DeriveKappaDerivative(
THETA0, j, num_of_internal_points_);
grad_f[index0 + 1] += weight_kappa_ * 2.0 * kappa *
spiral_curve.DeriveKappaDerivative(
KAPPA0, j, num_of_internal_points_);
grad_f[index0 + 2] += weight_kappa_ * 2.0 * kappa *
spiral_curve.DeriveKappaDerivative(
DKAPPA0, j, num_of_internal_points_);
grad_f[index1] += weight_kappa_ * 2.0 * kappa *
spiral_curve.DeriveKappaDerivative(
THETA1, j, num_of_internal_points_);
grad_f[index1 + 1] += weight_kappa_ * 2.0 * kappa *
spiral_curve.DeriveKappaDerivative(
KAPPA1, j, num_of_internal_points_);
grad_f[index1 + 2] += weight_kappa_ * 2.0 * kappa *
spiral_curve.DeriveKappaDerivative(
DKAPPA1, j, num_of_internal_points_);
grad_f[variable_offset + i] += weight_kappa_ * 2.0 * kappa *
spiral_curve.DeriveKappaDerivative(
DELTA_S, j, num_of_internal_points_);
double dkappa = spiral_curve.Evaluate(2, s);
grad_f[index0] += weight_dkappa_ * 2.0 * dkappa *
spiral_curve.DeriveDKappaDerivative(
THETA0, j, num_of_internal_points_);
grad_f[index0 + 1] += weight_dkappa_ * 2.0 * dkappa *
spiral_curve.DeriveDKappaDerivative(
KAPPA0, j, num_of_internal_points_);
grad_f[index0 + 2] += weight_dkappa_ * 2.0 * dkappa *
spiral_curve.DeriveDKappaDerivative(
DKAPPA0, j, num_of_internal_points_);
grad_f[index1] += weight_dkappa_ * 2.0 * dkappa *
spiral_curve.DeriveDKappaDerivative(
THETA1, j, num_of_internal_points_);
grad_f[index1 + 1] += weight_dkappa_ * 2.0 * dkappa *
spiral_curve.DeriveDKappaDerivative(
KAPPA1, j, num_of_internal_points_);
grad_f[index1 + 2] += weight_dkappa_ * 2.0 * dkappa *
spiral_curve.DeriveDKappaDerivative(
DKAPPA1, j, num_of_internal_points_);
grad_f[variable_offset + i] += weight_dkappa_ * 2.0 * dkappa *
spiral_curve.DeriveDKappaDerivative(
DELTA_S, j, num_of_internal_points_);
}
}
return true;
}
bool SpiralProblemInterface::eval_g(int n, const double* x, bool new_x, int m,
double* g) {
CHECK_EQ(n, num_of_variables_);
CHECK_EQ(m, num_of_constraints_);
if (new_x) {
update_piecewise_spiral_paths(x, n);
}
// first, fill in the positional equality constraints
for (int i = 0; i + 1 < num_of_points_; ++i) {
int index0 = i * 5;
int index1 = (i + 1) * 5;
const auto& spiral_curve = piecewise_paths_[i];
double delta_s = spiral_curve.ParamLength();
double x_diff = x[index1 + 3] - x[index0 + 3] -
spiral_curve.ComputeCartesianDeviationX(delta_s);
g[i * 2] = x_diff * x_diff;
double y_diff = x[index1 + 4] - x[index0 + 4] -
spiral_curve.ComputeCartesianDeviationY(delta_s);
g[i * 2 + 1] = y_diff * y_diff;
}
// second, fill in the positional deviation constraints
int constraint_offset = 2 * (num_of_points_ - 1);
for (int i = 0; i < num_of_points_; ++i) {
int variable_index = i * 5;
double x_cor = x[variable_index + 3];
double y_cor = x[variable_index + 4];
double x_diff = x_cor - init_points_[i].x();
double y_diff = y_cor - init_points_[i].y();
g[constraint_offset + i] = x_diff * x_diff + y_diff * y_diff;
}
return true;
}
bool SpiralProblemInterface::eval_jac_g(int n, const double* x, bool new_x,
int m, int nele_jac, int* iRow,
int* jCol, double* values) {
CHECK_EQ(n, num_of_variables_);
CHECK_EQ(m, num_of_constraints_);
if (values == nullptr) {
int nz_index = 0;
int variable_offset = num_of_points_ * 5;
for (int i = 0; i + 1 < num_of_points_; ++i) {
int variable_index = i * 5;
// theta0
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 0;
++nz_index;
// kappa0
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 1;
++nz_index;
// dkappa0
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 2;
++nz_index;
// x0
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 3;
++nz_index;
// theta1
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 5;
++nz_index;
// kappa1
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 6;
++nz_index;
// dkappa1
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 7;
++nz_index;
// x1
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_index + 8;
++nz_index;
// s
iRow[nz_index] = i * 2;
jCol[nz_index] = variable_offset + i;
++nz_index;
// theta0
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 0;
++nz_index;
// kappa0
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 1;
++nz_index;
// dkappa0
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 2;
++nz_index;
// y0
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 4;
++nz_index;
// theta1
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 5;
++nz_index;
// kappa1
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 6;
++nz_index;
// dkappa1
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 7;
++nz_index;
// y1
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_index + 9;
++nz_index;
// s
iRow[nz_index] = i * 2 + 1;
jCol[nz_index] = variable_offset + i;
++nz_index;
}
int constraint_offset = 2 * (num_of_points_ - 1);
for (int i = 0; i < num_of_points_; ++i) {
iRow[nz_index] = constraint_offset + i;
jCol[nz_index] = i * 5 + 3;
++nz_index;
iRow[nz_index] = constraint_offset + i;
jCol[nz_index] = i * 5 + 4;
++nz_index;
}
CHECK_EQ(nz_index, nele_jac);
} else {
if (new_x) {
update_piecewise_spiral_paths(x, n);
}
std::fill(values, values + nele_jac, 0.0);
// first, positional equality constraints
int nz_index = 0;
for (int i = 0; i + 1 < num_of_points_; ++i) {
int index0 = i * 5;
int index1 = (i + 1) * 5;
auto& spiral_curve = piecewise_paths_[i];
double delta_s = spiral_curve.ParamLength();
double x_diff = x[index1 + 3] - x[index0 + 3] -
spiral_curve.ComputeCartesianDeviationX(delta_s);
double y_diff = x[index1 + 4] - x[index0 + 4] -
spiral_curve.ComputeCartesianDeviationY(delta_s);
auto pos_theta0 = spiral_curve.DeriveCartesianDeviation(THETA0);
auto pos_kappa0 = spiral_curve.DeriveCartesianDeviation(KAPPA0);
auto pos_dkappa0 = spiral_curve.DeriveCartesianDeviation(DKAPPA0);
auto pos_theta1 = spiral_curve.DeriveCartesianDeviation(THETA1);
auto pos_kappa1 = spiral_curve.DeriveCartesianDeviation(KAPPA1);
auto pos_dkappa1 = spiral_curve.DeriveCartesianDeviation(DKAPPA1);
auto pos_delta_s = spiral_curve.DeriveCartesianDeviation(DELTA_S);
// for x coordinate
// theta0
values[nz_index] += 2.0 * x_diff * (-pos_theta0.first);
++nz_index;
// kappa0
values[nz_index] += 2.0 * x_diff * (-pos_kappa0.first);
++nz_index;
// dkappa0
values[nz_index] += 2.0 * x_diff * (-pos_dkappa0.first);
++nz_index;
// x0
values[nz_index] += 2.0 * x_diff * (-1.0);
++nz_index;
// theta1
values[nz_index] += 2.0 * x_diff * (-pos_theta1.first);
++nz_index;
// kappa1
values[nz_index] += 2.0 * x_diff * (-pos_kappa1.first);
++nz_index;
// dkappa1
values[nz_index] += 2.0 * x_diff * (-pos_dkappa1.first);
++nz_index;
// x1
values[nz_index] += 2.0 * x_diff;
++nz_index;
// delta_s
values[nz_index] += 2.0 * x_diff * (-pos_delta_s.first);
++nz_index;
// for y coordinate
// theta0
values[nz_index] += 2.0 * y_diff * (-pos_theta0.second);
++nz_index;
// kappa0
values[nz_index] += 2.0 * y_diff * (-pos_kappa0.second);
++nz_index;
// dkappa0
values[nz_index] += 2.0 * y_diff * (-pos_dkappa0.second);
++nz_index;
// y0
values[nz_index] += 2.0 * y_diff * (-1.0);
++nz_index;
// theta1
values[nz_index] += 2.0 * y_diff * (-pos_theta1.second);
++nz_index;
// kappa1
values[nz_index] += 2.0 * y_diff * (-pos_kappa1.second);
++nz_index;
// dkappa1
values[nz_index] += 2.0 * y_diff * (-pos_dkappa1.second);
++nz_index;
// y1
values[nz_index] += 2.0 * y_diff;
++nz_index;
// delta_s
values[nz_index] += 2.0 * y_diff * (-pos_delta_s.second);
++nz_index;
}
for (int i = 0; i < num_of_points_; ++i) {
values[nz_index] = 2.0 * (x[i * 5 + 3] - init_points_[i].x());
++nz_index;
values[nz_index] = 2.0 * (x[i * 5 + 4] - init_points_[i].y());
++nz_index;
}
CHECK_EQ(nz_index, nele_jac);
}
return true;
}
bool SpiralProblemInterface::eval_h(int n, const double* x, bool new_x,
double obj_factor, int m,
const double* lambda, bool new_lambda,
int nele_hess, int* iRow, int* jCol,
double* values) {
ACHECK(false);
return true;
}
void SpiralProblemInterface::finalize_solution(
Ipopt::SolverReturn status, int n, const double* x, const double* z_L,
const double* z_U, int m, const double* g, const double* lambda,
double obj_value, const Ipopt::IpoptData* ip_data,
Ipopt::IpoptCalculatedQuantities* ip_cq) {
opt_theta_.reserve(num_of_points_);
opt_kappa_.reserve(num_of_points_);
opt_dkappa_.reserve(num_of_points_);
opt_x_.reserve(num_of_points_);
opt_y_.reserve(num_of_points_);
for (int i = 0; i < num_of_points_; ++i) {
int index = i * 5;
opt_theta_.push_back(x[index]);
opt_kappa_.push_back(x[index + 1]);
opt_dkappa_.push_back(x[index + 2]);
opt_x_.push_back(x[index + 3]);
opt_y_.push_back(x[index + 4]);
}
opt_s_.reserve(num_of_points_ - 1);
int variable_offset = num_of_points_ * 5;
for (int i = 0; i + 1 < num_of_points_; ++i) {
opt_s_.push_back(x[variable_offset + i]);
}
}
void SpiralProblemInterface::update_piecewise_spiral_paths(const double* x,
const int n) {
int variable_offset = num_of_points_ * 5;
for (int i = 0; i + 1 < num_of_points_; ++i) {
int index0 = i * 5;
int index1 = (i + 1) * 5;
std::array<double, 3> x0 = {x[index0], x[index0 + 1], x[index0 + 2]};
std::array<double, 3> x1 = {x[index1], x[index1 + 1], x[index1 + 2]};
double delta_s = x[variable_offset + i];
piecewise_paths_[i] =
std::move(QuinticSpiralPathWithDerivation<N>(x0, x1, delta_s));
}
}
void SpiralProblemInterface::set_default_max_point_deviation(
const double max_point_deviation) {
default_max_point_deviation_ = max_point_deviation;
}
void SpiralProblemInterface::set_start_point(const double x, const double y,
const double theta,
const double kappa,
const double dkappa) {
has_fixed_start_point_ = true;
start_x_ = x;
start_y_ = y;
start_theta_ = theta;
start_kappa_ = kappa;
start_dkappa_ = dkappa;
}
void SpiralProblemInterface::set_end_point(const double x, const double y,
const double theta,
const double kappa,
const double dkappa) {
has_fixed_end_point_ = true;
end_x_ = x;
end_y_ = y;
end_theta_ = theta;
end_kappa_ = kappa;
end_dkappa_ = dkappa;
}
void SpiralProblemInterface::set_end_point_position(const double x,
const double y) {
has_fixed_end_point_position_ = true;
end_x_ = x;
end_y_ = y;
}
void SpiralProblemInterface::set_element_weight_curve_length(
const double weight_curve_length) {
weight_curve_length_ = weight_curve_length;
}
void SpiralProblemInterface::set_element_weight_kappa(
const double weight_kappa) {
weight_kappa_ = weight_kappa;
}
void SpiralProblemInterface::set_element_weight_dkappa(
const double weight_dkappa) {
weight_dkappa_ = weight_dkappa;
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/qp_spline_reference_line_smoother_test.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file qp_spline_reference_line_smoother_test.cc
**/
#include "modules/planning/reference_line/qp_spline_reference_line_smoother.h"
#include "gtest/gtest.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/util/util.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/planning/proto/reference_line_smoother_config.pb.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/reference_line/reference_point.h"
namespace apollo {
namespace planning {
class QpSplineReferenceLineSmootherTest : public ::testing::Test {
public:
virtual void SetUp() {
config_.mutable_qp_spline()->set_spline_order(5);
smoother_.reset(new QpSplineReferenceLineSmoother(config_));
hdmap_.LoadMapFromFile(map_file);
const std::string lane_id = "1_-1";
lane_info_ptr = hdmap_.GetLaneById(hdmap::MakeMapId(lane_id));
if (!lane_info_ptr) {
AERROR << "failed to find lane " << lane_id << " from map " << map_file;
return;
}
std::vector<ReferencePoint> ref_points;
const auto& points = lane_info_ptr->points();
const auto& headings = lane_info_ptr->headings();
const auto& accumulate_s = lane_info_ptr->accumulate_s();
for (size_t i = 0; i < points.size(); ++i) {
std::vector<hdmap::LaneWaypoint> waypoint;
waypoint.emplace_back(lane_info_ptr, accumulate_s[i]);
hdmap::MapPathPoint map_path_point(points[i], headings[i], waypoint);
ref_points.emplace_back(map_path_point, 0.0, 0.0);
}
reference_line_.reset(new ReferenceLine(ref_points));
vehicle_position_ = points[0];
}
const std::string map_file =
"/apollo/modules/planning/testdata/garage_map/base_map.txt";
hdmap::HDMap hdmap_;
common::math::Vec2d vehicle_position_;
ReferenceLineSmootherConfig config_;
std::unique_ptr<ReferenceLineSmoother> smoother_;
std::unique_ptr<ReferenceLine> reference_line_;
hdmap::LaneInfoConstPtr lane_info_ptr = nullptr;
};
TEST_F(QpSplineReferenceLineSmootherTest, smooth) {
ReferenceLine smoothed_reference_line;
EXPECT_DOUBLE_EQ(153.87421245682503, reference_line_->Length());
std::vector<AnchorPoint> anchor_points;
const double interval = 10.0;
int num_of_anchors =
std::max(2, static_cast<int>(reference_line_->Length() / interval + 0.5));
std::vector<double> anchor_s;
common::util::uniform_slice(0.0, reference_line_->Length(),
num_of_anchors - 1, &anchor_s);
for (const double s : anchor_s) {
anchor_points.emplace_back();
auto& last_anchor = anchor_points.back();
auto ref_point = reference_line_->GetReferencePoint(s);
last_anchor.path_point = ref_point.ToPathPoint(s);
// TODO(All): change the longitudinal and lateral directions in code
last_anchor.lateral_bound = 2.0;
last_anchor.longitudinal_bound = 0.2;
}
anchor_points.front().longitudinal_bound = 1e-6;
anchor_points.front().lateral_bound = 1e-6;
anchor_points.back().longitudinal_bound = 1e-6;
anchor_points.back().lateral_bound = 1e-6;
smoother_->SetAnchorPoints(anchor_points);
auto start = std::chrono::system_clock::now();
EXPECT_TRUE(smoother_->Smooth(*reference_line_, &smoothed_reference_line));
auto end = std::chrono::system_clock::now();
std::chrono::duration<double> diff = end - start;
std::cout << "Time to solver is " << diff.count() << " s\n";
EXPECT_NEAR(152.5409, smoothed_reference_line.Length(), 1.0e-2);
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/spiral_reference_line_smoother.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/*
* spiral_reference_line_smoother.cc
*/
#include "modules/planning/reference_line/spiral_reference_line_smoother.h"
#include <algorithm>
#include <utility>
#include <coin/IpIpoptApplication.hpp>
#include <coin/IpSolveStatistics.hpp>
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/math/curve1d/quintic_spiral_path.h"
#include "modules/planning/reference_line/spiral_problem_interface.h"
namespace apollo {
namespace planning {
SpiralReferenceLineSmoother::SpiralReferenceLineSmoother(
const ReferenceLineSmootherConfig& config)
: ReferenceLineSmoother(config) {}
bool SpiralReferenceLineSmoother::Smooth(
const ReferenceLine& raw_reference_line,
ReferenceLine* const smoothed_reference_line) {
std::vector<double> opt_x;
std::vector<double> opt_y;
std::vector<double> opt_theta;
std::vector<double> opt_kappa;
std::vector<double> opt_dkappa;
std::vector<double> opt_s;
if (anchor_points_.empty()) {
const double piecewise_length = config_.spiral().piecewise_length();
const double length = raw_reference_line.Length();
ADEBUG << "Length = " << length;
uint32_t num_of_pieces =
std::max(1u, static_cast<uint32_t>(length / piecewise_length));
const double delta_s = length / num_of_pieces;
double s = 0.0;
std::vector<Eigen::Vector2d> raw_point2d;
for (std::uint32_t i = 0; i <= num_of_pieces;
++i, s = std::fmin(s + delta_s, length)) {
ReferencePoint rlp = raw_reference_line.GetReferencePoint(s);
raw_point2d.emplace_back(rlp.x(), rlp.y());
}
Smooth(raw_point2d, &opt_theta, &opt_kappa, &opt_dkappa, &opt_s, &opt_x,
&opt_y);
} else {
size_t start_index = 0;
for (const auto& anchor_point : anchor_points_) {
if (anchor_point.enforced) {
start_index++;
} else {
break;
}
}
std::vector<Eigen::Vector2d> raw_point2d;
if (start_index == 0) {
for (const auto& anchor_point : anchor_points_) {
raw_point2d.emplace_back(anchor_point.path_point.x(),
anchor_point.path_point.y());
}
} else {
std::vector<double> overhead_s;
for (size_t i = 0; i + 1 < start_index; ++i) {
const auto& p0 = anchor_points_[i];
const auto& p1 = anchor_points_[i + 1];
overhead_s.push_back(p1.path_point.s() - p0.path_point.s());
}
std::vector<double> overhead_theta;
std::vector<double> overhead_kappa;
std::vector<double> overhead_dkappa;
std::vector<double> overhead_x;
std::vector<double> overhead_y;
for (size_t i = 0; i < anchor_points_.size(); ++i) {
const auto& p = anchor_points_[i];
if (i + 1 < start_index) {
overhead_theta.push_back(p.path_point.theta());
overhead_kappa.push_back(p.path_point.kappa());
overhead_dkappa.push_back(p.path_point.dkappa());
overhead_x.push_back(p.path_point.x());
overhead_y.push_back(p.path_point.y());
} else {
raw_point2d.emplace_back(p.path_point.x(), p.path_point.y());
}
}
const auto& start_anchor_point = anchor_points_[start_index - 1];
fixed_start_point_ = true;
fixed_start_x_ = start_anchor_point.path_point.x();
fixed_start_y_ = start_anchor_point.path_point.y();
fixed_start_theta_ =
common::math::NormalizeAngle(start_anchor_point.path_point.theta());
fixed_start_kappa_ = start_anchor_point.path_point.kappa();
fixed_start_dkappa_ = start_anchor_point.path_point.dkappa();
const auto& end_anchor_point = anchor_points_.back();
fixed_end_x_ = end_anchor_point.path_point.x();
fixed_end_y_ = end_anchor_point.path_point.y();
Smooth(raw_point2d, &opt_theta, &opt_kappa, &opt_dkappa, &opt_s, &opt_x,
&opt_y);
opt_theta.insert(opt_theta.begin(), overhead_theta.begin(),
overhead_theta.end());
opt_kappa.insert(opt_kappa.begin(), overhead_kappa.begin(),
overhead_kappa.end());
opt_dkappa.insert(opt_dkappa.begin(), overhead_dkappa.begin(),
overhead_dkappa.end());
opt_s.insert(opt_s.begin(), overhead_s.begin(), overhead_s.end());
opt_x.insert(opt_x.begin(), overhead_x.begin(), overhead_x.end());
opt_y.insert(opt_y.begin(), overhead_y.begin(), overhead_y.end());
std::for_each(opt_x.begin(), opt_x.end(),
[this](double& x) { x += zero_x_; });
std::for_each(opt_y.begin(), opt_y.end(),
[this](double& y) { y += zero_y_; });
}
}
std::vector<common::PathPoint> smoothed_point2d =
Interpolate(opt_theta, opt_kappa, opt_dkappa, opt_s, opt_x, opt_y,
config_.resolution());
std::vector<ReferencePoint> ref_points;
for (const auto& p : smoothed_point2d) {
const double heading = p.theta();
const double kappa = p.kappa();
const double dkappa = p.dkappa();
common::SLPoint ref_sl_point;
if (!raw_reference_line.XYToSL(p, &ref_sl_point)) {
return false;
}
if (ref_sl_point.s() < 0 ||
ref_sl_point.s() > raw_reference_line.Length()) {
continue;
}
ReferencePoint rlp = raw_reference_line.GetReferencePoint(ref_sl_point.s());
ref_points.emplace_back(
ReferencePoint(hdmap::MapPathPoint(common::math::Vec2d(p.x(), p.y()),
heading, rlp.lane_waypoints()),
kappa, dkappa));
}
ReferencePoint::RemoveDuplicates(&ref_points);
if (ref_points.size() < 2) {
AERROR << "Fail to generate smoothed reference line.";
return false;
}
*smoothed_reference_line = ReferenceLine(ref_points);
return true;
}
int SpiralReferenceLineSmoother::SmoothStandAlone(
std::vector<Eigen::Vector2d> point2d, std::vector<double>* ptr_theta,
std::vector<double>* ptr_kappa, std::vector<double>* ptr_dkappa,
std::vector<double>* ptr_s, std::vector<double>* ptr_x,
std::vector<double>* ptr_y) const {
CHECK_GT(point2d.size(), 1U);
SpiralProblemInterface* ptop = new SpiralProblemInterface(point2d);
ptop->set_default_max_point_deviation(config_.spiral().max_deviation());
ptop->set_element_weight_curve_length(config_.spiral().weight_curve_length());
ptop->set_element_weight_kappa(config_.spiral().weight_kappa());
ptop->set_element_weight_dkappa(config_.spiral().weight_dkappa());
Ipopt::SmartPtr<Ipopt::TNLP> problem = ptop;
// Create an instance of the IpoptApplication
Ipopt::SmartPtr<Ipopt::IpoptApplication> app = IpoptApplicationFactory();
app->Options()->SetStringValue("hessian_approximation", "limited-memory");
app->Options()->SetIntegerValue("max_iter", config_.spiral().max_iteration());
app->Options()->SetNumericValue("tol", config_.spiral().opt_tol());
app->Options()->SetNumericValue("acceptable_tol",
config_.spiral().opt_acceptable_tol());
Ipopt::ApplicationReturnStatus status = app->Initialize();
if (status != Ipopt::Solve_Succeeded) {
ADEBUG << "*** Error during initialization!";
return -1;
}
status = app->OptimizeTNLP(problem);
if (status == Ipopt::Solve_Succeeded ||
status == Ipopt::Solved_To_Acceptable_Level) {
// Retrieve some statistics about the solve
Ipopt::Index iter_count = app->Statistics()->IterationCount();
ADEBUG << "*** The problem solved in " << iter_count << " iterations!";
Ipopt::Number final_obj = app->Statistics()->FinalObjective();
ADEBUG << "*** The final value of the objective function is " << final_obj
<< '.';
} else {
ADEBUG << "Return status: " << int(status);
}
ptop->get_optimization_results(ptr_theta, ptr_kappa, ptr_dkappa, ptr_s, ptr_x,
ptr_y);
if (!(status == Ipopt::Solve_Succeeded) &&
!(status == Ipopt::Solved_To_Acceptable_Level)) {
return -1;
}
return app->Statistics()->IterationCount();
}
bool SpiralReferenceLineSmoother::Smooth(std::vector<Eigen::Vector2d> point2d,
std::vector<double>* ptr_theta,
std::vector<double>* ptr_kappa,
std::vector<double>* ptr_dkappa,
std::vector<double>* ptr_s,
std::vector<double>* ptr_x,
std::vector<double>* ptr_y) const {
CHECK_GT(point2d.size(), 1U);
SpiralProblemInterface* ptop = new SpiralProblemInterface(point2d);
ptop->set_default_max_point_deviation(config_.spiral().max_deviation());
if (fixed_start_point_) {
ptop->set_start_point(fixed_start_x_, fixed_start_y_, fixed_start_theta_,
fixed_start_kappa_, fixed_start_dkappa_);
}
ptop->set_end_point_position(fixed_end_x_, fixed_end_y_);
ptop->set_element_weight_curve_length(config_.spiral().weight_curve_length());
ptop->set_element_weight_kappa(config_.spiral().weight_kappa());
ptop->set_element_weight_dkappa(config_.spiral().weight_dkappa());
Ipopt::SmartPtr<Ipopt::TNLP> problem = ptop;
// Create an instance of the IpoptApplication
Ipopt::SmartPtr<Ipopt::IpoptApplication> app = IpoptApplicationFactory();
app->Options()->SetStringValue("hessian_approximation", "limited-memory");
app->Options()->SetIntegerValue("print_level", 0);
app->Options()->SetIntegerValue("max_iter", config_.spiral().max_iteration());
app->Options()->SetIntegerValue("acceptable_iter",
config_.spiral().opt_acceptable_iteration());
app->Options()->SetNumericValue("tol", config_.spiral().opt_tol());
app->Options()->SetNumericValue("acceptable_tol",
config_.spiral().opt_acceptable_tol());
Ipopt::ApplicationReturnStatus status = app->Initialize();
if (status != Ipopt::Solve_Succeeded) {
ADEBUG << "*** Error during initialization!";
return false;
}
status = app->OptimizeTNLP(problem);
if (status == Ipopt::Solve_Succeeded ||
status == Ipopt::Solved_To_Acceptable_Level) {
// Retrieve some statistics about the solve
Ipopt::Index iter_count = app->Statistics()->IterationCount();
ADEBUG << "*** The problem solved in " << iter_count << " iterations!";
Ipopt::Number final_obj = app->Statistics()->FinalObjective();
ADEBUG << "*** The final value of the objective function is " << final_obj
<< '.';
} else {
ADEBUG << "Return status: " << int(status);
}
ptop->get_optimization_results(ptr_theta, ptr_kappa, ptr_dkappa, ptr_s, ptr_x,
ptr_y);
return status == Ipopt::Solve_Succeeded ||
status == Ipopt::Solved_To_Acceptable_Level;
}
std::vector<common::PathPoint> SpiralReferenceLineSmoother::Interpolate(
const std::vector<double>& theta, const std::vector<double>& kappa,
const std::vector<double>& dkappa, const std::vector<double>& s,
const std::vector<double>& x, const std::vector<double>& y,
const double resolution) const {
std::vector<common::PathPoint> smoothed_point2d;
double start_s = 0.0;
common::PathPoint first_point =
to_path_point(x.front(), y.front(), start_s, theta.front(), kappa.front(),
dkappa.front());
smoothed_point2d.push_back(first_point);
for (size_t i = 0; i + 1 < theta.size(); ++i) {
double start_x = x[i];
double start_y = y[i];
auto path_point_seg = Interpolate(
start_x, start_y, start_s, theta[i], kappa[i], dkappa[i], theta[i + 1],
kappa[i + 1], dkappa[i + 1], s[i], resolution);
smoothed_point2d.insert(smoothed_point2d.end(), path_point_seg.begin(),
path_point_seg.end());
start_s = smoothed_point2d.back().s();
}
return smoothed_point2d;
}
std::vector<common::PathPoint> SpiralReferenceLineSmoother::Interpolate(
const double start_x, const double start_y, const double start_s,
const double theta0, const double kappa0, const double dkappa0,
const double theta1, const double kappa1, const double dkappa1,
const double delta_s, const double resolution) const {
std::vector<common::PathPoint> path_points;
const auto angle_diff = common::math::AngleDiff(theta0, theta1);
QuinticSpiralPath spiral_curve(theta0, kappa0, dkappa0, theta0 + angle_diff,
kappa1, dkappa1, delta_s);
size_t num_of_points =
static_cast<size_t>(std::ceil(delta_s / resolution) + 1);
for (size_t i = 1; i <= num_of_points; ++i) {
const double inter_s =
delta_s / static_cast<double>(num_of_points) * static_cast<double>(i);
const double dx = spiral_curve.ComputeCartesianDeviationX<10>(inter_s);
const double dy = spiral_curve.ComputeCartesianDeviationY<10>(inter_s);
const double theta =
common::math::NormalizeAngle(spiral_curve.Evaluate(0, inter_s));
const double kappa = spiral_curve.Evaluate(1, inter_s);
const double dkappa = spiral_curve.Evaluate(2, inter_s);
auto path_point = to_path_point(start_x + dx, start_y + dy,
start_s + inter_s, theta, kappa, dkappa);
path_points.push_back(std::move(path_point));
}
return path_points;
}
common::PathPoint SpiralReferenceLineSmoother::to_path_point(
const double x, const double y, const double s, const double theta,
const double kappa, const double dkappa) const {
common::PathPoint point;
point.set_x(x);
point.set_y(y);
point.set_s(s);
point.set_theta(theta);
point.set_kappa(kappa);
point.set_dkappa(dkappa);
return point;
}
void SpiralReferenceLineSmoother::SetAnchorPoints(
const std::vector<AnchorPoint>& anchor_points) {
anchor_points_ = std::move(anchor_points);
CHECK_GT(anchor_points_.size(), 1U);
zero_x_ = anchor_points_.front().path_point.x();
zero_y_ = anchor_points_.front().path_point.y();
std::for_each(anchor_points_.begin(), anchor_points_.end(),
[this](AnchorPoint& p) {
auto curr_x = p.path_point.x();
auto curr_y = p.path_point.y();
p.path_point.set_x(curr_x - zero_x_);
p.path_point.set_y(curr_y - zero_y_);
});
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/reference_line.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/reference_line/reference_line.h"
#include <algorithm>
#include <limits>
#include <unordered_set>
#include "absl/strings/str_cat.h"
#include "absl/strings/str_join.h"
#include "boost/math/tools/minima.hpp"
#include "cyber/common/log.h"
#include "modules/common/math/angle.h"
#include "modules/common/math/cartesian_frenet_conversion.h"
#include "modules/common/math/linear_interpolation.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/util/map_util.h"
#include "modules/common/util/string_util.h"
#include "modules/common/util/util.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
using MapPath = hdmap::Path;
using apollo::common::SLPoint;
using apollo::common::math::CartesianFrenetConverter;
using apollo::common::math::Vec2d;
using apollo::common::util::DistanceXY;
using apollo::hdmap::InterpolatedIndex;
ReferenceLine::ReferenceLine(
const std::vector<ReferencePoint>& reference_points)
: reference_points_(reference_points),
map_path_(std::move(std::vector<hdmap::MapPathPoint>(
reference_points.begin(), reference_points.end()))) {
CHECK_EQ(static_cast<size_t>(map_path_.num_points()),
reference_points_.size());
}
ReferenceLine::ReferenceLine(const MapPath& hdmap_path)
: map_path_(hdmap_path) {
for (const auto& point : hdmap_path.path_points()) {
DCHECK(!point.lane_waypoints().empty());
const auto& lane_waypoint = point.lane_waypoints()[0];
reference_points_.emplace_back(
hdmap::MapPathPoint(point, point.heading(), lane_waypoint), 0.0, 0.0);
}
CHECK_EQ(static_cast<size_t>(map_path_.num_points()),
reference_points_.size());
}
bool ReferenceLine::Stitch(const ReferenceLine& other) {
if (other.reference_points().empty()) {
AWARN << "The other reference line is empty.";
return true;
}
auto first_point = reference_points_.front();
common::SLPoint first_sl;
if (!other.XYToSL(first_point, &first_sl)) {
AWARN << "Failed to project the first point to the other reference line.";
return false;
}
bool first_join = first_sl.s() > 0 && first_sl.s() < other.Length();
auto last_point = reference_points_.back();
common::SLPoint last_sl;
if (!other.XYToSL(last_point, &last_sl)) {
AWARN << "Failed to project the last point to the other reference line.";
return false;
}
bool last_join = last_sl.s() > 0 && last_sl.s() < other.Length();
if (!first_join && !last_join) {
AERROR << "These reference lines are not connected.";
return false;
}
const auto& accumulated_s = other.map_path().accumulated_s();
const auto& other_points = other.reference_points();
auto lower = accumulated_s.begin();
static constexpr double kStitchingError = 1e-1;
if (first_join) {
if (first_sl.l() > kStitchingError) {
AERROR << "lateral stitching error on first join of reference line too "
"big, stitching fails";
return false;
}
lower = std::lower_bound(accumulated_s.begin(), accumulated_s.end(),
first_sl.s());
size_t start_i = std::distance(accumulated_s.begin(), lower);
reference_points_.insert(reference_points_.begin(), other_points.begin(),
other_points.begin() + start_i);
}
if (last_join) {
if (last_sl.l() > kStitchingError) {
AERROR << "lateral stitching error on first join of reference line too "
"big, stitching fails";
return false;
}
auto upper = std::upper_bound(lower, accumulated_s.end(), last_sl.s());
auto end_i = std::distance(accumulated_s.begin(), upper);
reference_points_.insert(reference_points_.end(),
other_points.begin() + end_i, other_points.end());
}
map_path_ = MapPath(std::move(std::vector<hdmap::MapPathPoint>(
reference_points_.begin(), reference_points_.end())));
return true;
}
ReferencePoint ReferenceLine::GetNearestReferencePoint(
const common::math::Vec2d& xy) const {
double min_dist = std::numeric_limits<double>::max();
size_t min_index = 0;
for (size_t i = 0; i < reference_points_.size(); ++i) {
const double distance = DistanceXY(xy, reference_points_[i]);
if (distance < min_dist) {
min_dist = distance;
min_index = i;
}
}
return reference_points_[min_index];
}
bool ReferenceLine::Segment(const common::math::Vec2d& point,
const double look_backward,
const double look_forward) {
common::SLPoint sl;
if (!XYToSL(point, &sl)) {
AERROR << "Failed to project point: " << point.DebugString();
return false;
}
return Segment(sl.s(), look_backward, look_forward);
}
bool ReferenceLine::Segment(const double s, const double look_backward,
const double look_forward) {
const auto& accumulated_s = map_path_.accumulated_s();
// inclusive
auto start_index =
std::distance(accumulated_s.begin(),
std::lower_bound(accumulated_s.begin(), accumulated_s.end(),
s - look_backward));
// exclusive
auto end_index =
std::distance(accumulated_s.begin(),
std::upper_bound(accumulated_s.begin(), accumulated_s.end(),
s + look_forward));
if (end_index - start_index < 2) {
AERROR << "Too few reference points after shrinking.";
return false;
}
reference_points_ =
std::vector<ReferencePoint>(reference_points_.begin() + start_index,
reference_points_.begin() + end_index);
map_path_ = MapPath(std::vector<hdmap::MapPathPoint>(
reference_points_.begin(), reference_points_.end()));
return true;
}
common::FrenetFramePoint ReferenceLine::GetFrenetPoint(
const common::PathPoint& path_point) const {
if (reference_points_.empty()) {
return common::FrenetFramePoint();
}
common::SLPoint sl_point;
XYToSL(path_point, &sl_point);
common::FrenetFramePoint frenet_frame_point;
frenet_frame_point.set_s(sl_point.s());
frenet_frame_point.set_l(sl_point.l());
const double theta = path_point.theta();
const double kappa = path_point.kappa();
const double l = frenet_frame_point.l();
ReferencePoint ref_point = GetReferencePoint(frenet_frame_point.s());
const double theta_ref = ref_point.heading();
const double kappa_ref = ref_point.kappa();
const double dkappa_ref = ref_point.dkappa();
const double dl = CartesianFrenetConverter::CalculateLateralDerivative(
theta_ref, theta, l, kappa_ref);
const double ddl =
CartesianFrenetConverter::CalculateSecondOrderLateralDerivative(
theta_ref, theta, kappa_ref, kappa, dkappa_ref, l);
frenet_frame_point.set_dl(dl);
frenet_frame_point.set_ddl(ddl);
return frenet_frame_point;
}
std::pair<std::array<double, 3>, std::array<double, 3>>
ReferenceLine::ToFrenetFrame(const common::TrajectoryPoint& traj_point) const {
ACHECK(!reference_points_.empty());
common::SLPoint sl_point;
XYToSL(traj_point.path_point(), &sl_point);
std::array<double, 3> s_condition;
std::array<double, 3> l_condition;
ReferencePoint ref_point = GetReferencePoint(sl_point.s());
CartesianFrenetConverter::cartesian_to_frenet(
sl_point.s(), ref_point.x(), ref_point.y(), ref_point.heading(),
ref_point.kappa(), ref_point.dkappa(), traj_point.path_point().x(),
traj_point.path_point().y(), traj_point.v(), traj_point.a(),
traj_point.path_point().theta(), traj_point.path_point().kappa(),
&s_condition, &l_condition);
return std::make_pair(s_condition, l_condition);
}
ReferencePoint ReferenceLine::GetNearestReferencePoint(const double s) const {
const auto& accumulated_s = map_path_.accumulated_s();
if (s < accumulated_s.front() - 1e-2) {
AWARN << "The requested s: " << s << " < 0.";
return reference_points_.front();
}
if (s > accumulated_s.back() + 1e-2) {
AWARN << "The requested s: " << s
<< " > reference line length: " << accumulated_s.back();
return reference_points_.back();
}
auto it_lower =
std::lower_bound(accumulated_s.begin(), accumulated_s.end(), s);
if (it_lower == accumulated_s.begin()) {
return reference_points_.front();
}
auto index = std::distance(accumulated_s.begin(), it_lower);
if (std::fabs(accumulated_s[index - 1] - s) <
std::fabs(accumulated_s[index] - s)) {
return reference_points_[index - 1];
}
return reference_points_[index];
}
size_t ReferenceLine::GetNearestReferenceIndex(const double s) const {
const auto& accumulated_s = map_path_.accumulated_s();
if (s < accumulated_s.front() - 1e-2) {
AWARN << "The requested s: " << s << " < 0.";
return 0;
}
if (s > accumulated_s.back() + 1e-2) {
AWARN << "The requested s: " << s << " > reference line length "
<< accumulated_s.back();
return reference_points_.size() - 1;
}
auto it_lower =
std::lower_bound(accumulated_s.begin(), accumulated_s.end(), s);
return std::distance(accumulated_s.begin(), it_lower);
}
std::vector<ReferencePoint> ReferenceLine::GetReferencePoints(
double start_s, double end_s) const {
if (start_s < 0.0) {
start_s = 0.0;
}
if (end_s > Length()) {
end_s = Length();
}
std::vector<ReferencePoint> ref_points;
auto start_index = GetNearestReferenceIndex(start_s);
auto end_index = GetNearestReferenceIndex(end_s);
if (start_index < end_index) {
ref_points.assign(reference_points_.begin() + start_index,
reference_points_.begin() + end_index);
}
return ref_points;
}
ReferencePoint ReferenceLine::GetReferencePoint(const double s) const {
const auto& accumulated_s = map_path_.accumulated_s();
if (s < accumulated_s.front() - 1e-2) {
AWARN << "The requested s: " << s << " < 0.";
return reference_points_.front();
}
if (s > accumulated_s.back() + 1e-2) {
AWARN << "The requested s: " << s
<< " > reference line length: " << accumulated_s.back();
return reference_points_.back();
}
auto interpolate_index = map_path_.GetIndexFromS(s);
size_t index = interpolate_index.id;
size_t next_index = index + 1;
if (next_index >= reference_points_.size()) {
next_index = reference_points_.size() - 1;
}
const auto& p0 = reference_points_[index];
const auto& p1 = reference_points_[next_index];
const double s0 = accumulated_s[index];
const double s1 = accumulated_s[next_index];
return InterpolateWithMatchedIndex(p0, s0, p1, s1, interpolate_index);
}
double ReferenceLine::FindMinDistancePoint(const ReferencePoint& p0,
const double s0,
const ReferencePoint& p1,
const double s1, const double x,
const double y) {
auto func_dist_square = [&p0, &p1, &s0, &s1, &x, &y](const double s) {
auto p = Interpolate(p0, s0, p1, s1, s);
double dx = p.x() - x;
double dy = p.y() - y;
return dx * dx + dy * dy;
};
return ::boost::math::tools::brent_find_minima(func_dist_square, s0, s1, 8)
.first;
}
ReferencePoint ReferenceLine::GetReferencePoint(const double x,
const double y) const {
CHECK_GE(reference_points_.size(), 0U);
auto func_distance_square = [](const ReferencePoint& point, const double x,
const double y) {
double dx = point.x() - x;
double dy = point.y() - y;
return dx * dx + dy * dy;
};
double d_min = func_distance_square(reference_points_.front(), x, y);
size_t index_min = 0;
for (size_t i = 1; i < reference_points_.size(); ++i) {
double d_temp = func_distance_square(reference_points_[i], x, y);
if (d_temp < d_min) {
d_min = d_temp;
index_min = i;
}
}
size_t index_start = index_min == 0 ? index_min : index_min - 1;
size_t index_end =
index_min + 1 == reference_points_.size() ? index_min : index_min + 1;
if (index_start == index_end) {
return reference_points_[index_start];
}
double s0 = map_path_.accumulated_s()[index_start];
double s1 = map_path_.accumulated_s()[index_end];
double s = ReferenceLine::FindMinDistancePoint(
reference_points_[index_start], s0, reference_points_[index_end], s1, x,
y);
return Interpolate(reference_points_[index_start], s0,
reference_points_[index_end], s1, s);
}
bool ReferenceLine::SLToXY(const SLPoint& sl_point,
common::math::Vec2d* const xy_point) const {
if (map_path_.num_points() < 2) {
AERROR << "The reference line has too few points.";
return false;
}
const auto matched_point = GetReferencePoint(sl_point.s());
const auto angle = common::math::Angle16::from_rad(matched_point.heading());
xy_point->set_x(matched_point.x() - common::math::sin(angle) * sl_point.l());
xy_point->set_y(matched_point.y() + common::math::cos(angle) * sl_point.l());
return true;
}
bool ReferenceLine::XYToSL(const common::math::Vec2d& xy_point,
SLPoint* const sl_point) const {
double s = 0.0;
double l = 0.0;
if (!map_path_.GetProjection(xy_point, &s, &l)) {
AERROR << "Cannot get nearest point from path.";
return false;
}
sl_point->set_s(s);
sl_point->set_l(l);
return true;
}
ReferencePoint ReferenceLine::InterpolateWithMatchedIndex(
const ReferencePoint& p0, const double s0, const ReferencePoint& p1,
const double s1, const InterpolatedIndex& index) const {
if (std::fabs(s0 - s1) < common::math::kMathEpsilon) {
return p0;
}
double s = s0 + index.offset;
DCHECK_LE(s0 - 1.0e-6, s) << "s: " << s << " is less than s0 : " << s0;
DCHECK_LE(s, s1 + 1.0e-6) << "s: " << s << " is larger than s1: " << s1;
auto map_path_point = map_path_.GetSmoothPoint(index);
const double kappa = common::math::lerp(p0.kappa(), s0, p1.kappa(), s1, s);
const double dkappa = common::math::lerp(p0.dkappa(), s0, p1.dkappa(), s1, s);
return ReferencePoint(map_path_point, kappa, dkappa);
}
ReferencePoint ReferenceLine::Interpolate(const ReferencePoint& p0,
const double s0,
const ReferencePoint& p1,
const double s1, const double s) {
if (std::fabs(s0 - s1) < common::math::kMathEpsilon) {
return p0;
}
DCHECK_LE(s0 - 1.0e-6, s) << " s: " << s << " is less than s0 :" << s0;
DCHECK_LE(s, s1 + 1.0e-6) << "s: " << s << " is larger than s1: " << s1;
const double x = common::math::lerp(p0.x(), s0, p1.x(), s1, s);
const double y = common::math::lerp(p0.y(), s0, p1.y(), s1, s);
const double heading =
common::math::slerp(p0.heading(), s0, p1.heading(), s1, s);
const double kappa = common::math::lerp(p0.kappa(), s0, p1.kappa(), s1, s);
const double dkappa = common::math::lerp(p0.dkappa(), s0, p1.dkappa(), s1, s);
std::vector<hdmap::LaneWaypoint> waypoints;
if (!p0.lane_waypoints().empty() && !p1.lane_waypoints().empty()) {
const auto& p0_waypoint = p0.lane_waypoints()[0];
if ((s - s0) + p0_waypoint.s <= p0_waypoint.lane->total_length()) {
const double lane_s = p0_waypoint.s + s - s0;
waypoints.emplace_back(p0_waypoint.lane, lane_s);
}
const auto& p1_waypoint = p1.lane_waypoints()[0];
if (p1_waypoint.lane->id().id() != p0_waypoint.lane->id().id() &&
p1_waypoint.s - (s1 - s) >= 0) {
const double lane_s = p1_waypoint.s - (s1 - s);
waypoints.emplace_back(p1_waypoint.lane, lane_s);
}
if (waypoints.empty()) {
const double lane_s = p0_waypoint.s;
waypoints.emplace_back(p0_waypoint.lane, lane_s);
}
}
return ReferencePoint(hdmap::MapPathPoint({x, y}, heading, waypoints), kappa,
dkappa);
}
const std::vector<ReferencePoint>& ReferenceLine::reference_points() const {
return reference_points_;
}
const MapPath& ReferenceLine::map_path() const { return map_path_; }
bool ReferenceLine::GetLaneWidth(const double s, double* const lane_left_width,
double* const lane_right_width) const {
if (map_path_.path_points().empty()) {
return false;
}
if (!map_path_.GetLaneWidth(s, lane_left_width, lane_right_width)) {
return false;
}
return true;
}
bool ReferenceLine::GetOffsetToMap(const double s, double* l_offset) const {
if (map_path_.path_points().empty()) {
return false;
}
auto ref_point = GetNearestReferencePoint(s);
if (ref_point.lane_waypoints().empty()) {
return false;
}
*l_offset = ref_point.lane_waypoints().front().l;
return true;
}
bool ReferenceLine::GetRoadWidth(const double s, double* const road_left_width,
double* const road_right_width) const {
if (map_path_.path_points().empty()) {
return false;
}
return map_path_.GetRoadWidth(s, road_left_width, road_right_width);
}
hdmap::Road::Type ReferenceLine::GetRoadType(const double s) const {
const hdmap::HDMap* hdmap = hdmap::HDMapUtil::BaseMapPtr();
CHECK_NOTNULL(hdmap);
hdmap::Road::Type road_type = hdmap::Road::UNKNOWN;
SLPoint sl_point;
sl_point.set_s(s);
sl_point.set_l(0.0);
common::math::Vec2d pt;
SLToXY(sl_point, &pt);
common::PointENU point;
point.set_x(pt.x());
point.set_y(pt.y());
point.set_z(0.0);
std::vector<hdmap::RoadInfoConstPtr> roads;
hdmap->GetRoads(point, 4.0, &roads);
for (auto road : roads) {
if (road->type() != hdmap::Road::UNKNOWN) {
road_type = road->type();
break;
}
}
return road_type;
}
void ReferenceLine::GetLaneFromS(
const double s, std::vector<hdmap::LaneInfoConstPtr>* lanes) const {
CHECK_NOTNULL(lanes);
auto ref_point = GetReferencePoint(s);
std::unordered_set<hdmap::LaneInfoConstPtr> lane_set;
for (const auto& lane_waypoint : ref_point.lane_waypoints()) {
if (common::util::InsertIfNotPresent(&lane_set, lane_waypoint.lane)) {
lanes->push_back(lane_waypoint.lane);
}
}
}
double ReferenceLine::GetDrivingWidth(const SLBoundary& sl_boundary) const {
double lane_left_width = 0.0;
double lane_right_width = 0.0;
GetLaneWidth(sl_boundary.start_s(), &lane_left_width, &lane_right_width);
double driving_width = std::max(lane_left_width - sl_boundary.end_l(),
lane_right_width + sl_boundary.start_l());
driving_width = std::min(lane_left_width + lane_right_width, driving_width);
ADEBUG << "Driving width [" << driving_width << "].";
return driving_width;
}
bool ReferenceLine::IsOnLane(const common::math::Vec2d& vec2d_point) const {
common::SLPoint sl_point;
if (!XYToSL(vec2d_point, &sl_point)) {
return false;
}
return IsOnLane(sl_point);
}
bool ReferenceLine::IsOnLane(const SLBoundary& sl_boundary) const {
if (sl_boundary.end_s() < 0 || sl_boundary.start_s() > Length()) {
return false;
}
double middle_s = (sl_boundary.start_s() + sl_boundary.end_s()) / 2.0;
double lane_left_width = 0.0;
double lane_right_width = 0.0;
map_path_.GetLaneWidth(middle_s, &lane_left_width, &lane_right_width);
return sl_boundary.start_l() <= lane_left_width &&
sl_boundary.end_l() >= -lane_right_width;
}
bool ReferenceLine::IsOnLane(const SLPoint& sl_point) const {
if (sl_point.s() <= 0 || sl_point.s() > map_path_.length()) {
return false;
}
double left_width = 0.0;
double right_width = 0.0;
if (!GetLaneWidth(sl_point.s(), &left_width, &right_width)) {
return false;
}
return sl_point.l() >= -right_width && sl_point.l() <= left_width;
}
bool ReferenceLine::IsBlockRoad(const common::math::Box2d& box2d,
double gap) const {
return map_path_.OverlapWith(box2d, gap);
}
bool ReferenceLine::IsOnRoad(const common::math::Vec2d& vec2d_point) const {
common::SLPoint sl_point;
return XYToSL(vec2d_point, &sl_point) && IsOnRoad(sl_point);
}
bool ReferenceLine::IsOnRoad(const SLBoundary& sl_boundary) const {
if (sl_boundary.end_s() < 0 || sl_boundary.start_s() > Length()) {
return false;
}
double middle_s = (sl_boundary.start_s() + sl_boundary.end_s()) / 2.0;
double road_left_width = 0.0;
double road_right_width = 0.0;
map_path_.GetRoadWidth(middle_s, &road_left_width, &road_right_width);
return sl_boundary.start_l() <= road_left_width &&
sl_boundary.end_l() >= -road_right_width;
}
bool ReferenceLine::IsOnRoad(const SLPoint& sl_point) const {
if (sl_point.s() <= 0 || sl_point.s() > map_path_.length()) {
return false;
}
double road_left_width = 0.0;
double road_right_width = 0.0;
if (!GetRoadWidth(sl_point.s(), &road_left_width, &road_right_width)) {
return false;
}
return sl_point.l() >= -road_right_width && sl_point.l() <= road_left_width;
}
// Return a rough approximated SLBoundary using box length. It is guaranteed to
// be larger than the accurate SL boundary.
bool ReferenceLine::GetApproximateSLBoundary(
const common::math::Box2d& box, const double start_s, const double end_s,
SLBoundary* const sl_boundary) const {
double s = 0.0;
double l = 0.0;
double distance = 0.0;
if (!map_path_.GetProjectionWithHueristicParams(box.center(), start_s, end_s,
&s, &l, &distance)) {
AERROR << "Cannot get projection point from path.";
return false;
}
auto projected_point = map_path_.GetSmoothPoint(s);
auto rotated_box = box;
rotated_box.RotateFromCenter(-projected_point.heading());
std::vector<common::math::Vec2d> corners;
rotated_box.GetAllCorners(&corners);
double min_s(std::numeric_limits<double>::max());
double max_s(std::numeric_limits<double>::lowest());
double min_l(std::numeric_limits<double>::max());
double max_l(std::numeric_limits<double>::lowest());
for (const auto& point : corners) {
// x <--> s, y <--> l
// Because the box is rotated to align the reference line
min_s = std::fmin(min_s, point.x() - rotated_box.center().x() + s);
max_s = std::fmax(max_s, point.x() - rotated_box.center().x() + s);
min_l = std::fmin(min_l, point.y() - rotated_box.center().y() + l);
max_l = std::fmax(max_l, point.y() - rotated_box.center().y() + l);
}
sl_boundary->set_start_s(min_s);
sl_boundary->set_end_s(max_s);
sl_boundary->set_start_l(min_l);
sl_boundary->set_end_l(max_l);
return true;
}
bool ReferenceLine::GetSLBoundary(const common::math::Box2d& box,
SLBoundary* const sl_boundary) const {
double start_s(std::numeric_limits<double>::max());
double end_s(std::numeric_limits<double>::lowest());
double start_l(std::numeric_limits<double>::max());
double end_l(std::numeric_limits<double>::lowest());
std::vector<common::math::Vec2d> corners;
box.GetAllCorners(&corners);
// The order must be counter-clockwise
std::vector<SLPoint> sl_corners;
for (const auto& point : corners) {
SLPoint sl_point;
if (!XYToSL(point, &sl_point)) {
AERROR << "Failed to get projection for point: " << point.DebugString()
<< " on reference line.";
return false;
}
sl_corners.push_back(std::move(sl_point));
}
for (size_t i = 0; i < corners.size(); ++i) {
auto index0 = i;
auto index1 = (i + 1) % corners.size();
const auto& p0 = corners[index0];
const auto& p1 = corners[index1];
const auto p_mid = (p0 + p1) * 0.5;
SLPoint sl_point_mid;
if (!XYToSL(p_mid, &sl_point_mid)) {
AERROR << "Failed to get projection for point: " << p_mid.DebugString()
<< " on reference line.";
return false;
}
Vec2d v0(sl_corners[index1].s() - sl_corners[index0].s(),
sl_corners[index1].l() - sl_corners[index0].l());
Vec2d v1(sl_point_mid.s() - sl_corners[index0].s(),
sl_point_mid.l() - sl_corners[index0].l());
*sl_boundary->add_boundary_point() = sl_corners[index0];
// sl_point is outside of polygon; add to the vertex list
if (v0.CrossProd(v1) < 0.0) {
*sl_boundary->add_boundary_point() = sl_point_mid;
}
}
for (const auto& sl_point : sl_boundary->boundary_point()) {
start_s = std::fmin(start_s, sl_point.s());
end_s = std::fmax(end_s, sl_point.s());
start_l = std::fmin(start_l, sl_point.l());
end_l = std::fmax(end_l, sl_point.l());
}
sl_boundary->set_start_s(start_s);
sl_boundary->set_end_s(end_s);
sl_boundary->set_start_l(start_l);
sl_boundary->set_end_l(end_l);
return true;
}
std::vector<hdmap::LaneSegment> ReferenceLine::GetLaneSegments(
const double start_s, const double end_s) const {
return map_path_.GetLaneSegments(start_s, end_s);
}
bool ReferenceLine::GetSLBoundary(const hdmap::Polygon& polygon,
SLBoundary* const sl_boundary) const {
double start_s(std::numeric_limits<double>::max());
double end_s(std::numeric_limits<double>::lowest());
double start_l(std::numeric_limits<double>::max());
double end_l(std::numeric_limits<double>::lowest());
for (const auto& point : polygon.point()) {
SLPoint sl_point;
if (!XYToSL(point, &sl_point)) {
AERROR << "Failed to get projection for point: " << point.DebugString()
<< " on reference line.";
return false;
}
start_s = std::fmin(start_s, sl_point.s());
end_s = std::fmax(end_s, sl_point.s());
start_l = std::fmin(start_l, sl_point.l());
end_l = std::fmax(end_l, sl_point.l());
}
sl_boundary->set_start_s(start_s);
sl_boundary->set_end_s(end_s);
sl_boundary->set_start_l(start_l);
sl_boundary->set_end_l(end_l);
return true;
}
bool ReferenceLine::HasOverlap(const common::math::Box2d& box) const {
SLBoundary sl_boundary;
if (!GetSLBoundary(box, &sl_boundary)) {
AERROR << "Failed to get sl boundary for box: " << box.DebugString();
return false;
}
if (sl_boundary.end_s() < 0 || sl_boundary.start_s() > Length()) {
return false;
}
if (sl_boundary.start_l() * sl_boundary.end_l() < 0) {
return false;
}
double lane_left_width = 0.0;
double lane_right_width = 0.0;
const double mid_s = (sl_boundary.start_s() + sl_boundary.end_s()) / 2.0;
if (mid_s < 0 || mid_s > Length()) {
ADEBUG << "ref_s is out of range: " << mid_s;
return false;
}
if (!map_path_.GetLaneWidth(mid_s, &lane_left_width, &lane_right_width)) {
AERROR << "Failed to get width at s = " << mid_s;
return false;
}
if (sl_boundary.start_l() > 0) {
return sl_boundary.start_l() < lane_left_width;
} else {
return sl_boundary.end_l() > -lane_right_width;
}
}
std::string ReferenceLine::DebugString() const {
const auto limit =
std::min(reference_points_.size(),
static_cast<size_t>(FLAGS_trajectory_point_num_for_debug));
return absl::StrCat(
"point num:", reference_points_.size(),
absl::StrJoin(reference_points_.begin(),
reference_points_.begin() + limit, "",
apollo::common::util::DebugStringFormatter()));
}
double ReferenceLine::GetSpeedLimitFromS(const double s) const {
for (const auto& speed_limit : speed_limit_) {
if (s >= speed_limit.start_s && s <= speed_limit.end_s) {
return speed_limit.speed_limit;
}
}
const auto& map_path_point = GetReferencePoint(s);
double speed_limit = FLAGS_planning_upper_speed_limit;
bool speed_limit_found = false;
for (const auto& lane_waypoint : map_path_point.lane_waypoints()) {
if (lane_waypoint.lane == nullptr) {
AWARN << "lane_waypoint.lane is nullptr.";
continue;
}
speed_limit_found = true;
speed_limit =
std::fmin(lane_waypoint.lane->lane().speed_limit(), speed_limit);
}
if (!speed_limit_found) {
// use default speed limit based on road_type
speed_limit = FLAGS_default_city_road_speed_limit;
hdmap::Road::Type road_type = GetRoadType(s);
if (road_type == hdmap::Road::HIGHWAY) {
speed_limit = FLAGS_default_highway_speed_limit;
}
}
return speed_limit;
}
void ReferenceLine::AddSpeedLimit(double start_s, double end_s,
double speed_limit) {
std::vector<SpeedLimit> new_speed_limit;
for (const auto& limit : speed_limit_) {
if (start_s >= limit.end_s || end_s <= limit.start_s) {
new_speed_limit.emplace_back(limit);
} else {
// start_s < speed_limit.end_s && end_s > speed_limit.start_s
double min_speed = std::min(limit.speed_limit, speed_limit);
if (start_s >= limit.start_s) {
new_speed_limit.emplace_back(limit.start_s, start_s, min_speed);
if (end_s <= limit.end_s) {
new_speed_limit.emplace_back(start_s, end_s, min_speed);
new_speed_limit.emplace_back(end_s, limit.end_s, limit.speed_limit);
} else {
new_speed_limit.emplace_back(start_s, limit.end_s, min_speed);
}
} else {
new_speed_limit.emplace_back(start_s, limit.start_s, speed_limit);
if (end_s <= limit.end_s) {
new_speed_limit.emplace_back(limit.start_s, end_s, min_speed);
new_speed_limit.emplace_back(end_s, limit.end_s, limit.speed_limit);
} else {
new_speed_limit.emplace_back(limit.start_s, limit.end_s, min_speed);
}
}
start_s = limit.end_s;
end_s = std::max(end_s, limit.end_s);
}
}
speed_limit_.clear();
if (end_s > start_s) {
new_speed_limit.emplace_back(start_s, end_s, speed_limit);
}
for (const auto& limit : new_speed_limit) {
if (limit.start_s < limit.end_s) {
speed_limit_.emplace_back(limit);
}
}
std::sort(speed_limit_.begin(), speed_limit_.end(),
[](const SpeedLimit& a, const SpeedLimit& b) {
if (a.start_s != b.start_s) {
return a.start_s < b.start_s;
}
if (a.end_s != b.end_s) {
return a.end_s < b.end_s;
}
return a.speed_limit < b.speed_limit;
});
}
} // namespace planning
} // namespace apollo
| 0 |
apollo_public_repos/apollo/modules/planning | apollo_public_repos/apollo/modules/planning/reference_line/reference_point.cc | /******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file reference_point.cc
**/
#include "modules/planning/reference_line/reference_point.h"
#include "absl/strings/str_cat.h"
#include "modules/common/util/point_factory.h"
namespace apollo {
namespace planning {
namespace {
// Minimum distance to remove duplicated points.
const double kDuplicatedPointsEpsilon = 1e-7;
} // namespace
ReferencePoint::ReferencePoint(const MapPathPoint& map_path_point,
const double kappa, const double dkappa)
: hdmap::MapPathPoint(map_path_point), kappa_(kappa), dkappa_(dkappa) {}
common::PathPoint ReferencePoint::ToPathPoint(double s) const {
return common::util::PointFactory::ToPathPoint(x(), y(), 0.0, s, heading(),
kappa_, dkappa_);
}
double ReferencePoint::kappa() const { return kappa_; }
double ReferencePoint::dkappa() const { return dkappa_; }
std::string ReferencePoint::DebugString() const {
return absl::StrCat("{x: ", x(), ", y: ", y(), ", theta: ", heading(),
", kappa: ", kappa(), ", dkappa: ", dkappa(), "}");
}
void ReferencePoint::RemoveDuplicates(std::vector<ReferencePoint>* points) {
CHECK_NOTNULL(points);
int count = 0;
const double limit = kDuplicatedPointsEpsilon * kDuplicatedPointsEpsilon;
for (size_t i = 0; i < points->size(); ++i) {
if (count == 0 ||
(*points)[i].DistanceSquareTo((*points)[count - 1]) > limit) {
(*points)[count++] = (*points)[i];
} else {
(*points)[count - 1].add_lane_waypoints((*points)[i].lane_waypoints());
}
}
points->resize(count);
}
} // namespace planning
} // namespace apollo
| 0 |
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