Apollo 感知模块 _study [ADS]

https://github.com/ApolloAuto/apollo/blob/master/docs/specs/perception_apollo_2.5.md

坐标系： 后轴中心 ;HDmap The Local Frame – East-North-Up cordinations

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Apollo 2.5

Introduction

Apollo 2.5 aims for Level-2 autonomous driving with low cost sensors. An autonomous vehicle will stay in the lane and keep a distance with a closest in-path vehicle (CIPV) using a single front-facing camera and a frontal radar. Apollo 2.5 supports high-speed autonomous driving on highway without any map. The deep network was learned to process an image data. The performance of the deep network will be improved over time as collecting more data.

Safety alert

Apollo 2.5 does not support a high curvature road, a road without lane marks including local roads and intersections. The perception module is based on the visual detection using a deep network with limited data. Therefor, before we release a better network, the driver should be careful in driving and always be ready to disengage the autonomous driving by turning the wheel to the right direction. Please perform the test drive at the safe and restricted area.

• Recommended road

  • Road with clear white lane lines on both sides （单边车道线也是不支持的！！）

• Avoid

  • High curvature road
  • Road without lane line marks
  • Intersection （十字路口）
  • Butt dots or dotted lane lines
  • Public road

Perception modules

The flow chart of each module is shown below.

在线标定： 通过灭点等信息动态调整？ TBD 参考3.0的姿态校准。--估计摄像头的外参

tailgating --跟随--标识的是前车的轨迹！-用来实现车道线丢失时，可以尾随前车的轨迹，TJA 时

Figure 1: Flow diagram of lane keeping system

Deep network

车道线和车辆检测-如果用2个CNN ，资源开销大，但是快。--目前算是应用最多的。

合并的话，资源开销可能少一些，慢。

APOLLO 2.5 使用的是YOLO  for LD &OD 

目标分类信息：type: vehicle, truck, cyclist, and pedestrian， 2D box,  还有朝向

Deep network ingests an image and provides two detection outputs, lane lines and objects for Apollo 2.5. There is an ongoing debate on individual task and co-trained task for deep learning. Individual networks such as a lane detection network or an object detection network usually perform better than one co-trained multi-task network. However, with given limited resources, multiple individual networks will be costly and consume more time in processing. Therefore, for the economic design, co-train is inevitable with some compromise in performance. In Apollo 2.5, YOLO [1][2] was used as a base network of object and lane detection. The object has vehicle, truck, cyclist, and pedestrian categories and represented by a 2-D bounding box with orientation information. The lane lines are detected by segmentation using the same network with some modification.

Network optimization

In literatur