＜二＞ speed_bounds_decider(1)

 一、speed_bounds_decider.cc

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 * 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
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#include "modules/planning/tasks/speed_bounds_decider/speed_bounds_decider.h"
 
#include <algorithm>
#include <limits>
#include <memory>
#include <string>
#include <vector>
 
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/planning/planning_base/common/path/path_data.h"
#include "modules/planning/planning_base/common/planning_context.h"
#include "modules/planning/planning_base/common/st_graph_data.h"
#include "modules/planning/planning_base/common/util/common.h"
#include "modules/planning/planning_base/gflags/planning_gflags.h"
#include "modules/planning/tasks/speed_bounds_decider/speed_limit_decider.h"
#include "modules/planning/tasks/speed_bounds_decider/st_boundary_mapper.h"
 
namespace apollo {
namespace planning {
 
using apollo::common::ErrorCode;
using apollo::common::Status;
using apollo::common::TrajectoryPoint;
using apollo::planning_internal::StGraphBoundaryDebug;
using apollo::planning_internal::STGraphDebug;
 

bool SpeedBoundsDecider::Init(
    const std::string &config_dir, const std::string &name,
    const std::shared_ptr<DependencyInjector> &injector) {
  if (!Decider::Init(config_dir, name, injector)) {
    return false;
  }
  // Load the config this task.
  return Decider::LoadConfig<SpeedBoundsDeciderConfig>(&config_);
}
bool SpeedBoundsDecider::Init( {…}
 
Status SpeedBoundsDecider::Process(
    Frame *const frame, ReferenceLineInfo *const reference_line_info) {
  // retrieve data from frame and reference_line_info
  const PathData &path_data = reference_line_info->path_data();
  const TrajectoryPoint &init_point = frame->PlanningStartPoint();
  const ReferenceLine &reference_line = reference_line_info->reference_line();
  PathDecision *const path_decision = reference_line_info->path_decision();
 
  // 1. Map obstacles into st graph
  auto time1 = std::chrono::system_clock::now();
  STBoundaryMapper boundary_mapper(config_, reference_line, path_data,
                                   path_data.discretized_path().Length(),
                                   config_.total_time(), injector_);
 
  if (!FLAGS_use_st_drivable_boundary) {
    path_decision->EraseStBoundaries();
  }
 
  if (boundary_mapper.ComputeSTBoundary(path_decision).code() ==
      ErrorCode::PLANNING_ERROR) {
    const std::string msg = "Mapping obstacle failed.";
    AERROR << msg;
    return Status(ErrorCode::PLANNING_ERROR, msg);
  }
  auto time2 = std::chrono::system_clock::now();
  std::chrono::duration<double> diff = time2 - time1;
  ADEBUG << "Time for ST Boundary Mapping = " << diff.count() * 1000
         << " msec.";
 
  std::vector<const STBoundary *> boundaries;
  for (auto *obstacle : path_decision->obstacles().Items()) {
    const auto &id = obstacle->Id();
    const auto &st_boundary = obstacle->path_st_boundary();
    if (!st_boundary.IsEmpty()) {
      if (st_boundary.boundary_type() == STBoundary::BoundaryType::KEEP_CLEAR) {
        path_decision->Find(id)->SetBlockingObstacle(false);
      } else {
        path_decision->Find(id)->SetBlockingObstacle(true);
      }
      st_boundary.PrintDebug("_obs_st_bounds");
      boundaries.push_back(&st_boundary);
    }
  }
 
  const double min_s_on_st_boundaries = SetSpeedFallbackDistance(path_decision);
 
  // 2. Create speed limit along path
  SpeedLimitDecider speed_limit_decider(config_, reference_line, path_data);
 
  SpeedLimit speed_limit;
  if (!speed_limit_decider
           .GetSpeedLimits(path_decision->obstacles(), &speed_limit)
           .ok()) {
    const std::string msg = "Getting speed limits failed!";
    AERROR << msg;
    return Status(ErrorCode::PLANNING_ERROR, msg);
  }
 
  // 3. Get path_length as s axis search bound in st graph
  const double path_data_length = path_data.discretized_path().Length();
 
  // 4. Get time duration as t axis search bound in st graph
  const double total_time_by_conf = config_.total_time();
 
  // Load generated st graph data back to frame
  StGraphData *st_graph_data = reference_line_info_->mutable_st_graph_data();
 
  // Add a st_graph debug info and save the pointer to st_graph_data for
  // optimizer logging
  auto *debug = reference_line_info_->mutable_debug();
  STGraphDebug *st_graph_debug = debug->mutable_planning_data()->add_st_graph();
 
  st_graph_data->LoadData(boundaries, min_s_on_st_boundaries, init_point,
                          speed_limit, reference_line_info->GetCruiseSpeed(),
                          path_data_length, total_time_by_conf, st_graph_debug);
 
  // Create and record st_graph debug info
  RecordSTGraphDebug(*st_graph_data, st_graph_debug);
 
  return Status::OK();
}
 
double SpeedBoundsDecider::SetSpeedFallbackDistance(
    PathDecision *const path_decision) {
  // Set min_s_on_st_boundaries to guide speed fallback.
  static constexpr double kEpsilon = 1.0e-6;
  double min_s_non_reverse = std::numeric_limits<double>::infinity();
  double min_s_reverse = std::numeric_limits<double>::infinity();
 
  for (auto *obstacle : path_decision->obstacles().Items()) {
    const auto &st_boundary = obstacle->path_st_boundary();
 
    if (st_boundary.IsEmpty()) {
      continue;
    }
 
    const auto left_bottom_point_s = st_boundary.bottom_left_point().s();
    const auto right_bottom_point_s = st_boundary.bottom_right_point().s();
    const auto lowest_s = std::min(left_bottom_point_s, right_bottom_point_s);
 
    if (left_bottom_point_s - right_bottom_point_s > kEpsilon) {
      if (min_s_reverse > lowest_s) {
        min_s_reverse = lowest_s;
      }
    } else if (min_s_non_reverse > lowest_s) {
      min_s_non_reverse = lowest_s;
    }
  }
 
  min_s_reverse = std::max(min_s_reverse, 0.0);
  min_s_non_reverse = std::max(min_s_non_reverse, 0.0);
 
  return min_s_non_reverse > min_s_reverse ? 0.0 : min_s_non_reverse;
}
 
void SpeedBoundsDecider::RecordSTGraphDebug(
    const StGraphData &st_graph_data, STGraphDebug *st_graph_debug) const {
  if (!FLAGS_enable_record_debug || !st_graph_debug) {
    ADEBUG << "Skip record debug info";
    return;
  }
 
  for (const auto &boundary : st_graph_data.st_boundaries()) {
    auto boundary_debug = st_graph_debug->add_boundary();
    boundary_debug->set_name(boundary->id());
    switch (boundary->boundary_type()) {
      case STBoundary::BoundaryType::FOLLOW:
        boundary_debug->set_type(StGraphBoundaryDebug::ST_BOUNDARY_TYPE_FOLLOW);
        break;
      case STBoundary::BoundaryType::OVERTAKE:
        boundary_debug->set_type(
            StGraphBoundaryDebug::ST_BOUNDARY_TYPE_OVERTAKE);
        break;
      case STBoundary::BoundaryType::STOP:
        boundary_debug->set_type(StGraphBoundaryDebug::ST_BOUNDARY_TYPE_STOP);
        break;
      case STBoundary::BoundaryType::UNKNOWN:
        boundary_debug->set_type(
            StGraphBoundaryDebug::ST_BOUNDARY_TYPE_UNKNOWN);
        break;
      case STBoundary::BoundaryType::YIELD:
        boundary_debug->set_type(StGraphBoundaryDebug::ST_BOUNDARY_TYPE_YIELD);
        break;
      case STBoundary::BoundaryType::KEEP_CLEAR:
        boundary_debug->set_type(
            StGraphBoundaryDebug::ST_BOUNDARY_TYPE_KEEP_CLEAR);
        break;
    }
 
    for (const auto &point : boundary->points()) {
      auto point_debug = boundary_debug->add_point();
      point_debug->set_t(point.x());
      point_debug->set_s(point.y());
    }
  }
 
  for (const auto &point : st_graph_data.speed_limit().speed_limit_points()) {
    common::SpeedPoint *speed_point = st_graph_debug->add_speed_limit();
    speed_point->set_s(point.first);
    speed_point->set_v(point.second);
  }
}
 
}  // namespace planning
}  // namespace apollo

这段代码是自动驾驶系统中的一部分，具体来说是属于Apollo自动驾驶框架的规划模块。代码的主要功能是决定车辆在特定路径上的速度限制，处理与速度相关的决策。下面是对代码主要部分的详细解释：

头文件和命名空间

• 包含了多个头文件，这些文件提供了车辆状态、路径数据、规划上下文和其他工具函数的支持。
• 使用了apollo::planning命名空间，这是Apollo自动驾驶软件中处理路径规划的部分。

类 SpeedBoundsDecider

这个类负责决定速度边界，主要方法包括：

• Init：初始化函数，加载配置文件。
• Process：主处理函数，执行速度决策的核心逻辑。
• SetSpeedFallbackDistance：设置速度回退距离，用于处理障碍物。
• RecordSTGraphDebug：记录ST图的调试信息，用于调试和分析。

方法详解

Init

• 初始化并加载配置，确保依赖项正确注入。

Process

1. 映射障碍物到ST图：使用STBoundaryMapper类，将路径上的障碍物映射到时空图（ST图）上，这是理解障碍物在时间和空间上如何影响车辆行驶的一种方式。
2. 计算速度限制：使用SpeedLimitDecider类，根据障碍物和路径信息计算速度限制。
3. 加载ST图数据：将计算得到的数据（如速度限制和障碍物信息）加载回框架的主数据结构中，供后续处理使用。
4. 记录调试信息：如果启用了调试，将相关信息记录到调试结构中。

SetSpeedFallbackDistance

• 计算最小安全距离，以便在遇到障碍物时车辆可以安全减速。

RecordSTGraphDebug

• 将ST图的边界和速度限制点记录到调试信息中，帮助开发者理解和调试车辆的行为。

总结

这段代码是Apollo自动驾驶系统中处理速度决策的关键部分，它通过分析车辆的路径、障碍物信息以及其他环境因素来决定车辆的速度限制。这有助于确保车辆在保持效率的同时，也能安全地行驶。