自动驾驶——泊车规划（待完善）

泊车辅助一代：APA自动泊车

泊车辅助二代：RPA远程遥控泊车

泊车辅助三代：自学习泊车(记忆泊车HPA) 

泊车辅助四代：AVP自动代客泊车

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

}

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
}

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
}

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
  }
 

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
  }

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
}

【开发者讲堂】Parking与Public_road示例_哔哩哔哩_bilibili

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