apollo scenario

1. 什么是场景

1. Apollo 有哪些场景

不同版本场景分配不一样，apollo6.0 side_pass 不再是一个场景，而是通过的功能

Apollo7.0 新增DeadEnd Scenario

Apollo8.0 好像去掉了DeadEnd Scenario

1. 场景切分的好处

先专注于功能层面开发，

1. 场景切分的坏处

场景切分，需要每个场景具有类似重复功能的能力，比如借道绕行每个场景都需要

Apollo 横纵向决策的PipeLine 化是支持场景这样切分的一个巨大原因，因为需要设计好的架构来支撑

1. apollo 具体分配场景

	park and go	the park and go scenario was designed to handle curb side parking, planning a new trajectory to the next destination and then driving along that trajectory. This scenario is extremely useful in situations like curb-side delivery or passenger pickup or drop-off.
	pull over	the pull over scenario was designed especially for maneuvering to the side of the road upon reaching your destination like for curb-side parallel parking
	valet parking	the valet parking scenario was designed to safely park your ego car in a targeted parking spot