【Apollo学习笔记】——规划模块TASK之PATH_BORROW_DECIDER

TASK系列解析文章

1.【Apollo学习笔记】——规划模块TASK之LANE_CHANGE_DECIDER
2.【Apollo学习笔记】——规划模块TASK之PATH_REUSE_DECIDER
3.【Apollo学习笔记】——规划模块TASK之PATH_BORROW_DECIDER
4.【Apollo学习笔记】——规划模块TASK之PATH_BOUNDS_DECIDER
5.【Apollo学习笔记】——规划模块TASK之PIECEWISE_JERK_PATH_OPTIMIZER
6.【Apollo学习笔记】——规划模块TASK之PATH_ASSESSMENT_DECIDER
7.【Apollo学习笔记】——规划模块TASK之PATH_DECIDER
8.【Apollo学习笔记】——规划模块TASK之RULE_BASED_STOP_DECIDER
9.【Apollo学习笔记】——规划模块TASK之SPEED_BOUNDS_PRIORI_DECIDER&&SPEED_BOUNDS_FINAL_DECIDER
10.【Apollo学习笔记】——规划模块TASK之SPEED_HEURISTIC_OPTIMIZER
11.【Apollo学习笔记】——规划模块TASK之SPEED_DECIDER
12.【Apollo学习笔记】——规划模块TASK之PIECEWISE_JERK_SPEED_OPTIMIZER
13.【Apollo学习笔记】——规划模块TASK之PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER(一)
14.【Apollo学习笔记】——规划模块TASK之PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER(二)

前言

在Apollo星火计划学习笔记——Apollo路径规划算法原理与实践与【Apollo学习笔记】——Planning模块讲到……Stage::Process的PlanOnReferenceLine函数会依次调用task_list中的TASK，本文将会继续以LaneFollow为例依次介绍其中的TASK部分究竟做了哪些工作。由于个人能力所限，文章可能有纰漏的地方，还请批评斧正。

在modules/planning/conf/scenario/lane_follow_config.pb.txt配置文件中，我们可以看到LaneFollow所需要执行的所有task。

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

本文将继续介绍第三个TASK——PATH_BORROW_DECIDER

PATH_BORROW_DECIDER功能简介

主要功能：产生是否借道的决策
判断条件：
• 是否只有一条车道
• 是否存在阻塞道路的障碍物
• 阻塞障碍物是否远离路口
• 阻塞障碍物长期存在
• 旁边车道是实线还是虚线
当所有判断条件都满足时，会产生借道决策。

PATH_BORROW_DECIDER相关配置

PATH_BORROW_DECIDER的相关配置集中在以下两个文件：modules/planning/conf/planning_config.pb.txt和modules/planning/conf/scenario/lane_follow_config.pb.txt

// modules/planning/conf/scenario/lane_follow_config.pb.txt
  task_config: {
    task_type: PATH_LANE_BORROW_DECIDER
    path_lane_borrow_decider_config {
      allow_lane_borrowing: true
    }
  }
// modules/planning/conf/planning_config.pb.txt
default_task_config: {
  task_type: PATH_LANE_BORROW_DECIDER
  path_lane_borrow_decider_config {
    allow_lane_borrowing: true
  }
}

PATH_BORROW_DECIDER总体流程

流程依旧看Process：

主要完成数据检查；判断是否启用reuse path，若有则跳过剩余步骤；判断是否有必要进行借道操作等步骤。

Status PathLaneBorrowDecider::Process(
    Frame* const frame, ReferenceLineInfo* const reference_line_info) {
  // Sanity checks.
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(reference_line_info);

  // skip path_lane_borrow_decider if reused path
  if (FLAGS_enable_skip_path_tasks && reference_line_info->path_reusable()) {
    // for debug
    AINFO << "skip due to reusing path";
    return Status::OK();
  }

  // By default, don't borrow any lane.
  reference_line_info->set_is_path_lane_borrow(false);
  // Check if lane-borrowing is needed, if so, borrow lane.
  if (Decider::config_.path_lane_borrow_decider_config()
          .allow_lane_borrowing() &&
      IsNecessaryToBorrowLane(*frame, *reference_line_info)) {
    reference_line_info->set_is_path_lane_borrow(true);
  }
  return Status::OK();
}

同时还可以注意一下相关结构体定义：
modules/planning/proto/planning_status.proto

message PathDeciderStatus {
  enum LaneBorrowDirection {
    LEFT_BORROW = 1;   // borrow left neighbor lane
    RIGHT_BORROW = 2;  // borrow right neighbor lane
  }
  optional int32 front_static_obstacle_cycle_counter = 1 [default = 0];
  optional int32 able_to_use_self_lane_counter = 2 [default = 0];
  optional bool is_in_path_lane_borrow_scenario = 3 [default = false];
  optional string front_static_obstacle_id = 4 [default = ""];
  repeated LaneBorrowDirection decided_side_pass_direction = 5;
}

PATH_BORROW_DECIDER相关子函数

IsNecessaryToBorrowLane

借道判断主要通过核心函数IsNecessaryToBorrowLane()判断是否借道，主要涉及一些rules，包括距离信号交叉口的距离，与静态障碍物的距离，是否是单行道，是否所在车道左右车道线是虚线等规则。主要有两个功能：

• 已处于借道场景下判断是否退出避让；
• 未处于借道场景下判断是否具备借道能力。

bool PathLaneBorrowDecider::IsNecessaryToBorrowLane(
    const Frame& frame, const ReferenceLineInfo& reference_line_info) {
  auto* mutable_path_decider_status = injector_->planning_context()
                                          ->mutable_planning_status()
                                          ->mutable_path_decider();
  // 如果当前处于借道场景中                                        
  if (mutable_path_decider_status->is_in_path_lane_borrow_scenario()) {
    // If originally borrowing neighbor lane:
    // 如果当前已经在借道状态了，并且自车车道可用的counter >=6，取消lane_borrow scenario 状态
    if (mutable_path_decider_status->able_to_use_self_lane_counter() >= 6) {
      // If have been able to use self-lane for some time, then switch to
      // non-lane-borrowing.
      mutable_path_decider_status->set_is_in_path_lane_borrow_scenario(false);
      mutable_path_decider_status->clear_decided_side_pass_direction();
      AINFO << "Switch from LANE-BORROW path to SELF-LANE path.";
    }
  } else {
    // If originally not borrowing neighbor lane:
    // 如果未在借道的状态
    ADEBUG << "Blocking obstacle ID["
           << mutable_path_decider_status->front_static_obstacle_id() << "]";
    // ADC requirements check for lane-borrowing:
    // 只有一条参考线，才能借道
    if (!HasSingleReferenceLine(frame)) {
      return false;
    }
    // 起点速度小于最大借道允许速度
    if (!IsWithinSidePassingSpeedADC(frame)) {
      return false;
    }

    // Obstacle condition check for lane-borrowing:
    // 阻塞障碍物是否远离路口
    if (!IsBlockingObstacleFarFromIntersection(reference_line_info)) {
      return false;
    }
    // 阻塞障碍物长期存在
    if (!IsLongTermBlockingObstacle()) {
      return false;
    }
    // 阻塞障碍物是否在终点位置与自车间距之内
    if (!IsBlockingObstacleWithinDestination(reference_line_info)) {
      return false;
    }
    // 为可侧面通过的障碍物
    if (!IsSidePassableObstacle(reference_line_info)) {
      return false;
    }

    // switch to lane-borrowing
    // set side-pass direction
    const auto& path_decider_status =
        injector_->planning_context()->planning_status().path_decider();
    if (path_decider_status.decided_side_pass_direction().empty()) {
      // first time init decided_side_pass_direction
      bool left_borrowable;
      bool right_borrowable;
      CheckLaneBorrow(reference_line_info, &left_borrowable, &right_borrowable);
      if (!left_borrowable && !right_borrowable) {
        mutable_path_decider_status->set_is_in_path_lane_borrow_scenario(false);
        return false;
      } else {
        mutable_path_decider_status->set_is_in_path_lane_borrow_scenario(true);
        if (left_borrowable) {
          mutable_path_decider_status->add_decided_side_pass_direction(
              PathDeciderStatus::LEFT_BORROW);
        }
        if (right_borrowable) {
          mutable_path_decider_status->add_decided_side_pass_direction(
              PathDeciderStatus::RIGHT_BORROW);
        }
      }
    }

    AINFO << "Switch from SELF-LANE path to LANE-BORROW path.";
  }
  return mutable_path_decider_status->is_in_path_lane_borrow_scenario();
}

IsBlockingObstacleFarFromIntersection

IsBlockingObstacleFarFromIntersection流程部分在总体流程图中已经展示。

bool PathLaneBorrowDecider::IsBlockingObstacleFarFromIntersection(
    const ReferenceLineInfo& reference_line_info) {
  const auto& path_decider_status =
      injector_->planning_context()->planning_status().path_decider();
  const std::string blocking_obstacle_id =
      path_decider_status.front_static_obstacle_id();
  if (blocking_obstacle_id.empty()) {
    ADEBUG << "There is no blocking obstacle.";
    return true;
  }
  const Obstacle* blocking_obstacle =
      reference_line_info.path_decision().obstacles().Find(
          blocking_obstacle_id);
  if (blocking_obstacle == nullptr) {
    ADEBUG << "Blocking obstacle is no longer there.";
    return true;
  }

  // Get blocking obstacle's s.
  double blocking_obstacle_s =
      blocking_obstacle->PerceptionSLBoundary().end_s();
  ADEBUG << "Blocking obstacle is at s = " << blocking_obstacle_s;
  // Get intersection's s and compare with threshold.
  const auto& first_encountered_overlaps =
      reference_line_info.FirstEncounteredOverlaps();
  for (const auto& overlap : first_encountered_overlaps) {
    ADEBUG << overlap.first << ", " << overlap.second.DebugString();
    // if (// overlap.first != ReferenceLineInfo::CLEAR_AREA &&
    // overlap.first != ReferenceLineInfo::CROSSWALK &&
    // overlap.first != ReferenceLineInfo::PNC_JUNCTION &&
    if (overlap.first != ReferenceLineInfo::SIGNAL &&
        overlap.first != ReferenceLineInfo::STOP_SIGN) {
      continue;
    }

    auto distance = overlap.second.start_s - blocking_obstacle_s;
    if (overlap.first == ReferenceLineInfo::SIGNAL ||
        overlap.first == ReferenceLineInfo::STOP_SIGN) {
      if (distance < kIntersectionClearanceDist) {
        ADEBUG << "Too close to signal intersection (" << distance
               << "m); don't SIDE_PASS.";
        return false;
      }
    } else {
      if (distance < kJunctionClearanceDist) {
        ADEBUG << "Too close to overlap_type[" << overlap.first << "] ("
               << distance << "m); don't SIDE_PASS";
        return false;
      }
    }
  }

  return true;
}

IsNonmovableObstacle

在IsNonmovableObstacle() 中主要对前方障碍物进行判断，利用预测以及参考线的信息来进行判断。代码位置在modules/planning/common/obstacle_blocking_analyzer.cc。大致流程在总体流程图中已经展示。

bool IsNonmovableObstacle(const ReferenceLineInfo& reference_line_info,
                          const Obstacle& obstacle) {
  // Obstacle is far away.
  const SLBoundary& adc_sl_boundary = reference_line_info.AdcSlBoundary();
  if (obstacle.PerceptionSLBoundary().start_s() >
      adc_sl_boundary.end_s() + kAdcDistanceThreshold) {
    ADEBUG << " - It is too far ahead and we are not so sure of its status.";
    return false;
  }

  // Obstacle is parked obstacle.
  if (IsParkedVehicle(reference_line_info.reference_line(), &obstacle)) {
    ADEBUG << "It is Parked and NON-MOVABLE.";
    return true;
  }

  // Obstacle is blocked by others too.
  for (const auto* other_obstacle :
       reference_line_info.path_decision().obstacles().Items()) {
    if (other_obstacle->Id() == obstacle.Id()) {
      continue;
    }
    if (other_obstacle->IsVirtual()) {
      continue;
    }
    if (other_obstacle->PerceptionSLBoundary().start_l() >
            obstacle.PerceptionSLBoundary().end_l() ||
        other_obstacle->PerceptionSLBoundary().end_l() <
            obstacle.PerceptionSLBoundary().start_l()) {
      // not blocking the backside vehicle
      continue;
    }
    double delta_s = other_obstacle->PerceptionSLBoundary().start_s() -
                     obstacle.PerceptionSLBoundary().end_s();
    if (delta_s < 0.0 || delta_s > kObstaclesDistanceThreshold) {
      continue;
    }

    // TODO(All): Fix the segmentation bug for large vehicles, otherwise
    // the follow line will be problematic.
    ADEBUG << " - It is blocked by others, and will move later.";
    return false;
  }

  ADEBUG << "IT IS NON-MOVABLE!";
  return true;
}

CheckLaneBorrow

主要根据前方道路的线型判断是否可以借道；在此函数中2m间隔一个点遍历前视距离。

void PathLaneBorrowDecider::CheckLaneBorrow(
    const ReferenceLineInfo& reference_line_info,
    bool* left_neighbor_lane_borrowable, bool* right_neighbor_lane_borrowable) {
  const ReferenceLine& reference_line = reference_line_info.reference_line();
  // 定义左、右车道是否可借用的标志位，并初始化为true
  *left_neighbor_lane_borrowable = true;
  *right_neighbor_lane_borrowable = true;
  
  static constexpr double kLookforwardDistance = 100.0;
  // 获取自车的S坐标
  double check_s = reference_line_info.AdcSlBoundary().end_s();
  // 前视距离
  const double lookforward_distance =
      std::min(check_s + kLookforwardDistance, reference_line.Length());
  while (check_s < lookforward_distance) {
    auto ref_point = reference_line.GetNearestReferencePoint(check_s);
    // 找不到在参考线上的邻近点，左右车道均不可借用，直接返回
    if (ref_point.lane_waypoints().empty()) {
      *left_neighbor_lane_borrowable = false;
      *right_neighbor_lane_borrowable = false;
      return;
    }

    const auto waypoint = ref_point.lane_waypoints().front();
    hdmap::LaneBoundaryType::Type lane_boundary_type =
        hdmap::LaneBoundaryType::UNKNOWN;

    if (*left_neighbor_lane_borrowable) {
      lane_boundary_type = hdmap::LeftBoundaryType(waypoint);
      if (lane_boundary_type == hdmap::LaneBoundaryType::SOLID_YELLOW ||
          lane_boundary_type == hdmap::LaneBoundaryType::DOUBLE_YELLOW ||
          lane_boundary_type == hdmap::LaneBoundaryType::SOLID_WHITE) {
        *left_neighbor_lane_borrowable = false;
      }
      ADEBUG << "s[" << check_s << "] left_lane_boundary_type["
             << LaneBoundaryType_Type_Name(lane_boundary_type) << "]";
    }
    if (*right_neighbor_lane_borrowable) {
      lane_boundary_type = hdmap::RightBoundaryType(waypoint);
      if (lane_boundary_type == hdmap::LaneBoundaryType::SOLID_YELLOW ||
          lane_boundary_type == hdmap::LaneBoundaryType::SOLID_WHITE) {
        *right_neighbor_lane_borrowable = false;
      }
      ADEBUG << "s[" << check_s << "] right_neighbor_lane_borrowable["
             << LaneBoundaryType_Type_Name(lane_boundary_type) << "]";
    }
    check_s += 2.0;
  }
}

参考

[1] Apollo Planning决策规划代码详细解析 (8): PathLaneBorrowDecider
[2] Apollo规划模块详解（六）：算法实现-path lane borrow decider
[3] https://www.cnblogs.com/icathianrain/p/14407619.html