Apollo2.0自动驾驶之apollo/modules/common/configs/vehicle_config_helper.cc

/****************Apollo源码分析****************************

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源码主要是c++实现的，也有少量python，git下载几百兆，其实代码不太多，主要是地图和数据了大量空间，主要程序
在apollo/modules目录中，

我们把它分成以下几部分（具体说明见各目录下的modules）：

感知：感知当前位置，速度，障碍物等等

Apollo/modules/perception

预测：对场景下一步的变化做出预测

Apollo/modules/prediction

规划：

(1) 全局路径规划：通过起点终点计算行驶路径

Apollo/modules/routing

(2) 规划当前轨道：通过感知，预测，路径规划等信息计算轨道

Apollo/modules/planning

(3) 规划转换成命令：将轨道转换成控制汽车的命令（加速，制动，转向等）

Apollo/modules/control

其它

(1) 输入输出

i. Apollo/modules/drivers 设备驱动

ii. Apollo/modules/localization 位置信息

iii. Apollo/modules/monitor 监控模块

iv. Apollo/modules/canbus 与汽车硬件交互

v. Apollo/modules/map 地图数据

vi. Apollo/modules/third_party_perception 三方感知器支持

(2) 交互

i. Apollo/modules/dreamview 可视化模块

ii. Apollo/modules/hmi 把汽车当前状态显示给用户

(3) 工具

i. Apollo/modules/calibration 标注工具

ii. Apollo/modules/common 支持其它模块的公共工具

iii. Apollo/modules/data 数据工具

iv. Apollo/modules/tools 一些Python工具

(4) 其它

i. Apollo/modules/elo 高精度定位系统，无源码，但有文档

ii. Apollo/modules/e2e 收集传感器数据给PX2,ROS

  自动驾驶系统先通过起点终点规划出整体路径（routing）；然后在行驶过程中感知（perception）当前环境
（识别车辆行人路况标志等），并预测下一步发展；然后把已知信息都传入规划模块（planning），规划出之后的轨道；
控制模块（control）将轨道数据转换成对车辆的控制信号，通过汽车交互模块（canbus）控制汽车．

我觉得这里面算法技术含量最高的是感知perception和规划planning，具体请见本博客中各模块的分析代码。

/****************************************************************************************

/******************************************************************************
 * Copyright 2017 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
 * limitations under the License.
 *****************************************************************************/

#include "modules/common/configs/vehicle_config_helper.h"

#include <algorithm>
#include <cmath>

#include "modules/common/configs/config_gflags.h"
#include "modules/common/util/file.h"

namespace apollo {
namespace common {

VehicleConfig VehicleConfigHelper::vehicle_config_;
bool VehicleConfigHelper::is_init_ = false;

VehicleConfigHelper::VehicleConfigHelper() {}

void VehicleConfigHelper::Init() { Init(FLAGS_vehicle_config_path); }

void VehicleConfigHelper::Init(const std::string &config_file) {
  VehicleConfig params;
  CHECK(apollo::common::util::GetProtoFromFile(config_file, ¶ms))
      << "Unable to parse adapter config file " << config_file;
  Init(params);
}

void VehicleConfigHelper::Init(const VehicleConfig &vehicle_params) {
  vehicle_config_ = vehicle_params;
  is_init_ = true;
}

const VehicleConfig &VehicleConfigHelper::GetConfig() {
  if (!is_init_) {
    Init();
  }
  return vehicle_config_;
}

double VehicleConfigHelper::MinSafeTurnRadius() {
  const auto ¶m = vehicle_config_.vehicle_param();
  double lat_edge_to_center =
      std::max(param.left_edge_to_center(), param.right_edge_to_center());
  double lon_edge_to_center =
      std::max(param.front_edge_to_center(), param.back_edge_to_center());
  return std::sqrt((lat_edge_to_center + param.min_turn_radius()) *
                       (lat_edge_to_center + param.min_turn_radius()) +
                   lon_edge_to_center * lon_edge_to_center);
}

}  // namespace common
}  // namespace apollo

/******************************************************************************

* Copyright 2017 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

* limitations under the License.

*****************************************************************************/

#include "modules/common/configs/vehicle_config_helper.h"

#include <algorithm>

#include <cmath>

#include "modules/common/configs/config_gflags.h"

#include "modules/common/util/file.h"

namespace apollo {

namespace common {

VehicleConfig VehicleConfigHelper::vehicle_config_;

bool VehicleConfigHelper::is_init_ = false ;

VehicleConfigHelper::VehicleConfigHelper () {}

void VehicleConfigHelper::Init () { Init (FLAGS_vehicle_config_path); }

void VehicleConfigHelper::Init ( const std::string & config_file) {

VehicleConfig params;

CHECK ( apollo::common::util::GetProtoFromFile (config_file, & params))

<< "Unable to parse adapter config file " << config_file;

Init (params);

}

void VehicleConfigHelper::Init ( const VehicleConfig & vehicle_params) {

vehicle_config_ = vehicle_params;

is_init_ = true ;

}

const VehicleConfig & VehicleConfigHelper::GetConfig () {

if ( ! is_init_) {

Init ();

}

return vehicle_config_;

}

double VehicleConfigHelper::MinSafeTurnRadius () {

const auto & param = vehicle_config_. vehicle_param ();

double lat_edge_to_center =

std::max (param. left_edge_to_center (), param. right_edge_to_center ());

double lon_edge_to_center =

std::max (param. front_edge_to_center (), param. back_edge_to_center ());

return std::sqrt ((lat_edge_to_center + param. min_turn_radius ()) *

(lat_edge_to_center + param. min_turn_radius ()) +

lon_edge_to_center * lon_edge_to_center);

}

} // namespace common

} // namespace apollo