Apollo2.0自动驾驶之apollo/modules/common/configs/proto/vehicle_config.proto

/****************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。

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

下面这个文件是一个比较重要的数据结构文件，它定义了车辆的很多初始化配置。

syntax = "proto2";

package apollo.common;

import "modules/common/proto/header.proto";
import "modules/common/proto/geometry.proto";

message Transform {
  optional bytes source_frame = 1;  // Also known as "frame_id."

  optional bytes target_frame = 2;  // Also known as "child_frame_id."

  // Position of target in the source frame.
  optional Point3D translation = 3;

  // Activate rotation from the source frame to the target frame.
  optional Quaternion rotation = 4;
}

message Extrinsics {
  repeated Transform tansforms = 1;
}

// Vehicle parameters shared among several modules.
// By default, all are measured with the SI units (meters, meters per second,
// etc.).
message VehicleParam {
  // Car center point is car reference point, i.e., center of rear axle.
  optional double front_edge_to_center = 1;
  optional double back_edge_to_center = 2;
  optional double left_edge_to_center = 3;
  optional double right_edge_to_center = 4;

  optional double length = 5;
  optional double width = 6;
  optional double height = 7;

  optional double min_turn_radius = 8;
  optional double max_acceleration = 9;
  optional double max_deceleration = 10;

  // The following items are used to compute trajectory constraints in planning.
  // vehicle max steer angle
  optional double max_steer_angle = 11;
  // vehicle max steer rate; how fast can the steering wheel turn.
  optional double max_steer_angle_rate = 12;
  // ratio between the turn of steering wheel and the turn of wheels
  optional double steer_ratio = 13;
  // the distance between the front and back wheels
  optional double wheel_base = 14;
  // Tire effective rolling radius (vertical distance between the wheel center
  // and the ground).
  optional double wheel_rolling_radius = 15;
}

message VehicleConfig {
  optional apollo.common.Header header = 1;
  optional VehicleParam vehicle_param = 2;
  optional Extrinsics extrinsics = 3;
}

syntax = "proto2";

package apollo.common;

import "modules/common/proto/header.proto";
import "modules/common/proto/geometry.proto";

message Transform {
  optional bytes source_frame = 1;  // Also known as "frame_id."大框架ID

  optional bytes target_frame = 2;  // Also known as "child_frame_id."子框架

  // Position of target in the source frame.
  optional Point3D translation = 3;//3D点云

  // Activate rotation from the source frame to the target frame.
  optional Quaternion rotation = 4;
}

message Extrinsics {
  repeated Transform tansforms = 1;
}

// Vehicle parameters shared among several modules.
// By default, all are measured with the SI units (meters, meters per second,
// etc.).
message VehicleParam {
  // Car center point is car reference point, i.e., center of rear axle.汽车的中心，上 下 左 右 这个很重要。
  optional double front_edge_to_center = 1;
  optional double back_edge_to_center = 2;
  optional double left_edge_to_center = 3;
  optional double right_edge_to_center = 4;

  optional double length = 5;
  optional double width = 6;
  optional double height = 7;

  optional double min_turn_radius = 8;
  optional double max_acceleration = 9;
  optional double max_deceleration = 10;

  // The following items are used to compute trajectory constraints in planning.
  // vehicle max steer angle
  optional double max_steer_angle = 11;
  // vehicle max steer rate; how fast can the steering wheel turn.
  optional double max_steer_angle_rate = 12;
  // ratio between the turn of steering wheel and the turn of wheels
  optional double steer_ratio = 13;
  // the distance between the front and back wheels
  optional double wheel_base = 14;
  // Tire effective rolling radius (vertical distance between the wheel center
  // and the ground).
  optional double wheel_rolling_radius = 15;
}

message VehicleConfig {
  optional apollo.common.Header header = 1;
  optional VehicleParam vehicle_param = 2;
  optional Extrinsics extrinsics = 3;
}