【规划】如何添加新的scenario

最新推荐文章于 2023-03-15 21:13:46 发布

lemon_zy

最新推荐文章于 2023-03-15 21:13:46 发布

阅读量1.3k

点赞数 2

分类专栏： Apollo自动驾驶笔记文章标签：自动驾驶百度

本文链接：https://blog.csdn.net/zyntj1992/article/details/119835723

版权

本文详细介绍了在自动驾驶系统中添加新Scenario和Task的步骤，包括创建相关文件夹、注册信息、修改proto、配置信息以及功能开发。重点讨论了ScenarioManager、Stage、Task的注册与执行流程，以及planning模块的结构解析。

摘要由CSDN通过智能技术生成

1. 添加场景的基本步骤

1.1 步骤

添加scenario
- 新增相关scenario的文件夹及相关文件：BUILD, ***(scenario name)_scenario.h/.cc, ***(scenario name)_scenario_test.cc ,***(stage name)_stage.h/.cc
- 在scenario_manager.h/.cc中添加相关注册信息以及相关函数：CreateScenario(), RegisterScenarios(), Select***(scenario name)Scenario(), ScenarioDispatch(), Is***(scenario name)Scenario(), UpdatePlanningContext***(scenario name)Scenario()，同时修改BUILD文件
- 在相关proto中添加scenario/stage的信息：planning_config.proto
添加task
- 新增相关task的文件夹及相关文件：BUILD, ***(task name).h/.cc, test.cc
- 在task_factory.cc中添加相关注册信息以及相关函数：Init()，同时修改BUILD文件
- 在相关proto中添加task的信息：BUILD, planning_config.proto, ***(task name)_config.proto
- 添加相关配置信息：planning_config_navi.pb.txt(保存了planning所包括的planner配置信息以及planner所包含的task的配置信息，以及其他task的默认配置，格式由planning_config.proto决定，由planning_navi.conf决定使用该配置文件), ***(scenario name)_conf.pb.txt(scenario所包括的stage及stage所包括的task的配置信息均在此处，格式由planning_config.proto决定)
- 在planning_gflags.h/.cc中添加配置文件***(scenario name)_conf.pb.txt路径的宏(在scenario_manager.cc的RegisterScenario()中使用)
添加planning_status.proto中的相关信息
- 添加scenario相关的status信息，用于上下文、场景切换（见UpdatePlanningContext***(scenario name)Scenario()）
将新增的相关.h/.cc文件中的基本信息写入，并进行编译以检查proto设置是否成功
进行功能开发，并根据需求动态修改proto及相关配置文件

1.2 详解

1.2.1 添加scenario

1.2.1.1 新增相关scenario的文件夹及相关文件

假设目前要创建一个名为supervised_bypass的scenario，其中包含forward_stage、supervised_bypass_stage两个stage，则需要创建：

一个名为supervised_bypass的文件夹
[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-vvMrU2in-1629511083672)(HowToAddScenario.assets/Screenshot from 2021-04-12 15-33-24.png)]

BUILD文件，中间包含各文件之间的依赖信息(对照.h/.cc文件的依赖)

load("//tools:cpplint.bzl", "cpplint")

package(default_visibility = ["//visibility:public"])

cc_library(
    name = "supervised_bypass",
    copts = ["-DMODULE_NAME=\\\"planning\\\""],
    deps = [
        ":supervised_bypass_scenario",
        ":supervised_bypass_stage",
        ":forward_stage",
    ],
)

cc_library(
    name = "supervised_bypass_stage",
    srcs = ["supervised_bypass_stage.cc"],
    hdrs = ["supervised_bypass_stage.h"],
    copts = ["-DMODULE_NAME=\\\"planning\\\""],
    deps = [
        "//cyber/common:log",
        "//external:gflags",
        "//modules/common/proto:pnc_point_proto",
        "//modules/common/status",
        "//modules/common/time",
        "//modules/common/util",
        "//modules/common/util:factory",
        "//modules/common/vehicle_state:vehicle_state_provider",
        "//modules/map/hdmap",
        "//modules/planning/common:planning_common",
        "//modules/planning/common:speed_profile_generator",
        "//modules/planning/constraint_checker",
        "//modules/planning/math/curve1d:quartic_polynomial_curve1d",
        "//modules/planning/proto:planning_proto",
        "//modules/planning/reference_line",
        "//modules/planning/reference_line:qp_spline_reference_line_smoother",
        "//modules/planning/scenarios:scenario",
        "//modules/planning/tasks/generators/supervised_bypass_path_generator:supervised_bypass_path_generator",
        "//modules/planning/tasks/generators/st_speed_generator:st_speed_generator",
        "@eigen",
        "//modules/planning/common:planning_context",
    ],
)

cc_library(
    name = "forward_stage",
    srcs = ["forward_stage.cc"],
    hdrs = ["forward_stage.h"],
    copts = ["-DMODULE_NAME=\\\"planning\\\""],
    deps = [
        "//cyber/common:log",
        "//external:gflags",
        "//modules/common/proto:pnc_point_proto",
        "//modules/common/status",
        "//modules/common/time",
        "//modules/common/util",
        "//modules/common/util:factory",
        "//modules/common/vehicle_state:vehicle_state_provider",
        "//modules/map/hdmap",
        "//modules/planning/common:planning_common",
        "//modules/planning/common:speed_profile_generator",
        "//modules/planning/constraint_checker",
        "//modules/planning/math/curve1d:quartic_polynomial_curve1d",
        "//modules/planning/proto:planning_proto",
        "//modules/planning/reference_line",
        "//modules/planning/reference_line:qp_spline_reference_line_smoother",
        "//modules/planning/scenarios:scenario",
        "//modules/planning/tasks/generators/supervised_bypass_path_generator:supervised_bypass_path_generator",
        "//modules/planning/tasks/generators/st_speed_generator:st_speed_generator",
        "@eigen",
        "//modules/planning/common:planning_context",
    ],
)

cc_library(
    name = "supervised_bypass_scenario",
    srcs = ["supervised_bypass_scenario.cc"],
    hdrs = ["supervised_bypass_scenario.h"],
    copts = ["-DMODULE_NAME=\\\"planning\\\""],
    deps = [
        ":supervised_bypass_stage",
        ":forward_stage",
        "//cyber/common:log",
        "//external:gflags",
        "//modules/common/proto:pnc_point_proto",
        "//modules/common/status",
        "//modules/common/time",
        "//modules/common/util",
        "//modules/common/util:factory",
        "//modules/common/vehicle_state:vehicle_state_provider",
        "//modules/map/hdmap",
        "//modules/planning/common:planning_common",
        "//modules/planning/common:speed_profile_generator",
        "//modules/planning/constraint_checker",
        "//modules/planning/math/curve1d:quartic_polynomial_curve1d",
        "//modules/planning/proto:planning_proto",
        "//modules/planning/reference_line",
        "//modules/planning/reference_line:qp_spline_reference_line_smoother",
        "//modules/planning/scenarios:scenario",
        "//modules/planning/tasks/generators/supervised_bypass_path_generator:supervised_bypass_path_generator",
        "//modules/planning/tasks/generators/st_speed_generator:st_speed_generator",
        "@eigen",
    ],
)

cc_test(
    name = "supervised_bypass_scenario_test",
    size = "small",
    srcs = ["supervised_bypass_scenario_test.cc"],
    data = [
        "//modules/planning:planning_conf",
    ],
    deps = [
        ":supervised_bypass",
        "@gtest//:main",
    ],
)

cpplint()

supervised_bypass_scenario.h/.cc以及对应的test文件，其中应包含的重要函数：

RegisterStages()，用于注册如上所述的两个stage

void SupervisedBypassScenario::RegisterStages() {
       
  if (!s_stage_factory_.Empty()) {
       
    s_stage_factory_.Clear();
  }
  s_stage_factory_.Register(
      ScenarioConfig::FORWARD_STAGE,
      [](const ScenarioConfig::StageConfig& config) -> Stage* {
       
        return new ForwardStage(config);
      });
  s_stage_factory_.Register(
      ScenarioConfig::SUPERVISED_BYPASS_STAGE,
      [](const ScenarioConfig::StageConfig& config) -> Stage* {
       
        return new SupervisedBypassStage(config);
      });
}

apollo::common::util::Factory<...>::Register()中的第一个参数需在planning_config.proto中添加

forward_stage.h/.cc、supervised_bypass.h/.cc，其中应包含的重要函数：

Process()，内部调用FinishStage()判断stage结束和切换，内部调用PlanOnReferenceLine()执行task(Process()在planner层Plan()函数调用的Scenario::Process()中调用)

Stage::StageStatus ForwardStage::Process(
    const TrajectoryPoint& planning_start_point, Frame* frame) {
       
  bool has_drivable_reference_line = false;
  
  ...

  auto result = CheckForwardFinish(frame);
  if (result) {
       
    return FinishStage(frame);
  }

  const auto start_lane_id = PlanningContext::Instance()
                                 ->planning_status()
                                 .supervised_bypass()
                                 .start_lane_id();
  for (auto& reference_line_info : *ref_line_info_group) {
       
    // start_lane is the only drivable reference_line_info
    if (reference_line_info.Lanes().Id() == start_lane_id) {
       
      auto status = PlanOnReferenceLine