青岛网站建设平台,wdcp网站备份,国内重大新闻事件2021年10月,菏泽市建设职工培训中心网站文章目录 前言PATH_DECIDER功能简介PATH_DECIDER相关配置PATH_DECIDER总体流程路径决策代码流程及框架MakeStaticObstacleDecision PATH_DECIDER相关子函数参考 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……S… 文章目录 前言PATH_DECIDER功能简介PATH_DECIDER相关配置PATH_DECIDER总体流程路径决策代码流程及框架MakeStaticObstacleDecision PATH_DECIDER相关子函数参考 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_STAGEenabled: truetask_type: LANE_CHANGE_DECIDERtask_type: PATH_REUSE_DECIDERtask_type: PATH_LANE_BORROW_DECIDERtask_type: PATH_BOUNDS_DECIDERtask_type: PIECEWISE_JERK_PATH_OPTIMIZERtask_type: PATH_ASSESSMENT_DECIDERtask_type: PATH_DECIDERtask_type: RULE_BASED_STOP_DECIDERtask_type: SPEED_BOUNDS_PRIORI_DECIDERtask_type: SPEED_HEURISTIC_OPTIMIZERtask_type: SPEED_DECIDERtask_type: SPEED_BOUNDS_FINAL_DECIDERtask_type: PIECEWISE_JERK_SPEED_OPTIMIZER# task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZERtask_type: RSS_DECIDER本文将继续介绍LaneFollow的第7个TASK——PATH_DECIDER
PATH_DECIDER功能简介
根据选出的路径给出对障碍物的决策
若是绕行的路径则产生绕行的决策若前方有障碍物阻塞则产生停止的决策。
PATH_DECIDER相关配置
modules/planning/conf/planning_config.pb.txt
default_task_config: {task_type: PATH_DECIDERpath_decider_config{static_obstacle_buffer: 0.3}
}modules/planning/proto/task_config.proto
//
// PathDeciderConfigmessage PathDeciderConfig {// buffer for static obstacles (meter)optional double static_obstacle_buffer 1 [default 0.3];
}PATH_DECIDER总体流程
输入:
Status PathDecider::Process(const ReferenceLineInfo *reference_line_info,const PathData path_data,PathDecision *const path_decision) {输出: 路径决策的信息都保存到了path_decision中。
路径决策代码流程及框架 在Process函数主要功能是调用了MakeObjectDecision函数。而在MakeObjectDecision函数中调用了MakeStaticObstacleDecision函数。
路径决策的主要功能都在MakeStaticObstacleDecision中。这部分代码还是比较清晰的。
Status PathDecider::Process(const ReferenceLineInfo *reference_line_info,const PathData path_data,PathDecision *const path_decision) {// skip path_decider if reused pathif (FLAGS_enable_skip_path_tasks reference_line_info-path_reusable()) {return Status::OK();}std::string blocking_obstacle_id;if (reference_line_info-GetBlockingObstacle() ! nullptr) {blocking_obstacle_id reference_line_info-GetBlockingObstacle()-Id();}// 调用MakeObjectDecision函数if (!MakeObjectDecision(path_data, blocking_obstacle_id, path_decision)) {const std::string msg Failed to make decision based on tunnel;AERROR msg;return Status(ErrorCode::PLANNING_ERROR, msg);}return Status::OK();
}bool PathDecider::MakeObjectDecision(const PathData path_data,const std::string blocking_obstacle_id,PathDecision *const path_decision) {// path decider的主要功能在MakeStaticObstacleDecision中if (!MakeStaticObstacleDecision(path_data, blocking_obstacle_id,path_decision)) {AERROR Failed to make decisions for static obstacles;return false;}return true;
}MakeStaticObstacleDecision
获取frenet坐标系下的坐标 ... ...// 1.获取frenet坐标下的path路径const auto frenet_path path_data.frenet_frame_path();if (frenet_path.empty()) {AERROR Path is empty.;return false;}... ...根据障碍物做决策 ... ...// 2.遍历每个障碍物做决策for (const auto *obstacle : path_decision-obstacles().Items()) {const std::string obstacle_id obstacle-Id();const std::string obstacle_type_name PerceptionObstacle_Type_Name(obstacle-Perception().type());ADEBUG obstacle_id[ obstacle_id ] type[ obstacle_type_name ];... ...如果障碍物不是静态或virtual则跳过 // 2.1 如果障碍物不是静态的或者是virtual的就跳过if (!obstacle-IsStatic() || obstacle-IsVirtual()) { // stop fence各种fencecontinue;}如果障碍物有了ignore/stop决策则跳过 // 2.2 如果障碍物已经有 ignore/stop 决策就跳过if (obstacle-HasLongitudinalDecision() obstacle-LongitudinalDecision().has_ignore() obstacle-HasLateralDecision() obstacle-LateralDecision().has_ignore()) {continue;}if (obstacle-HasLongitudinalDecision() obstacle-LongitudinalDecision().has_stop()) {// STOP decisioncontinue;}如果障碍物挡住了路径加stop决策 // 2.3 如果障碍物挡住了路径加stop决策if (obstacle-Id() blocking_obstacle_id !injector_-planning_context()-planning_status().path_decider().is_in_path_lane_borrow_scenario()) {// Add stop decisionADEBUG Blocking obstacle blocking_obstacle_id;ObjectDecisionType object_decision;*object_decision.mutable_stop() GenerateObjectStopDecision(*obstacle);path_decision-AddLongitudinalDecision(PathDecider/blocking_obstacle,obstacle-Id(), object_decision);continue;}如果是clear-zone跳过 // 2.4 如果是clear-zone跳过if (obstacle-reference_line_st_boundary().boundary_type() STBoundary::BoundaryType::KEEP_CLEAR) {continue;}如果障碍物不在路径上跳过 // 2.5 如果障碍物不在路径上跳过ObjectDecisionType object_decision;object_decision.mutable_ignore();const auto sl_boundary obstacle-PerceptionSLBoundary();if (sl_boundary.end_s() frenet_path.front().s() ||sl_boundary.start_s() frenet_path.back().s()) {path_decision-AddLongitudinalDecision(PathDecider/not-in-s,obstacle-Id(), object_decision);path_decision-AddLateralDecision(PathDecider/not-in-s, obstacle-Id(),object_decision);continue;}nudge判断
如果距离静态障碍物距离太远则忽略。如果静态障碍物距离车道中心太近则停止。如果横向方向很近则避开。 // 2.6 nudge判断如果距离静态障碍物距离太远则忽略。// 如果静态障碍物距离车道中心太近则停止。// 如果横向方向很近则避开。if (curr_l - lateral_radius sl_boundary.end_l() ||curr_l lateral_radius sl_boundary.start_l()) {// 1. IGNORE if laterally too far away.path_decision-AddLateralDecision(PathDecider/not-in-l, obstacle-Id(),object_decision);} else if (sl_boundary.end_l() curr_l - min_nudge_l sl_boundary.start_l() curr_l min_nudge_l) {// 2. STOP if laterally too overlapping.*object_decision.mutable_stop() GenerateObjectStopDecision(*obstacle);if (path_decision-MergeWithMainStop(object_decision.stop(), obstacle-Id(),reference_line_info_-reference_line(),reference_line_info_-AdcSlBoundary())) {path_decision-AddLongitudinalDecision(PathDecider/nearest-stop,obstacle-Id(), object_decision);} else {ObjectDecisionType object_decision;object_decision.mutable_ignore();path_decision-AddLongitudinalDecision(PathDecider/not-nearest-stop,obstacle-Id(), object_decision);}} else {// 3. NUDGE if laterally very close.if (sl_boundary.end_l() curr_l - min_nudge_l) { // // sl_boundary.end_l() curr_l - min_nudge_l - 0.3) {// LEFT_NUDGEObjectNudge *object_nudge_ptr object_decision.mutable_nudge();object_nudge_ptr-set_type(ObjectNudge::LEFT_NUDGE);object_nudge_ptr-set_distance_l(config_.path_decider_config().static_obstacle_buffer());path_decision-AddLateralDecision(PathDecider/left-nudge,obstacle-Id(), object_decision);} else if (sl_boundary.start_l() curr_l min_nudge_l) { // // sl_boundary.start_l() curr_l min_nudge_l 0.3) {// RIGHT_NUDGEObjectNudge *object_nudge_ptr object_decision.mutable_nudge();object_nudge_ptr-set_type(ObjectNudge::RIGHT_NUDGE);object_nudge_ptr-set_distance_l(-config_.path_decider_config().static_obstacle_buffer());path_decision-AddLateralDecision(PathDecider/right-nudge,obstacle-Id(), object_decision);}}PATH_DECIDER相关子函数
GenerateObjectStopDecision主要用以生成停止决策。 ObjectStop PathDecider::GenerateObjectStopDecision(const Obstacle obstacle) const {ObjectStop object_stop;// Calculate stop distance with the obstacle using the ADCs minimum turning radiusdouble stop_distance obstacle.MinRadiusStopDistance(VehicleConfigHelper::GetConfig().vehicle_param());object_stop.set_reason_code(StopReasonCode::STOP_REASON_OBSTACLE);object_stop.set_distance_s(-stop_distance);// 停止时的参考位置const double stop_ref_s obstacle.PerceptionSLBoundary().start_s() - stop_distance;const auto stop_ref_point reference_line_info_-reference_line().GetReferencePoint(stop_ref_s);object_stop.mutable_stop_point()-set_x(stop_ref_point.x());object_stop.mutable_stop_point()-set_y(stop_ref_point.y());object_stop.set_stop_heading(stop_ref_point.heading());return object_stop;
}对于停止距离的计算会调用MinRadiusStopDistance函数, modules/planning/common/obstacle.cc
double Obstacle::MinRadiusStopDistance(const common::VehicleParam vehicle_param) const {if (min_radius_stop_distance_ 0) {return min_radius_stop_distance_;}// 定义一个停止距离的缓冲区0.5mstatic constexpr double stop_distance_buffer 0.5;// 获取最小安全转弯半径const double min_turn_radius VehicleConfigHelper::MinSafeTurnRadius();// 计算横向距离double lateral_diff vehicle_param.width() / 2.0 std::max(std::fabs(sl_boundary_.start_l()),std::fabs(sl_boundary_.end_l()));const double kEpison 1e-5;lateral_diff std::min(lateral_diff, min_turn_radius - kEpison);// 勾股定理求得停止距离double stop_distance std::sqrt(std::fabs(min_turn_radius * min_turn_radius -(min_turn_radius - lateral_diff) *(min_turn_radius - lateral_diff))) stop_distance_buffer;// 减掉车辆前端到后轴中心的距离stop_distance - vehicle_param.front_edge_to_center();// 限幅stop_distance std::min(stop_distance, FLAGS_max_stop_distance_obstacle); // 10.0stop_distance std::max(stop_distance, FLAGS_min_stop_distance_obstacle); // 6.0return stop_distance;
}
计算示意图如下
modules/common/configs/vehicle_config_helper.cc
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);
}MinSafeTurnRadius这段函数是获取当车辆以最大转向角转弯时的最大安全转弯半径。具体计算参考下图 A , B , C , D A,B,C,D A,B,C,D分别是车辆的四个角 X O XO XO是车辆的最小转弯半径VehicleParam.min_turn_radius() X X X与 A D AD AD之间的距离是左边缘到中心的距离left_edge_to_center X X X与 A B AB AB之间的距离是前边缘到中心的距离front_edge_to_center。最大安全转弯半径则是 A O AO AO定义中心到横向边缘最长的距离为 l l a t l_{lat} llat到纵向边缘最长的距离为 l l o n l_{lon} llon A O AO AO计算公式如下 A O ( X O l l a t ) 2 l l o n 2 AO\sqrt{(XOl_{lat})^2{l_{lon}}^2} AO(XOllat)2llon2 个人感觉这么做是为了获得足够的安全冗余量。
参考
[1] 路径决策
