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5e3bfc53
编写于
6月 29, 2020
作者:
M
macDure
提交者:
liuxu
7月 06, 2020
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差异文件
D-KIT: add the vehicle calibration config and modify the DV vehicle mode rules
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2 changed file
with
827 addition
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modules/calibration/data/dev_kit/data_collection_table.pb.txt
...les/calibration/data/dev_kit/data_collection_table.pb.txt
+823
-0
modules/dreamview/conf/vehicle_data.pb.txt
modules/dreamview/conf/vehicle_data.pb.txt
+4
-0
未找到文件。
modules/calibration/data/dev_kit/data_collection_table.pb.txt
0 → 100644
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5e3bfc53
frame_threshold: 20
total_frames: 4000
scenario {
key: "Go Straight"
value {
feature {
name: "Forward"
range {
criterion {
field: "gear_location"
comparison_operator: EQUAL
value: 1
}
}
}
feature {
name: "Steering Angle"
range {
name: "Straight"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: -1
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: 1
}
}
}
feature {
name: "Speed"
range {
name: "Speed 0 ~ 2.5mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 0.2
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 2.5
}
}
range {
name: "Speed >= 2.5mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 2.5
}
}
}
feature {
name: "Accelerator (Decelerator)"
range {
name: "Throttle deadzone ~ 24%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "throttle_deadzone"
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 24
}
}
range {
name: "Throttle >= 24%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 24
}
}
range {
name: "Brake deadzone ~ 28%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "brake_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 28
}
}
range {
name: "Brake >= 28%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 28
}
}
}
}
}
scenario {
key: "Branch Left/Right"
value {
feature {
name: "Forward"
range {
criterion {
field: "gear_location"
comparison_operator: EQUAL
value: 1
}
}
}
feature {
name: "Steering Angle"
range {
name: "Branch Left"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 1
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: 30
}
}
range {
name: "Branch Right"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: -30
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: -1
}
}
}
feature {
name: "Speed"
range {
name: "Speed 0 ~ 10mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 0.2
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 10
}
}
range {
name: "Speed 10 ~ 20mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 10
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Speed >= 20mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
}
}
feature {
name: "Accelerator (Decelerator)"
range {
name: "Throttle deadzone ~ 25%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "throttle_deadzone"
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Throttle 25% ~ 30%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 30
}
}
range {
name: "Throttle >= 30%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 30
}
}
range {
name: "Brake deadzone ~ 20%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "brake_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Brake 20% ~ 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Brake >= 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
}
}
}
}
scenario {
key: "Turn Left/Right"
value {
feature {
name: "Forward"
range {
criterion {
field: "gear_location"
comparison_operator: EQUAL
value: 1
}
}
}
feature {
name: "Steering Angle"
range {
name: "Turn Left"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 30
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: 60
}
}
range {
name: "Turn Right"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: -60
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: -30
}
}
}
feature {
name: "Speed"
range {
name: "Speed 0 ~ 10mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 0.2
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 10
}
}
range {
name: "Speed 10 ~ 20mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 10
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 20
}
}
}
feature {
name: "Accelerator (Decelerator)"
range {
name: "Throttle deadzone ~ 25%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "throttle_deadzone"
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Throttle 25% ~ 30%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 30
}
}
range {
name: "Throttle >= 30%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 30
}
}
range {
name: "Brake deadzone ~ 20%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "brake_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Brake 20% ~ 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Brake >= 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
}
}
}
}
scenario {
key: "Sharp Left/Right"
value {
feature {
name: "Forward"
range {
criterion {
field: "gear_location"
comparison_operator: EQUAL
value: 1
}
}
}
feature {
name: "Steering Angle"
range {
name: "Sharp Left"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 60
}
}
range {
name: "Sharp Right"
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: -60
}
}
}
feature {
name: "Speed"
range {
name: "Speed 0 ~ 10mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 0.2
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 10
}
}
range {
name: "Speed 10 ~ 20mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 10
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 20
}
}
}
feature {
name: "Accelerator (Decelerator)"
range {
name: "Throttle deadzone ~ 25%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "throttle_deadzone"
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Throttle 25% ~ 30%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 30
}
}
range {
name: "Throttle >= 30%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 30
}
}
range {
name: "Brake deadzone ~ 20%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "brake_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Brake 20% ~ 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Brake >= 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
}
}
}
}
scenario {
key: "Reverse: Go Straight or Branch Left/Right"
value {
feature {
name: "Reverse"
range {
criterion {
field: "gear_location"
comparison_operator: EQUAL
value: 2
}
}
}
feature {
name: "Steering Angle"
range {
name: "Go Straight"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: -1
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: 1
}
}
range {
name: "Branch Left"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 1
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: 30
}
}
range {
name: "Branch Right"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: -30
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: -1
}
}
}
feature {
name: "Speed"
range {
name: "Speed 0 ~ 2mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 0.2
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 2
}
}
}
feature {
name: "Accelerator (Decelerator)"
range {
name: "Throttle < deadzone, Brake < deadzone"
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
vehicle_config: "throttle_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
vehicle_config: "brake_deadzone"
}
}
range {
name: "Throttle deadzone ~ 20%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "throttle_deadzone"
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Throttle >= 20%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
}
range {
name: "Brake deadzone ~ 20%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "brake_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Brake 20% ~ 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Brake >= 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
}
}
}
}
scenario {
key: "Reverse: Turn Left/Right"
value {
feature {
name: "Reverse"
range {
criterion {
field: "gear_location"
comparison_operator: EQUAL
value: 2
}
}
}
feature {
name: "Steering Angle"
range {
name: "Turn Left"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 30
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: 60
}
}
range {
name: "Turn Right"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: -60
}
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: -30
}
}
range {
name: "Sharp Left"
criterion {
field: "steering_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 60
}
}
range {
name: "Sharp Right"
criterion {
field: "steering_percentage"
comparison_operator: LESS_THAN
value: -60
}
}
}
feature {
name: "Speed"
range {
name: "Speed 0 ~ 2mps"
criterion {
field: "speed_mps"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 0.2
}
criterion {
field: "speed_mps"
comparison_operator: LESS_THAN
value: 2
}
}
}
feature {
name: "Accelerator (Decelerator)"
range {
name: "Throttle < deadzone, Brake < deadzone"
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
vehicle_config: "throttle_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
vehicle_config: "brake_deadzone"
}
}
range {
name: "Throttle deadzone ~ 20%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "throttle_deadzone"
}
criterion {
field: "throttle_percentage"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Throttle >= 20%"
criterion {
field: "throttle_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
}
range {
name: "Brake deadzone ~ 20%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
vehicle_config: "brake_deadzone"
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 20
}
}
range {
name: "Brake 20% ~ 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 20
}
criterion {
field: "brake_percentage"
comparison_operator: LESS_THAN
value: 25
}
}
range {
name: "Brake >= 25%"
criterion {
field: "brake_percentage"
comparison_operator: GREATER_THAN_OR_EQUAL
value: 25
}
}
}
}
}
modules/dreamview/conf/vehicle_data.pb.txt
浏览文件 @
5e3bfc53
...
...
@@ -10,6 +10,10 @@ data_files {
source_path: "cancard_params/canbus_conf.pb.txt"
dest_path: "/apollo/modules/canbus/conf/canbus_conf.pb.txt"
}
data_files {
source_path: "data_collection_table.pb.txt"
dest_path: "/apollo/modules/dreamview/conf/data_collection_table.pb.txt"
}
data_files {
source_path: "navigation_lincoln.pb.txt"
dest_path: "/apollo/modules/control/conf/navigation_lincoln.pb.txt"
...
...
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