Planning: output lane id in topic.

modules/planning/common/reference_line_info.cc

@@ -127,6 +127,14 @@ ADCTrajectory::RightOfWayStatus ReferenceLineInfo::GetRightOfWayStatus() const {
 
 const hdmap::RouteSegments& ReferenceLineInfo::Lanes() const { return lanes_; }
 
+const std::list<hdmap::Id> ReferenceLineInfo::TargetLaneId() const {
+  std::list<hdmap::Id> lane_ids;
+  for (const auto& lane_seg : lanes_) {
+    lane_ids.push_back(lane_seg.lane->id());
+  }
+  return lane_ids;
+}
+
 const SLBoundary& ReferenceLineInfo::AdcSlBoundary() const {
   return adc_sl_boundary_;
 }

modules/planning/common/reference_line_info.h

@@ -108,6 +108,7 @@ class ReferenceLineInfo {
   bool IsDrivable() const;
 
   const hdmap::RouteSegments& Lanes() const;
+  const std::list<hdmap::Id> TargetLaneId() const;
 
   void ExportDecision(DecisionResult* decision_result) const;
 

modules/planning/planning.cc

@@ -388,6 +388,9 @@ Status Planning::Plan(const double current_time_stamp,
   // set right of way status
   trajectory_pb->set_right_of_way_status(
       best_reference_line->GetRightOfWayStatus());
+  for (const auto& id : best_reference_line->TargetLaneId()) {
+    trajectory_pb->add_lane_id()->CopyFrom(id);
+  }
 
   best_reference_line->ExportDecision(trajectory_pb->mutable_decision());
 

modules/planning/proto/planning.proto

@@ -6,6 +6,7 @@ import "modules/common/proto/header.proto";
 import "modules/common/proto/vehicle_signal.proto";
 import "modules/common/proto/pnc_point.proto";
 import "modules/canbus/proto/chassis.proto";
+import "modules/map/proto/map_id.proto";
 import "modules/planning/proto/decision.proto";
 import "modules/planning/proto/planning_internal.proto";
 
@@ -70,7 +71,7 @@ message LatencyStats {
   optional double init_frame_time_ms = 3;
 }
 
-// next id: 18
+// next id: 19
 message ADCTrajectory {
   optional apollo.common.Header header = 1;
 
@@ -109,4 +110,7 @@ message ADCTrajectory {
         PROTECTED = 1;
   }
   optional RightOfWayStatus right_of_way_status = 17;
+
+  // lane id along reference line
+  repeated apollo.hdmap.Id lane_id = 18;
 }

modules/planning/testdata/garage_test/result_follow_0.pb.txt

@@ -1741,3 +1741,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}

modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt

@@ -1740,3 +1740,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}

modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt

@@ -1740,3 +1740,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}

modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt

@@ -1755,3 +1755,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}

modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt

@@ -1111,3 +1111,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}

modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt

@@ -1605,3 +1605,6 @@ routing_header {
   sequence_num: 2
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "40_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt

@@ -1717,3 +1717,6 @@ routing_header {
   sequence_num: 8
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "57_1_-1"
+}

modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt

@@ -1284,3 +1284,12 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "752_1_-1"
+}
+lane_id {
+  id: "753_1_-1"
+}
+lane_id {
+  id: "6_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt

@@ -1732,3 +1732,18 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "140_1_-1"
+}
+lane_id {
+  id: "747_1_-1"
+}
+lane_id {
+  id: "141_1_-2"
+}
+lane_id {
+  id: "906_1_-1"
+}
+lane_id {
+  id: "9_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt

@@ -1283,3 +1283,15 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "37_1_-4"
+}
+lane_id {
+  id: "38_1_-4"
+}
+lane_id {
+  id: "84_1_-1"
+}
+lane_id {
+  id: "58_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt

@@ -1754,3 +1754,15 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "747_1_-1"
+}
+lane_id {
+  id: "141_1_-2"
+}
+lane_id {
+  id: "906_1_-1"
+}
+lane_id {
+  id: "9_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt

@@ -1741,3 +1741,6 @@ routing_header {
   sequence_num: 3
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "57_1_-1"
+}

modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt

@@ -1587,3 +1587,12 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "138_1_-1"
+}
+lane_id {
+  id: "144_1_-1"
+}
+lane_id {
+  id: "140_1_-1"
+}

modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt

@@ -1480,3 +1480,18 @@ routing_header {
   sequence_num: 2
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "12_1_-3"
+}
+lane_id {
+  id: "133_1_-3"
+}
+lane_id {
+  id: "88_1_-1"
+}
+lane_id {
+  id: "21_1_-1"
+}
+lane_id {
+  id: "22_1_-1"
+}

modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt

@@ -1732,3 +1732,18 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "39_1_-3"
+}
+lane_id {
+  id: "37_1_-4"
+}
+lane_id {
+  id: "38_1_-4"
+}
+lane_id {
+  id: "84_1_-1"
+}
+lane_id {
+  id: "58_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt

@@ -1732,3 +1732,18 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "39_1_-3"
+}
+lane_id {
+  id: "37_1_-4"
+}
+lane_id {
+  id: "38_1_-4"
+}
+lane_id {
+  id: "84_1_-1"
+}
+lane_id {
+  id: "58_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt

@@ -1754,3 +1754,12 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "141_1_-2"
+}
+lane_id {
+  id: "906_1_-1"
+}
+lane_id {
+  id: "9_1_-2"
+}

modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt

@@ -1813,3 +1813,15 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "28_1_-1"
+}
+lane_id {
+  id: "27_1_-1"
+}
+lane_id {
+  id: "81_1_-1"
+}
+lane_id {
+  id: "160_1_-3"
+}

modules/prediction/predictor/move_sequence/move_sequence_predictor.cc

@@ -134,7 +134,8 @@ void MoveSequencePredictor::Predict(Obstacle* obstacle) {
            << "] will draw a lane sequence trajectory [" << ToString(sequence)
            << "] with probability [" << sequence.probability() << "].";
 
-    std::string curr_lane_id = sequence.lane_segment(0).lane_id();
+    // TODO(Prediction): remove the following line
+    // std::string curr_lane_id = sequence.lane_segment(0).lane_id();
     std::vector<TrajectoryPoint> points;
     DrawMoveSequenceTrajectoryPoints(*obstacle, sequence,
                                      FLAGS_prediction_duration,