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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
提交
689542ef
编写于
12月 21, 2017
作者:
Z
Zhang Liangliang
提交者:
Liangliang Zhang
12月 21, 2017
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电子邮件补丁
差异文件
Planning: output lane id in topic.
上级
61f87fd2
变更
23
显示空白变更内容
内联
并排
Showing
23 changed file
with
166 addition
and
2 deletion
+166
-2
modules/planning/common/reference_line_info.cc
modules/planning/common/reference_line_info.cc
+8
-0
modules/planning/common/reference_line_info.h
modules/planning/common/reference_line_info.h
+1
-0
modules/planning/planning.cc
modules/planning/planning.cc
+3
-0
modules/planning/proto/planning.proto
modules/planning/proto/planning.proto
+5
-1
modules/planning/testdata/garage_test/result_follow_0.pb.txt
modules/planning/testdata/garage_test/result_follow_0.pb.txt
+3
-0
modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
.../planning/testdata/garage_test/result_out_of_map_0.pb.txt
+3
-0
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
...s/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+3
-0
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
...anning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+3
-0
modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
...nning/testdata/garage_test/result_stop_over_line_0.pb.txt
+3
-0
modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
...ata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
+3
-0
modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
.../testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
+3
-0
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
...nning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+9
-0
modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
...ng/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
+15
-0
modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
...ng/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
+12
-0
modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
...ng/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
+12
-0
modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt
...data/sunnyvale_loop_test/result_mission_complete_0.pb.txt
+3
-0
modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
...anning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+9
-0
modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
...tdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
+15
-0
modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
...testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
+15
-0
modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
...nyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
+15
-0
modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
.../testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
+9
-0
modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
...lanning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
+12
-0
modules/prediction/predictor/move_sequence/move_sequence_predictor.cc
...iction/predictor/move_sequence/move_sequence_predictor.cc
+2
-1
未找到文件。
modules/planning/common/reference_line_info.cc
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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: 1
8
// next id: 1
9
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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
浏览文件 @
689542ef
...
...
@@ -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
,
...
...
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