Planning And Control Simulation

Introduction

Apollo provides developers with a cloud-terminal integrated simulation platform for Autopilot. Apollo studio provides a variety of typical traffic flow scenarios and vehicle dynamics models. Developers can use Scenario management, Scenario editing, dynamics models and other operations. Apollo's local Visualization Tool Dreamview can download scenarios and dynamics models from cloud through Studio Profile, Thus, the debugging of Apollo open source code (planning&decision&control) is realized based on the local PNC Simulation container. In addition, Apollo Studio also provides a simulation evaluation function based on safety rules and somatosensory characteristics to help users improve the efficiency of automatic driving development.

Steps to use PNC Simulation

Prerequisites:

Please ensure your apollo version is 8.0.

Step1. Add a Scenario Set

1. Sign in Apollo Studio.
2. Click Simulation > Scenario Management.
3. In Scenario Management, select Scenario Set, and click Add a Scenario Set.
4. Edit the information of your new scenario, choose Offline simulation type, and click NEXT.
5. Select the required scenario to complete the scenario Set Adding.

Step 2 Install the Dreamview Plug-in

1. Click Persional Information in the upper right corner on Apollo Studio.
2. Choose Service Rights > Simulation.
3. Click Generate in the Plugin Installation to generate the Dreamview plug-in.
4. Copy the link of the plug-in and install it to the local environment.

Step 3. Download Sencario Set to the Local Environment

1. Start Dreamview in your local environmen http://localhost:8888.
2. Enable Sim Control in Tasks.

Step 4. Choose a Scenario

Download your Scenario Set in Profile and choose a Scenario Set in Scenario Profiles.

Step 5. Choose a Dynamic Model

Click Profile to go to the Profile interface and select the required dynamic model. The dynamic model characteristics are as follows: *Simulation Perfect Control: perfect control, no dynamic model, *MKZ Modell: kinematics model, applicable to MKZ models, *Point Mass Model: kinematics model, applicable to all models.

Step 6. Enable Modules

Enable Planning, Control, and Routing in Module Controller. The Routing module searches the feasible path in the map. The planning module guides the vehicle to plan, make decisions, and move forward. The red line is the path searched by the routing module in the map, and the blue track is the local path planned by the planning module.

Step 7. Add Point of Interest

Let us add point of interest and send routing request to set the route.

1. In Dreamview，click Routing Editing.
2. Click Add Point of Interest, and select a starting point in the map.
3. Select an End Point on the lane.
4. Click Send Routing Request to send the added routing point.

Step 8. Start Auto

Before you select Mkz Model or Point Mass Model, go to the Tasks interface to check whether the mode is AUTO. If not, click Start Auto, and you can see the vehicle running effect under the dynamic model in the interface.