Control Profiling Service

Overview

Control Profiling Service is a cloud based service to evaluate the control and planning trajectories from road test or simulation records.

Prerequisites

• Apollo 6.0 or higher version.

• Baidu Cloud BOS service registered according to document

• Fuel service account on Apollo Dreamland

Main Steps

• Data collection

• Job submission

• Results analysis

Data Collection

Data Recording

Finish one autonomous driving scenario with a closed loop test, e.g. RTK or close loop.

Data Sanity Check

• Make sure the following channels are included in records before submitting them to cloud service：

  Modules	channel	items
  Canbus	/apollo/canbus/chassis	exits without error message
  Control	/apollo/control	exits without error message
  Planning	/apollo/planning	-
  Localization	/apollo/localization/pose	-
  GPS	apollo/sensor/gnss/best_pose	sol_type to NARROW_INT

• You can check with cyber_recorder：

    cyber_recorder info xxxxxx.record.xxxxx

Job Submission

Upload data to BOS

Here is the folder structure requirements for job submission:

1. A cyber record file containing the execution of open space planner scenario.

2. A configuration file vehicle_param.pb.txt; there is a sample file under apollo/modules/common/data/vehicle_param.pb.txt.

Submit job in Dreamland

Go to Apollo Dreamland, login with Baidu account, choose Apollo Fuel --> Jobs，New Job, Control Profiling，and input the correct BOS path as in Upload data to BOS section：

Results Analysis

• After job is done, you should be expecting one email per job including Grading results and Visualization results.