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modules/planning/scenarios/large_curvature/README_cn.md

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planning-scenario-large-curvature

简介

LargeCurvatureScenario在大曲率道路上生成通行轨迹，解决主路算法在大曲率道路上的顿挫问题。

目录结构

shell

modules/planning/scenarios/large_curvature/
├── BUILD
├── conf
│   ├── large_curvature
│   │   ├── open_space_fallback_decider_park.pb.txt
│   │   ├── open_space_path_planning.pb.txt
│   │   ├── open_space_replan_decider.pb.txt
│   │   ├── open_space_roi_decider_park.pb.txt
│   │   ├── open_space_rt_optimizer.pb.txt
│   │   ├── open_space_trajectory_optimizer.pb.txt
│   │   └── open_space_trajectory_post_process.pb.txt
│   ├── pipeline.pb.txt
│   └── scenario_conf.pb.txt
├── cyberfile.xml
├── large_curvature_scenario.cc
├── large_curvature_scenario.h
├── plugins.xml
├── proto
│   ├── BUILD
│   └── large_curvature_scenario.proto
├── README_cn.md
├── stage_large_curvature.cc
└── stage_large_curvature.h

模块

LargeCurvatureScenario插件

apollo::planning::LargeCurvatureScenario

场景切入条件

  1. 参考线自车前3米处曲率大于min_curvature
  2. 自车前方参考线长度小于10米

阶段

阶段名类型<div style="width: 300pt">描述</div>
StageLargeCurvatureapollo::planning::StageLargeCurvature规划出通过大曲率道路的轨迹

配置

文件路径类型/结构<div style="width: 300pt">说明</div>
modules/planning/scenarios/large_curvature/conf/scenario_conf.pb.txtapollo::planning::ScenarioLargeCurvatureConfig场景的配置文件
modules/planning/scenarios/large_curvature/conf/pipeline.pb.txtapollo::planning::ScenarioPipeline场景的流水线文件