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README Cn

modules/planning/scenarios/traffic_light_protected/README_cn.md

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planning-scenario-traffic-light-protected

简介

TrafficLightProtectedScenario 是有路权保护的红绿灯场景，在该场景下可以实现在红绿灯路口前红灯停车，绿灯通过路口。

目录结构

shell

modules/planning/scenarios/traffic_light_protected/
├── BUILD
├── conf
│   ├── pipeline.pb.txt
│   ├── scenario_conf.pb.txt
│   └── traffic_light_protected_intersection_cruise
├── context.h
├── cyberfile.xml
├── plugins.xml
├── proto
│   ├── BUILD
│   └── traffic_light_protected.proto
├── README_cn.md
├── stage_approach.cc
├── stage_approach.h
├── stage_approach_test.cc
├── stage_intersection_cruise.cc
├── stage_intersection_cruise.h
├── traffic_light_protected_scenario.cc
├── traffic_light_protected_scenario.h
└── traffic_light_protected_scenario_test.c

模块

TrafficLightProtectedScenario插件

apollo::planning::TrafficLightProtectedScenario

场景切入条件

  1. 车辆前方参考线上的第一个overlap是交通灯类型的overlap
  2. 距离停止标记overlap的距离小于start_traffic_light_scenario_distance
  3. 前方overlap的信号灯存在红灯

阶段

阶段名类型<div style="width: 300pt">描述</div>
TRAFFIC_LIGHT_PROTECTED_APPROACHapollo::planning::TrafficLightProtectedStageApproach在红绿灯停止线前停车阶段
TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEPapollo::planning::TrafficLightUnprotectedLeftTurnStageCreep绿灯后跛行观察路口来车
TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISEapollo::planning::TrafficLightProtectedStageIntersectionCruise通过红绿灯路口阶段

配置

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