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README Cn

modules/planning/scenarios/valet_parking/README_cn.md

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planning-scenario-valet-parking

简介

ValetParkingScenario可以在停车区域泊入指定的车位。

目录结构

shell

modules/planning/scenarios/valet_parking/
├── BUILD
├── conf
│   ├── pipeline.pb.txt
│   ├── scenario_conf.pb.txt
│   ├── valet_parking_approaching_parking_spot
│   │   └── open_space_pre_stop_decider.pb.txt
│   └── valet_parking_parking
│       ├── open_space_roi_decider.pb.txt
│       ├── open_space_trajectory_partition.pb.txt
│       └── open_space_trajectory_provider.pb.txt
├── cyberfile.xml
├── plugins.xml
├── proto
│   ├── BUILD
│   └── valet_parking.proto
├── README_cn.md
├── stage_approaching_parking_spot.cc
├── stage_approaching_parking_spot.h
├── stage_approaching_parking_spot_test.cc
├── stage_parking.cc
├── stage_parking.h
├── stage_parking_test.cc
├── valet_parking_scenario.cc
├── valet_parking_scenario.h
└── valet_parking_scenario_test.cc

模块

ValetParkingScenario插件

apollo::planning::ValetParkingScenario

场景切入条件

  1. planning command里存在泊车命令
  2. 距离泊车点距离parking_spot_range_to_start以内

阶段

阶段名类型<div style="width: 300pt">描述</div>
VALET_PARKING_APPROACHING_PARKING_SPOTapollo::planning::StageApproachingParkingSpot引导车辆沿主路行驶到泊车位
VALET_PARKING_PARKINGapollo::planning::StageParking泊入车位

配置

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