modules/planning/scenarios/valet_parking_park/README_cn.md
ValetParkingParkScenario可以在停车区域泊入指定的车位。
modules/planning/scenarios/valet_parking_park/
├── BUILD
├── conf
│ ├── pipeline.pb.txt
│ ├── scenario_conf.pb.txt
│ ├── valet_parking_approaching_parking_spot_park
│ │ └── open_space_pre_stop_decider.pb.txt
│ ├── valet_parking_parking_park
│ │ ├── open_space_fallback_decider_park.pb.txt
│ │ ├── open_space_path_planning.pb.txt
│ │ ├── open_space_replan_decider.pb.txt
│ │ ├── open_space_roi_decider.pb.txt
│ │ ├── open_space_trajectory_optimizer.pb.txt
│ │ └── open_space_trajectory_post_process.pb.txt
│ └── valet_parking_retry_park
│ ├── open_space_fallback_decider_park.pb.txt
│ ├── open_space_path_planning.pb.txt
│ ├── open_space_replan_decider.pb.txt
│ ├── open_space_roi_decider.pb.txt
│ ├── open_space_trajectory_optimizer.pb.txt
│ └── open_space_trajectory_post_process.pb.txt
├── cyberfile.xml
├── plugins.xml
├── proto
│ ├── BUILD
│ └── valet_parking_park.proto
├── README_cn.md
├── stage_approaching_parking_spot_park.cc
├── stage_approaching_parking_spot_park.h
├── stage_parking_park.cc
├── stage_parking_park.h
├── stage_parking_retry_park.cc
├── stage_parking_retry_park.h
├── valet_parking_scenario.cc
└── valet_parking_scenario.h
apollo::planning::ValetParkingParkScenario
| 阶段名 | 类型 | <div style="width: 300pt">描述</div> |
|---|---|---|
VALET_PARKING_APPROACHING_PARKING_SPOT_PARK | apollo::planning::StageApproachingParkingSpotPark | 引导车辆沿主路行驶到泊车位 |
VALET_PARKING_PARKING_PARK | apollo::planning::StageParkingPark | 泊入车位 |
VALET_PARKING_RETRY_PARK | apollo::planning::StageParkingRetryPark | 第一次泊入车位精度较低时调整位姿 |
| 文件路径 | 类型/结构 | <div style="width: 300pt">说明</div> |
|---|---|---|
modules/planning/scenarios/valet_parking_park/conf/scenario_conf.pb.txt | apollo::planning::ScenarioValetParkingConfig | 场景的配置文件 |
modules/planning/scenarios/valet_parking_park/conf/pipeline.pb.txt | apollo::planning::ScenarioPipeline | 场景的流水线文件 |