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README Cn

modules/planning/scenarios/yield_sign/README_cn.md

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planning-scenario-yield-sign

简介

YieldSignScenario场景可以在有让行标记的场景减速观望，然后慢速通过。

目录结构

shell

modules/planning/scenarios/yield_sign/
├── BUILD
├── conf
│   ├── pipeline.pb.txt
│   └── scenario_conf.pb.txt
├── cyberfile.xml
├── plugins.xml
├── proto
│   ├── BUILD
│   └── yield_sign.proto
├── README_cn.md
├── stage_approach.cc
├── stage_approach.h
├── stage_approach_test.cc
├── stage_creep.cc
├── stage_creep.h
├── stage_creep_test.cc
├── yield_sign_scenario.cc
├── yield_sign_scenario.h
└── yield_sign_scenario_test.cc

模块

YieldSignScenario插件

apollo::planning::YieldSignScenario

场景切入条件

  1. 车辆前方参考线上的第一个overlap是停止标记类型的overlap
  2. 距离停止标记overlap的距离小于start_stop_sign_scenario_distance

阶段

阶段名类型描述
YIELD_SIGN_APPROACHapollo::planning::YieldSignStageApproach停让行标记前停车避让运动障碍物
YIELD_SIGN_CREEPapollo::planning::YieldSignStageCreep跛行通过让行区

配置

文件路径类型/结构<div style="width: 300pt">说明</div>
modules/planning/scenarios/yield_sign/conf/scenario_conf.pb.txtapollo::planning::ScenarioYieldSignConfig场景的配置文件
modules/planning/scenarios/yield_sign/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

Flags

文件路径<div style="width: 300pt">说明</div>
modules/planning/planning_component/conf/planning.confplanning模块的flag配置文件