planning-task-pull-over-path

简介

PullOverPath任务用于生成靠边停车路径

模块流程

如果已经有成功生成的路径，或者参考线是换道的参考线，则跳过任务

c++

  if (!reference_line_info->path_data().Empty() ||
    reference_line_info->IsChangeLanePath()) {
  return Status::OK();
}

计算路径规划的SL起始点状态

c++

GetStartPointSLState();

构造路径边界

c++

  if (!DecidePathBounds(&candidate_path_boundaries)) {
 return Status::OK();
}

初始化路径边界

c++

if (!PathBoundsDeciderUtil::InitPathBoundary(*reference_line_info_, &path_bound, init_sl_state_)) {
AERROR << "Failed to initialize path boundaries.";
return false;
}

从道路边界获得路径边界

c++

if (!GetBoundaryFromRoads(*reference_line_info_, &path_bound)) {
  AERROR << "Failed to decide a rough boundary based on road boundary.";
  return false;
}

从道路边界获得路径边界

c++

if (!GetBoundaryFromRoads(*reference_line_info_, &path_bound)) {
   AERROR << "Failed to decide a rough boundary based on road boundary.";
   return false;
 }
 ```
- 从车道边界获得路径边界
```c++
UpdatePullOverBoundaryByLaneBoundary(is_pull_over_right, &path_bound);

将静态障碍物加入路径边界

c++

if (!PathBoundsDeciderUtil::GetBoundaryFromStaticObstacles(
        *reference_line_info_, init_sl_state_, &path_bound,
        &blocking_obstacle_id)) {
  AERROR << "Failed to decide fine tune the boundaries after "
            "taking into consideration all static obstacles.";
  return false;
}

如果没有指定靠边停车位置，搜索靠边停车位置

c++

  if (!SearchPullOverPosition(path_bound, &pull_over_configuration)) {
        AERROR << "Failed to find a proper pull-over position.";
        return false;
      }

规划路径

c++

 if (!OptimizePath(candidate_path_boundaries, &candidate_path_data)) {
  return Status::OK();
}

评估路径是否有效

c++

  if (AssessPath(&candidate_path_data,
               reference_line_info->mutable_path_data())) {
  ADEBUG << "pull-over path success";
}

目录结构

shell


modules/planning/tasks/pull_over_path/
├── BUILD
├── conf
│   └── default_conf.pb.txt
├── cyberfile.xml
├── plugins.xml
├── proto
│   ├── BUILD
│   └── pull_over_path.proto
├── pull_over_path.cc
├── pull_over_path.h
└── README_cn.md

模块

PullOverPath插件

apollo::planning::PullOverPath

配置文件&配置项

文件路径	类型/结构	<div style="width: 300pt">说明</div>
`modules/planning/tasks/pull_over_path/conf/default_conf.pb.txt`	apollo::planning::PullOverPathConfig	PullOverPath的默认配置文件

模块参数说明

算法参数配置定义于modules/planning/tasks/pull_over_path/proto/pull_over_path.proto

path_optimizer_config	路径规划器参数
pull_over_road_edge_buffer	靠边停车离道路边界距离
pull_over_weight	靠边停车权重（权重越大，曲率越大）
pull_over_direction	靠边停车方向
pull_over_position	靠边停车位置类型

命令行参数/gflags

modules/planning/planning_base/common/planning_gflags.cc中定义了用到的命令行参数，planning.conf中定义命令行参数值。

flag	描述
FLAGS_obstacle_lon_start_buffer	障碍物起始位置buffer
FLAGS_obstacle_lon_end_buffer	障碍物结束位置buffer
FLAGS_num_extra_tail_bound_point	路径阻塞额外添加点数量

使用方式

配置加载 PullOverPath Task 插件

在 `modules/planning/scenarios/xxxx/conf/pipeline.pb.txt` 在期望增加`PullOverPath`插件的scenarios xxxx中增加相应的配置，配置参数中`name` 表示task的名称，这个由用户自定义，表达清楚是哪个task即可，`type` 是task的类名称，即`PullOverPath`。
```
task {
  name: "PULL_OVER_PATH"
  type: "PullOverPath"
}
  ```

README Cn