v2x

Introduction

V2X, known as Vehicle to Everything, i.e., the exchange of information from the vehicle to the outside world. Simply put, the vehicle can analyze real-time traffic information, automatically choose the best driving route, improve the efficiency of access; in addition, it can also sense the surrounding environment, make rapid adjustments to improve driving safety.

Directory Structure

shell

modules/v2x/
├── BUILD
├── common          // gflags
├── conf
├── cyberfile.xml
├── dag
├── data
├── fusion
├── launch
├── proto
├── README.md
└── v2x_proxy

Input

Name	Type	Description
`msg`	`apollo::localization::LocalizationEstimate`	localization msg
`msg`	`apollo::perception::PerceptionObstacles`	perception obstacles
`msg`	`apollo::v2x::V2XObstacles`	v2x obstacles

Output

Name	Type	Description
`msg`	`apollo::perception::PerceptionObstacles`	perception obstacles

configs

file path	type / struct	Description
`modules/v2x/conf/v2x_fusion_tracker.conf`	gflags	-
`modules/v2x/conf/v2x.conf`	gflags	-

How to Launch

bash

cyber_launch start modules/v2x/launch/v2x.launch