本篇文章給大家分享的是有關(guān)如何進(jìn)行Planning 模塊源代碼分析，小編覺(jué)得挺實(shí)用的，因此分享給大家學(xué)習(xí)，希望大家閱讀完這篇文章后可以有所收獲，話(huà)不多說(shuō)，跟著小編一起來(lái)看看吧。
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規(guī)劃（Planning）模塊位于命名空間：apollo::planning，其作用在于構(gòu)建無(wú)人車(chē)從起點(diǎn)到終點(diǎn)的局部行駛路徑，具體而言，就是給定導(dǎo)航地圖、導(dǎo)航路徑、當(dāng)前定位點(diǎn)、車(chē)輛狀態(tài)、 周邊目標(biāo)的感知及預(yù)測(cè)信息，規(guī)劃模塊計(jì)算出可供控制模塊執(zhí)行的一條安全且舒適的行駛路徑。
規(guī)劃模塊輸出的路徑是局部路徑而非全局路徑。舉例，如無(wú)人車(chē)需從長(zhǎng)沙智能駕駛研究院行駛至長(zhǎng)沙高鐵南站，首先需借助Routing模塊輸出全局導(dǎo)航路徑，接下來(lái)才是規(guī)劃模塊基于全局導(dǎo)航路徑進(jìn)行一小段、一小段具體行駛路徑的規(guī)劃。
規(guī)劃模塊的作用是根據(jù)感知預(yù)測(cè)的結(jié)果，當(dāng)前的車(chē)輛信息和路況規(guī)劃出一條車(chē)輛能夠行駛的軌跡，這個(gè)軌跡會(huì)交給控制模塊，控制模塊通過(guò)油門(mén)，剎車(chē)和方向盤(pán)使得車(chē)輛按照規(guī)劃的軌跡運(yùn)行。
規(guī)劃模塊的軌跡是短期軌跡，即車(chē)輛短期內(nèi)行駛的軌跡，長(zhǎng)期軌跡是Routing模塊規(guī)劃出的導(dǎo)航軌跡，即起點(diǎn)到目的地的軌跡，規(guī)劃模塊會(huì)先生成導(dǎo)航軌跡，然后根據(jù)導(dǎo)航軌跡和路況的情況，沿著短期軌跡行駛，直到目的地。
規(guī)劃模塊內(nèi)部結(jié)構(gòu)及其與其他模塊的交互示意如下圖所示。
根據(jù)各功能模塊的啟動(dòng)過(guò)程的分析，Planning模塊的主入口為：
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int main(int argc, char** argv) {
2 google::SetUsageMessage("we use this program to load dag and run user apps.");
3
4 // parse the argument
5 ModuleArgument module_args;
6 module_args.ParseArgument(argc, argv);
7
8 // initialize cyber
9 apollo::cyber::Init(argv[0]);
10
11 // start module
12 ModuleController controller(module_args);
13 if (!controller.Init()) {
14 controller.Clear();
15 AERROR << "module start error.";
16 return -1;
17 }
18
19 apollo::cyber::WaitForShutdown();
20 controller.Clear();
21 AINFO << "exit mainboard.";
22
23 return 0;
24}Main函數(shù)十分簡(jiǎn)單，首先是解析參數(shù)，初始化Cyber環(huán)境，接下來(lái)創(chuàng)建一個(gè)ModuleController類(lèi)對(duì)象controller，之后調(diào)用controller.Init()啟動(dòng)相關(guān)功能模塊。進(jìn)入Cyber RT的消息循環(huán)，等待cyber::WaitForShutdown()返回，清理資源并退出Main函數(shù)。ModuleController::Init()函數(shù)內(nèi)部調(diào)用了ModuleController::LoadAll()函數(shù)：
1bool ModuleController::LoadAll() {
2 const std::string work_root = common::WorkRoot();
3 const std::string current_path = common::GetCurrentPath();
4 const std::string dag_root_path = common::GetAbsolutePath(work_root, "dag");
5
6 for (auto& dag_conf : args_.GetDAGConfList()) {
7 std::string module_path = "";
8 if (dag_conf == common::GetFileName(dag_conf)) {
9 // case dag conf argument var is a filename
10 module_path = common::GetAbsolutePath(dag_root_path, dag_conf);
11 } else if (dag_conf[0] == '/') {
12 // case dag conf argument var is an absolute path
13 module_path = dag_conf;
14 } else {
15 // case dag conf argument var is a relative path
16 module_path = common::GetAbsolutePath(current_path, dag_conf);
17 if (!common::PathExists(module_path)) {
18 module_path = common::GetAbsolutePath(work_root, dag_conf);
19 }
20 }
21 AINFO << "Start initialize dag: ">上述函數(shù)處理一個(gè)dag_conf配置文件循環(huán)，讀取配置文件中的所有dag_conf，并逐一調(diào)用bool ModuleController::LoadModule(const std::string& path)函數(shù)加載功能模塊。
進(jìn)一步展開(kāi)：
1#define CLASS_LOADER_REGISTER_CLASS_INTERNAL(Derived, Base, UniqueID) \
2 namespace { \
3 struct ProxyType##UniqueID { \
4 ProxyType##UniqueID() { \
5 apollo::cyber::class_loader::utility::RegisterClass( \
6 #Derived, #Base); \
7 } \
8 }; \
9 static ProxyType##UniqueID g_register_class_##UniqueID; \
10 }將PlanningComponent代入，最終得到：
1 namespace {
2 struct ProxyType__COUNTER__ {
3 ProxyType__COUNTER__() {
4 apollo::cyber::class_loader::utility::RegisterClass(
5 "PlanningComponent", "apollo::cyber::ComponentBase");
6 }
7 };
8 static ProxyType__COUNTER__ g_register_class___COUNTER__;
9 }
創(chuàng)建一個(gè)模板類(lèi)utility::ClassFactory
第一部分介紹模塊主入口時(shí)，提及bool ModuleController::LoadModule(const std::string& path)函數(shù)，正是該函數(shù)動(dòng)態(tài)創(chuàng)建出了apollo::planning::PlanningComponent類(lèi)對(duì)象。
函數(shù)內(nèi)部調(diào)用分析如下：
1bool ModuleController::LoadModule(const std::string& path) {
2 DagConfig dag_config;
3 if (!common::GetProtoFromFile(path, &dag_config)) {
4 AERROR << "Get proto failed, file: ">上述函數(shù)從磁盤(pán)配置文件讀取配置信息，并調(diào)用bool ModuleController::LoadModule(const DagConfig& dag_config)函數(shù)加載功能模塊：
1bool ModuleController::LoadModule(const DagConfig& dag_config) {
2 const std::string work_root = common::WorkRoot();
3
4 for (auto module_config : dag_config.module_config()) {
5 std::string load_path;
6 // ...
7 class_loader_manager_.LoadLibrary(load_path);
8 for (auto& component : module_config.components()) {
9 const std::string& class_name = component.class_name();
10 std::shared_ptr base =
11 class_loader_manager_.CreateClassObj(class_name);
12 if (base == nullptr) {
13 return false;
14 }
15
16 if (!base->Initialize(component.config())) {
17 return false;
18 }
19 component_list_.emplace_back(std::move(base));
20 }
21
22 // ...
23 }
24 return true;
25}工廠類(lèi)對(duì)象指針找到后，使用classobj = factory->CreateObj();就順理成章地將PlanningComponent類(lèi)對(duì)象創(chuàng)建出來(lái)了。
PublicRoadPlanner算法從Routing模塊輸出的高精地圖Lane序列獲得全局導(dǎo)航路徑。
基于場(chǎng)景、階段和任務(wù)的理念進(jìn)行規(guī)劃，優(yōu)點(diǎn)是能合理有效地應(yīng)對(duì)每種場(chǎng)景，易于擴(kuò)充，并且基于配置文件動(dòng)態(tài)增減場(chǎng)景、階段及使用的任務(wù)，靈活性強(qiáng)；缺點(diǎn)是可能會(huì)遺漏一些特殊場(chǎng)景，但可通過(guò)不斷擴(kuò)充新的場(chǎng)景加以解決。
該算法的主要執(zhí)行流程如下：
可借助GDB調(diào)試命令對(duì)上述執(zhí)行流程進(jìn)行更為深入的理解，例如TrafficLightProtectedStageApproach階段的PathLaneBorrowDecider任務(wù)的調(diào)用堆棧，從下往上看，對(duì)于任意一個(gè)任務(wù)的調(diào)用流程一目了然：
#0 apollo::planning::PathLaneBorrowDecider::Process (this=0x7f8c28294460, frame=0x7f8c38029f70,
2 reference_line_info=0x7f8c3802b140) at modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.cc:39
3#1 0x00007f8c0468b7c8 in apollo::planning::Decider::Execute (this=0x7f8c28294460, frame=0x7f8c38029f70,
4 reference_line_info=0x7f8c3802b140) at modules/planning/tasks/deciders/decider.cc:31
5#2 0x00007f8c065c4a01 in apollo::planning::scenario::Stage::ExecuteTaskOnReferenceLine (this=0x7f8c28293eb0,
6 planning_start_point=..., frame=0x7f8c38029f70) at modules/planning/scenarios/stage.cc:96
7#3 0x00007f8c06e721da in apollo::planning::scenario::traffic_light::TrafficLightProtectedStageApproach::Process (
8 this=0x7f8c28293eb0, planning_init_point=..., frame=0x7f8c38029f70) at
9 modules/planning/scenarios/traffic_light/protected/stage_approach.cc:48
10#4 0x00007f8c067f1732 in apollo::planning::scenario::Scenario::Process (
11 this=0x7f8c2801bf20, planning_init_point=..., frame=0x7f8c38029f70)
12 at modules/planning/scenarios/scenario.cc:76
13#5 0x00007f8c186e153a in apollo::planning::PublicRoadPlanner::Plan (
14 this=0x23093de0, planning_start_point=..., frame=0x7f8c38029f70,
15 ptr_computed_trajectory=0x7f8b9a5fbed0) at modules/planning/planner/public_road/public_road_planner.cc:51
16#6 0x00007f8c19ee5937 in apollo::planning::OnLanePlanning::Plan (
17 this=0x237f3b0, current_time_stamp=1557133995.3679764, stitching_trajectory=std::vector of length 1,
18 capacity 1 = {...}, ptr_trajectory_pb=0x7f8b9a5fbed0) at modules/planning/on_lane_planning.cc:436
19#7 0x00007f8c19ee40fa in apollo::planning::OnLanePlanning::RunOnce (
20 this=0x237f3b0, local_view=..., ptr_trajectory_pb=0x7f8b9a5fbed0) at modules/planning/on_lane_planning.cc:304
21#8 0x00007f8c1ab0d494 in apollo::planning::PlanningComponent::Proc (
22 this=0x1d0f310, prediction_obstacles=std::shared_ptr (count 4, weak 0) 0x7f8b840164f8,
23 chassis=std::shared_ptr (count 4, weak 0) 0x7f8b84018a08,
24 localization_estimate=std::shared_ptr (count 4, weak 0) 0x7f8b8400d3b8) at modules/planning/planning_component.cc:134
25#9 0x00007f8c1abb46c4 in apollo::cyber::Component
26 apollo::canbus::Chassis, apollo::localization::LocalizationEstimate, apollo::cyber::NullType>::Process (this=0x1d0f310,
27 msg0=std::shared_ptr (count 4, weak 0) 0x7f8b840164f8, msg1=std::shared_ptr (count 4, weak 0) 0x7f8b84018a08,
28 msg2=std::shared_ptr (count 4, weak 0) 0x7f8b8400d3b8) at ./cyber/component/component.h:291
29#10 0x00007f8c1aba2698 in apollo::cyber::Component
30 apollo::canbus::Chassis, apollo::localization::LocalizationEstimate, apollo::cyber::NullType>::Initialize(
31 apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&,
32 std::shared_ptr const&, std::shared_ptr const&)#2}::operator()
33 (std::shared_ptr const&, std::shared_ptr const&,
34 std::shared_ptr const&) const (__closure=0x2059a430,
35 msg0=std::shared_ptr (count 4, weak 0) 0x7f8b840164f8, msg1=std::shared_ptr (count 4, weak 0) 0x7f8b84018a08,
36 msg2=std::shared_ptr (count 4, weak 0) 0x7f8b8400d3b8) at ./cyber/component/component.h:378
37#11 0x00007f8c1abb4ad2 in apollo::cyber::croutine::RoutineFactory apollo::cyber::croutine::CreateRoutineFactory
38 ::Initialize(
41 apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&,
42 std::shared_ptr const&, std::shared_ptr const&)#2}&>
43 (apollo::cyber::Component::Initialize(apollo::cyber::proto::ComponentConfig const&)::
45 {lambda(std::shared_ptr const&, std::shared_ptr const&,
46 std::shared_ptr const&)#2}&,
47 std::shared_ptr > const&)::
49 {lambda()#1}::operator()() const::{lambda()#1}::operator()() const (__closure=0x2059a420) at ./cyber/croutine/routine_factory.h:108
50#12 0x00007f8c1ac0466a in std::_Function_handler
51apollo::cyber::croutine::CreateRoutineFactory::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&,
54std::shared_ptr const&, std::shared_ptr const&)#2}&>
55(apollo::cyber::Component::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&,
57std::shared_ptr const&, std::shared_ptr const&)#2}&,
58std::shared_ptr > const&)::{lambda()#1}::operator()() const::{lambda()#1}>::_M_invoke(std::_Any_data const&) (__functor=...) at
60/usr/include/c++/4.8/functional:2071
61#13 0x00007f8c5f5b86e8 in std::function::operator()() const (this=0x205f1160) at /usr/include/c++/4.8/functional:2471
62#14 0x00007f8c57560cbc in apollo::cyber::croutine::CRoutine::Run (this=0x205f1148) at ./cyber/croutine/croutine.h:143
63#15 0x00007f8c5755ff55 in apollo::cyber::croutine::(anonymous namespace)::CRoutineEntry (arg=0x205f1148) at cyber/croutine/croutine.cc:43
所有規(guī)劃算法共用的流程略去不表，與PublicRoadPlanner規(guī)劃算法相關(guān)的有兩處，一處是PublicRoadPlanner::Init，另一處是PublicRoadPlanner::Plan。
下面來(lái)看場(chǎng)景更新函數(shù)ScenarioManager::Update的代碼：
1void ScenarioManager::Update(const common::TrajectoryPoint& ego_point,
2 const Frame& frame) {
3 CHECK(!frame.reference_line_info().empty());
4 Observe(frame);
5 ScenarioDispatch(ego_point, frame);
6}該函數(shù)包含兩個(gè)子函數(shù)：ScenarioManager::Observe和ScenarioManager::ScenarioDispatch，其中前者用于更新first_encountered_overlap_map_，代碼如下所示：
1void ScenarioManager::Observe(const Frame& frame) {
2 // init first_encountered_overlap_map_
3 first_encountered_overlap_map_.clear();
4 const auto& reference_line_info = frame.reference_line_info().front();
5 const auto& first_encountered_overlaps =
6 reference_line_info.FirstEncounteredOverlaps();
7 for (const auto& overlap : first_encountered_overlaps) {
8 if (overlap.first == ReferenceLineInfo::PNC_JUNCTION ||
9 overlap.first == ReferenceLineInfo::SIGNAL ||
10 overlap.first == ReferenceLineInfo::STOP_SIGN ||
11 overlap.first == ReferenceLineInfo::YIELD_SIGN) {
12 first_encountered_overlap_map_[overlap.first] = overlap.second;
13 }
14 }
15}以上就是如何進(jìn)行Planning 模塊源代碼分析，小編相信有部分知識(shí)點(diǎn)可能是我們?nèi)粘９ぷ鲿?huì)見(jiàn)到或用到的。希望你能通過(guò)這篇文章學(xué)到更多知識(shí)。更多詳情敬請(qǐng)關(guān)注創(chuàng)新互聯(lián)行業(yè)資訊頻道。
