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scenario_manager.cc
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scenario_manager.cc
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/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/scenarios/scenario_manager.h"
#include <string>
#include <vector>
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/util/point_factory.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/pnc_map/path.h"
#include "modules/map/proto/map_lane.pb.h"
#include "modules/planning/common/planning_context.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/common/util/util.h"
#include "modules/planning/scenarios/bare_intersection/unprotected/bare_intersection_unprotected_scenario.h"
#include "modules/planning/scenarios/emergency/emergency_pull_over/emergency_pull_over_scenario.h"
#include "modules/planning/scenarios/emergency/emergency_stop/emergency_stop_scenario.h"
#include "modules/planning/scenarios/lane_follow/lane_follow_scenario.h"
#include "modules/planning/scenarios/learning_model/learning_model_sample_scenario.h"
#include "modules/planning/scenarios/park/pull_over/pull_over_scenario.h"
#include "modules/planning/scenarios/park/valet_parking/valet_parking_scenario.h"
#include "modules/planning/scenarios/park_and_go/park_and_go_scenario.h"
#include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
#include "modules/planning/scenarios/traffic_light/protected/traffic_light_protected_scenario.h"
#include "modules/planning/scenarios/traffic_light/unprotected_left_turn/traffic_light_unprotected_left_turn_scenario.h"
#include "modules/planning/scenarios/traffic_light/unprotected_right_turn/traffic_light_unprotected_right_turn_scenario.h"
#include "modules/planning/scenarios/util/util.h"
#include "modules/planning/scenarios/yield_sign/yield_sign_scenario.h"
namespace apollo {
namespace planning {
namespace scenario {
using apollo::hdmap::HDMapUtil;
using apollo::hdmap::PathOverlap;
ScenarioManager::ScenarioManager(
const std::shared_ptr<DependencyInjector>& injector)
: injector_(injector) {}
bool ScenarioManager::Init(const PlanningConfig& planning_config) {
planning_config_.CopyFrom(planning_config);
RegisterScenarios();
default_scenario_type_ = ScenarioConfig::LANE_FOLLOW;
current_scenario_ = CreateScenario(default_scenario_type_);
return true;
}
std::unique_ptr<Scenario> ScenarioManager::CreateScenario(
ScenarioConfig::ScenarioType scenario_type) {
std::unique_ptr<Scenario> ptr;
switch (scenario_type) {
case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
ptr.reset(
new scenario::bare_intersection::BareIntersectionUnprotectedScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::EMERGENCY_PULL_OVER:
ptr.reset(new emergency_pull_over::EmergencyPullOverScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::EMERGENCY_STOP:
ptr.reset(new emergency_stop::EmergencyStopScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::LANE_FOLLOW:
ptr.reset(new lane_follow::LaneFollowScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::LEARNING_MODEL_SAMPLE:
ptr.reset(new scenario::LearningModelSampleScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::PARK_AND_GO:
ptr.reset(new scenario::park_and_go::ParkAndGoScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::PULL_OVER:
ptr.reset(new scenario::pull_over::PullOverScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::STOP_SIGN_UNPROTECTED:
ptr.reset(new scenario::stop_sign::StopSignUnprotectedScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
ptr.reset(new scenario::traffic_light::TrafficLightProtectedScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
ptr.reset(
new scenario::traffic_light::TrafficLightUnprotectedLeftTurnScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
ptr.reset(
new scenario::traffic_light::TrafficLightUnprotectedRightTurnScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::VALET_PARKING:
ptr.reset(new scenario::valet_parking::ValetParkingScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
case ScenarioConfig::YIELD_SIGN:
ptr.reset(new scenario::yield_sign::YieldSignScenario(
config_map_[scenario_type], &scenario_context_, injector_));
break;
default:
return nullptr;
}
if (ptr != nullptr) {
ptr->Init();
}
return ptr;
}
void ScenarioManager::RegisterScenarios() {
// lane_follow
if (planning_config_.learning_mode() == PlanningConfig::HYBRID ||
planning_config_.learning_mode() == PlanningConfig::HYBRID_TEST) {
// HYBRID or HYBRID_TEST
ACHECK(Scenario::LoadConfig(FLAGS_scenario_lane_follow_hybrid_config_file,
&config_map_[ScenarioConfig::LANE_FOLLOW]));
} else {
ACHECK(Scenario::LoadConfig(FLAGS_scenario_lane_follow_config_file,
&config_map_[ScenarioConfig::LANE_FOLLOW]));
}
// bare_intersection
ACHECK(Scenario::LoadConfig(
FLAGS_scenario_bare_intersection_unprotected_config_file,
&config_map_[ScenarioConfig::BARE_INTERSECTION_UNPROTECTED]));
// emergency_pull_over
ACHECK(
Scenario::LoadConfig(FLAGS_scenario_emergency_pull_over_config_file,
&config_map_[ScenarioConfig::EMERGENCY_PULL_OVER]));
// emergency_stop
ACHECK(Scenario::LoadConfig(FLAGS_scenario_emergency_stop_config_file,
&config_map_[ScenarioConfig::EMERGENCY_STOP]));
// learning model
ACHECK(Scenario::LoadConfig(
FLAGS_scenario_learning_model_sample_config_file,
&config_map_[ScenarioConfig::LEARNING_MODEL_SAMPLE]));
// park_and_go
ACHECK(Scenario::LoadConfig(FLAGS_scenario_park_and_go_config_file,
&config_map_[ScenarioConfig::PARK_AND_GO]));
// pull_over
ACHECK(Scenario::LoadConfig(FLAGS_scenario_pull_over_config_file,
&config_map_[ScenarioConfig::PULL_OVER]));
// stop_sign
ACHECK(Scenario::LoadConfig(
FLAGS_scenario_stop_sign_unprotected_config_file,
&config_map_[ScenarioConfig::STOP_SIGN_UNPROTECTED]));
// traffic_light
ACHECK(Scenario::LoadConfig(
FLAGS_scenario_traffic_light_protected_config_file,
&config_map_[ScenarioConfig::TRAFFIC_LIGHT_PROTECTED]));
ACHECK(Scenario::LoadConfig(
FLAGS_scenario_traffic_light_unprotected_left_turn_config_file,
&config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN]));
ACHECK(Scenario::LoadConfig(
FLAGS_scenario_traffic_light_unprotected_right_turn_config_file,
&config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN]));
// valet parking
ACHECK(Scenario::LoadConfig(FLAGS_scenario_valet_parking_config_file,
&config_map_[ScenarioConfig::VALET_PARKING]));
// yield_sign
ACHECK(Scenario::LoadConfig(FLAGS_scenario_yield_sign_config_file,
&config_map_[ScenarioConfig::YIELD_SIGN]));
}
ScenarioConfig::ScenarioType ScenarioManager::SelectPullOverScenario(
const Frame& frame) {
const auto& scenario_config =
config_map_[ScenarioConfig::PULL_OVER].pull_over_config();
const auto& routing = frame.local_view().routing;
const auto& routing_end = *(routing->routing_request().waypoint().rbegin());
common::SLPoint dest_sl;
const auto& reference_line_info = frame.reference_line_info().front();
const auto& reference_line = reference_line_info.reference_line();
reference_line.XYToSL(routing_end.pose(), &dest_sl);
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
const double adc_distance_to_dest = dest_sl.s() - adc_front_edge_s;
ADEBUG << "adc_distance_to_dest[" << adc_distance_to_dest
<< "] destination_s[" << dest_sl.s() << "] adc_front_edge_s["
<< adc_front_edge_s << "]";
bool pull_over_scenario =
(frame.reference_line_info().size() == 1 && // NO, while changing lane
adc_distance_to_dest >=
scenario_config.pull_over_min_distance_buffer() &&
adc_distance_to_dest <=
scenario_config.start_pull_over_scenario_distance());
// too close to destination + not found pull-over position
if (pull_over_scenario) {
const auto& pull_over_status =
injector_->planning_context()->planning_status().pull_over();
if (adc_distance_to_dest < scenario_config.max_distance_stop_search() &&
!pull_over_status.has_position()) {
pull_over_scenario = false;
}
}
// check around junction
if (pull_over_scenario) {
static constexpr double kDistanceToAvoidJunction = 8.0; // meter
for (const auto& overlap : first_encountered_overlap_map_) {
if (overlap.first == ReferenceLineInfo::PNC_JUNCTION ||
overlap.first == ReferenceLineInfo::SIGNAL ||
overlap.first == ReferenceLineInfo::STOP_SIGN ||
overlap.first == ReferenceLineInfo::YIELD_SIGN) {
const double distance_to = overlap.second.start_s - dest_sl.s();
const double distance_passed = dest_sl.s() - overlap.second.end_s;
if ((distance_to > 0.0 && distance_to < kDistanceToAvoidJunction) ||
(distance_passed > 0.0 &&
distance_passed < kDistanceToAvoidJunction)) {
pull_over_scenario = false;
break;
}
}
}
}
// check rightmost driving lane along pull-over path
if (pull_over_scenario) {
double check_s = adc_front_edge_s;
static constexpr double kDistanceUnit = 5.0;
while (check_s < dest_sl.s()) {
check_s += kDistanceUnit;
std::vector<hdmap::LaneInfoConstPtr> lanes;
reference_line.GetLaneFromS(check_s, &lanes);
if (lanes.empty()) {
ADEBUG << "check_s[" << check_s << "] can't find a lane";
continue;
}
const hdmap::LaneInfoConstPtr lane = lanes[0];
const std::string lane_id = lane->lane().id().id();
ADEBUG << "check_s[" << check_s << "] lane[" << lane_id << "]";
// check neighbor lanes type: NONE/CITY_DRIVING/BIKING/SIDEWALK/PARKING
bool rightmost_driving_lane = true;
for (const auto& neighbor_lane_id :
lane->lane().right_neighbor_forward_lane_id()) {
const auto hdmap_ptr = HDMapUtil::BaseMapPtr();
CHECK_NOTNULL(hdmap_ptr);
const auto neighbor_lane = hdmap_ptr->GetLaneById(neighbor_lane_id);
if (neighbor_lane == nullptr) {
ADEBUG << "Failed to find neighbor lane[" << neighbor_lane_id.id()
<< "]";
continue;
}
const auto& lane_type = neighbor_lane->lane().type();
if (lane_type == hdmap::Lane::CITY_DRIVING) {
ADEBUG << "lane[" << lane_id << "]'s right neighbor forward lane["
<< neighbor_lane_id.id() << "] type["
<< Lane_LaneType_Name(lane_type) << "] can't pull over";
rightmost_driving_lane = false;
break;
}
}
if (!rightmost_driving_lane) {
pull_over_scenario = false;
break;
}
}
}
switch (current_scenario_->scenario_type()) {
case ScenarioConfig::LANE_FOLLOW:
if (pull_over_scenario) {
return ScenarioConfig::PULL_OVER;
}
break;
case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
case ScenarioConfig::EMERGENCY_PULL_OVER:
case ScenarioConfig::PARK_AND_GO:
case ScenarioConfig::PULL_OVER:
case ScenarioConfig::STOP_SIGN_PROTECTED:
case ScenarioConfig::STOP_SIGN_UNPROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
case ScenarioConfig::VALET_PARKING:
case ScenarioConfig::YIELD_SIGN:
if (current_scenario_->GetStatus() !=
Scenario::ScenarioStatus::STATUS_DONE) {
return current_scenario_->scenario_type();
}
break;
default:
break;
}
return default_scenario_type_;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectPadMsgScenario(
const Frame& frame) {
const auto& pad_msg_driving_action = frame.GetPadMsgDrivingAction();
switch (pad_msg_driving_action) {
case DrivingAction::PULL_OVER:
if (FLAGS_enable_scenario_emergency_pull_over) {
return ScenarioConfig::EMERGENCY_PULL_OVER;
}
break;
case DrivingAction::STOP:
if (FLAGS_enable_scenario_emergency_stop) {
return ScenarioConfig::EMERGENCY_STOP;
}
break;
case DrivingAction::RESUME_CRUISE:
if (current_scenario_->scenario_type() ==
ScenarioConfig::EMERGENCY_PULL_OVER ||
current_scenario_->scenario_type() ==
ScenarioConfig::EMERGENCY_STOP) {
return ScenarioConfig::PARK_AND_GO;
}
break;
default:
break;
}
return default_scenario_type_;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectInterceptionScenario(
const Frame& frame) {
ScenarioConfig::ScenarioType scenario_type = default_scenario_type_;
hdmap::PathOverlap* traffic_sign_overlap = nullptr;
hdmap::PathOverlap* pnc_junction_overlap = nullptr;
ReferenceLineInfo::OverlapType overlap_type;
const auto& reference_line_info = frame.reference_line_info().front();
const auto& first_encountered_overlaps =
reference_line_info.FirstEncounteredOverlaps();
// note: first_encountered_overlaps already sorted
for (const auto& overlap : first_encountered_overlaps) {
if (overlap.first == ReferenceLineInfo::SIGNAL ||
overlap.first == ReferenceLineInfo::STOP_SIGN ||
overlap.first == ReferenceLineInfo::YIELD_SIGN) {
overlap_type = overlap.first;
traffic_sign_overlap = const_cast<hdmap::PathOverlap*>(&overlap.second);
break;
} else if (overlap.first == ReferenceLineInfo::PNC_JUNCTION) {
pnc_junction_overlap = const_cast<hdmap::PathOverlap*>(&overlap.second);
}
}
// pick a closer one between consecutive bare_intersection and traffic_sign
if (traffic_sign_overlap && pnc_junction_overlap) {
static constexpr double kJunctionDelta = 10.0;
double s_diff = std::fabs(traffic_sign_overlap->start_s -
pnc_junction_overlap->start_s);
if (s_diff >= kJunctionDelta) {
if (pnc_junction_overlap->start_s > traffic_sign_overlap->start_s) {
pnc_junction_overlap = nullptr;
} else {
traffic_sign_overlap = nullptr;
}
}
}
if (traffic_sign_overlap) {
switch (overlap_type) {
case ReferenceLineInfo::STOP_SIGN:
if (FLAGS_enable_scenario_stop_sign) {
scenario_type = SelectStopSignScenario(frame, *traffic_sign_overlap);
}
break;
case ReferenceLineInfo::SIGNAL:
if (FLAGS_enable_scenario_traffic_light) {
scenario_type =
SelectTrafficLightScenario(frame, *traffic_sign_overlap);
}
break;
case ReferenceLineInfo::YIELD_SIGN:
if (FLAGS_enable_scenario_yield_sign) {
scenario_type = SelectYieldSignScenario(frame, *traffic_sign_overlap);
}
break;
default:
break;
}
} else if (pnc_junction_overlap) {
// bare intersection
if (FLAGS_enable_scenario_bare_intersection) {
scenario_type =
SelectBareIntersectionScenario(frame, *pnc_junction_overlap);
}
}
return scenario_type;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectStopSignScenario(
const Frame& frame, const hdmap::PathOverlap& stop_sign_overlap) {
const auto& scenario_config =
config_map_[ScenarioConfig::STOP_SIGN_UNPROTECTED]
.stop_sign_unprotected_config();
const auto& reference_line_info = frame.reference_line_info().front();
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
const double adc_distance_to_stop_sign =
stop_sign_overlap.start_s - adc_front_edge_s;
ADEBUG << "adc_distance_to_stop_sign[" << adc_distance_to_stop_sign
<< "] stop_sign[" << stop_sign_overlap.object_id
<< "] stop_sign_overlap_start_s[" << stop_sign_overlap.start_s << "]";
const bool stop_sign_scenario =
(adc_distance_to_stop_sign > 0.0 &&
adc_distance_to_stop_sign <=
scenario_config.start_stop_sign_scenario_distance());
const bool stop_sign_all_way = false; // TODO(all)
switch (current_scenario_->scenario_type()) {
case ScenarioConfig::LANE_FOLLOW:
case ScenarioConfig::PARK_AND_GO:
case ScenarioConfig::PULL_OVER:
if (stop_sign_scenario) {
return stop_sign_all_way ? ScenarioConfig::STOP_SIGN_PROTECTED
: ScenarioConfig::STOP_SIGN_UNPROTECTED;
}
break;
case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
case ScenarioConfig::EMERGENCY_PULL_OVER:
case ScenarioConfig::STOP_SIGN_PROTECTED:
case ScenarioConfig::STOP_SIGN_UNPROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
case ScenarioConfig::YIELD_SIGN:
case ScenarioConfig::VALET_PARKING:
if (current_scenario_->GetStatus() !=
Scenario::ScenarioStatus::STATUS_DONE) {
return current_scenario_->scenario_type();
}
break;
default:
break;
}
return default_scenario_type_;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectTrafficLightScenario(
const Frame& frame, const hdmap::PathOverlap& traffic_light_overlap) {
// some scenario may need start sooner than the others
const double start_check_distance = std::max(
{config_map_[ScenarioConfig::TRAFFIC_LIGHT_PROTECTED]
.traffic_light_protected_config()
.start_traffic_light_scenario_distance(),
config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN]
.traffic_light_unprotected_left_turn_config()
.start_traffic_light_scenario_distance(),
config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN]
.traffic_light_unprotected_right_turn_config()
.start_traffic_light_scenario_distance()});
const auto& reference_line_info = frame.reference_line_info().front();
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
// find all the traffic light belong to
// the same group as first encountered traffic light
std::vector<hdmap::PathOverlap> next_traffic_lights;
static constexpr double kTrafficLightGroupingMaxDist = 2.0; // unit: m
const std::vector<PathOverlap>& traffic_light_overlaps =
reference_line_info.reference_line().map_path().signal_overlaps();
for (const auto& overlap : traffic_light_overlaps) {
const double dist = overlap.start_s - traffic_light_overlap.start_s;
if (fabs(dist) <= kTrafficLightGroupingMaxDist) {
next_traffic_lights.push_back(overlap);
}
}
bool traffic_light_scenario = false;
bool red_light = false;
// note: need iterate all lights to check no RED/YELLOW/UNKNOWN
for (const auto& traffic_light_overlap : next_traffic_lights) {
const double adc_distance_to_traffic_light =
traffic_light_overlap.start_s - adc_front_edge_s;
ADEBUG << "traffic_light[" << traffic_light_overlap.object_id
<< "] start_s[" << traffic_light_overlap.start_s
<< "] adc_distance_to_traffic_light["
<< adc_distance_to_traffic_light << "]";
// enter traffic-light scenarios: based on distance only
if (adc_distance_to_traffic_light <= 0.0 ||
adc_distance_to_traffic_light > start_check_distance) {
continue;
}
traffic_light_scenario = true;
const auto& signal_color =
frame.GetSignal(traffic_light_overlap.object_id).color();
ADEBUG << "traffic_light_id[" << traffic_light_overlap.object_id
<< "] start_s[" << traffic_light_overlap.start_s << "] color["
<< signal_color << "]";
if (signal_color != perception::TrafficLight::GREEN) {
red_light = true;
break;
}
}
bool traffic_light_protected_scenario = false;
bool traffic_light_unprotected_left_turn_scenario = false;
bool traffic_light_unprotected_right_turn_scenario = false;
if (traffic_light_scenario) {
const auto& turn_type =
reference_line_info.GetPathTurnType(traffic_light_overlap.start_s);
const bool right_turn = (turn_type == hdmap::Lane::RIGHT_TURN);
const bool left_turn = (turn_type == hdmap::Lane::LEFT_TURN);
const double adc_distance_to_traffic_light =
traffic_light_overlap.start_s - adc_front_edge_s;
if (right_turn && red_light) {
// check TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN
const auto& scenario_config =
config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN]
.traffic_light_unprotected_right_turn_config();
if (adc_distance_to_traffic_light <
scenario_config.start_traffic_light_scenario_distance()) {
traffic_light_unprotected_right_turn_scenario = true;
}
} else if (left_turn) {
// check TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN
const auto& scenario_config =
config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN]
.traffic_light_unprotected_left_turn_config();
if (adc_distance_to_traffic_light <
scenario_config.start_traffic_light_scenario_distance()) {
traffic_light_unprotected_left_turn_scenario = true;
}
} else {
// check TRAFFIC_LIGHT_PROTECTED
const auto& scenario_config =
config_map_[ScenarioConfig::TRAFFIC_LIGHT_PROTECTED]
.traffic_light_protected_config();
if (adc_distance_to_traffic_light <
scenario_config.start_traffic_light_scenario_distance()) {
traffic_light_protected_scenario = true;
}
}
}
switch (current_scenario_->scenario_type()) {
case ScenarioConfig::LANE_FOLLOW:
case ScenarioConfig::PARK_AND_GO:
case ScenarioConfig::PULL_OVER:
if (traffic_light_unprotected_left_turn_scenario) {
return ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN;
} else if (traffic_light_unprotected_right_turn_scenario) {
return ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN;
} else if (traffic_light_protected_scenario) {
return ScenarioConfig::TRAFFIC_LIGHT_PROTECTED;
}
break;
case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
case ScenarioConfig::EMERGENCY_PULL_OVER:
case ScenarioConfig::STOP_SIGN_PROTECTED:
case ScenarioConfig::STOP_SIGN_UNPROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
case ScenarioConfig::YIELD_SIGN:
case ScenarioConfig::VALET_PARKING:
if (current_scenario_->GetStatus() !=
Scenario::ScenarioStatus::STATUS_DONE) {
return current_scenario_->scenario_type();
}
break;
default:
break;
}
return default_scenario_type_;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectYieldSignScenario(
const Frame& frame, const hdmap::PathOverlap& yield_sign_overlap) {
const auto& scenario_config =
config_map_[ScenarioConfig::YIELD_SIGN].yield_sign_config();
const auto& reference_line_info = frame.reference_line_info().front();
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
const double adc_distance_to_yield_sign =
yield_sign_overlap.start_s - adc_front_edge_s;
ADEBUG << "adc_distance_to_yield_sign[" << adc_distance_to_yield_sign
<< "] yield_sign[" << yield_sign_overlap.object_id
<< "] yield_sign_overlap_start_s[" << yield_sign_overlap.start_s
<< "]";
const bool yield_sign_scenario =
(adc_distance_to_yield_sign > 0.0 &&
adc_distance_to_yield_sign <=
scenario_config.start_yield_sign_scenario_distance());
switch (current_scenario_->scenario_type()) {
case ScenarioConfig::LANE_FOLLOW:
case ScenarioConfig::PARK_AND_GO:
case ScenarioConfig::PULL_OVER:
if (yield_sign_scenario) {
return ScenarioConfig::YIELD_SIGN;
}
break;
case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
case ScenarioConfig::EMERGENCY_PULL_OVER:
case ScenarioConfig::STOP_SIGN_PROTECTED:
case ScenarioConfig::STOP_SIGN_UNPROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
case ScenarioConfig::YIELD_SIGN:
case ScenarioConfig::VALET_PARKING:
if (current_scenario_->GetStatus() !=
Scenario::ScenarioStatus::STATUS_DONE) {
return current_scenario_->scenario_type();
}
break;
default:
break;
}
return default_scenario_type_;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectBareIntersectionScenario(
const Frame& frame, const hdmap::PathOverlap& pnc_junction_overlap) {
const auto& reference_line_info = frame.reference_line_info().front();
if (reference_line_info.GetIntersectionRightofWayStatus(
pnc_junction_overlap)) {
return default_scenario_type_;
}
const auto& scenario_config =
config_map_[ScenarioConfig::BARE_INTERSECTION_UNPROTECTED]
.bare_intersection_unprotected_config();
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
const double adc_distance_to_pnc_junction =
pnc_junction_overlap.start_s - adc_front_edge_s;
ADEBUG << "adc_distance_to_pnc_junction[" << adc_distance_to_pnc_junction
<< "] pnc_junction[" << pnc_junction_overlap.object_id
<< "] pnc_junction_overlap_start_s[" << pnc_junction_overlap.start_s
<< "]";
const bool bare_junction_scenario =
(adc_distance_to_pnc_junction > 0.0 &&
adc_distance_to_pnc_junction <=
scenario_config.start_bare_intersection_scenario_distance());
switch (current_scenario_->scenario_type()) {
case ScenarioConfig::LANE_FOLLOW:
case ScenarioConfig::PARK_AND_GO:
case ScenarioConfig::PULL_OVER:
if (bare_junction_scenario) {
return ScenarioConfig::BARE_INTERSECTION_UNPROTECTED;
}
break;
case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
case ScenarioConfig::EMERGENCY_PULL_OVER:
case ScenarioConfig::STOP_SIGN_PROTECTED:
case ScenarioConfig::STOP_SIGN_UNPROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
case ScenarioConfig::YIELD_SIGN:
case ScenarioConfig::VALET_PARKING:
if (current_scenario_->GetStatus() !=
Scenario::ScenarioStatus::STATUS_DONE) {
return current_scenario_->scenario_type();
}
break;
default:
break;
}
return default_scenario_type_;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectValetParkingScenario(
const Frame& frame) {
const auto& scenario_config =
config_map_[ScenarioConfig::VALET_PARKING].valet_parking_config();
// TODO(All) trigger valet parking by route message definition as of now
double parking_spot_range_to_start =
scenario_config.parking_spot_range_to_start();
if (scenario::valet_parking::ValetParkingScenario::IsTransferable(
frame, parking_spot_range_to_start)) {
return ScenarioConfig::VALET_PARKING;
}
return default_scenario_type_;
}
ScenarioConfig::ScenarioType ScenarioManager::SelectParkAndGoScenario(
const Frame& frame) {
bool park_and_go = false;
const auto& scenario_config =
config_map_[ScenarioConfig::PARK_AND_GO].park_and_go_config();
const auto vehicle_state_provider = injector_->vehicle_state();
common::VehicleState vehicle_state = vehicle_state_provider->vehicle_state();
auto adc_point = common::util::PointFactory::ToPointENU(vehicle_state);
// TODO(SHU) might consider gear == GEAR_PARKING
double adc_speed = vehicle_state_provider->linear_velocity();
double s = 0.0;
double l = 0.0;
const double max_abs_speed_when_stopped =
common::VehicleConfigHelper::Instance()
->GetConfig()
.vehicle_param()
.max_abs_speed_when_stopped();
hdmap::LaneInfoConstPtr lane;
// check ego vehicle distance to destination
const auto& routing = frame.local_view().routing;
const auto& routing_end = *(routing->routing_request().waypoint().rbegin());
common::SLPoint dest_sl;
const auto& reference_line_info = frame.reference_line_info().front();
const auto& reference_line = reference_line_info.reference_line();
reference_line.XYToSL(routing_end.pose(), &dest_sl);
const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
const double adc_distance_to_dest = dest_sl.s() - adc_front_edge_s;
ADEBUG << "adc_distance_to_dest:" << adc_distance_to_dest;
// if vehicle is static, far enough to destination and (off-lane or not on
// city_driving lane)
if (std::fabs(adc_speed) < max_abs_speed_when_stopped &&
adc_distance_to_dest > scenario_config.min_dist_to_dest() &&
(HDMapUtil::BaseMap().GetNearestLaneWithHeading(
adc_point, 2.0, vehicle_state.heading(), M_PI / 3.0, &lane, &s,
&l) != 0 ||
lane->lane().type() != hdmap::Lane::CITY_DRIVING)) {
park_and_go = true;
}
if (park_and_go) {
return ScenarioConfig::PARK_AND_GO;
}
return default_scenario_type_;
}
void ScenarioManager::Observe(const Frame& frame) {
// init first_encountered_overlap_map_
first_encountered_overlap_map_.clear();
const auto& reference_line_info = frame.reference_line_info().front();
const auto& first_encountered_overlaps =
reference_line_info.FirstEncounteredOverlaps();
for (const auto& overlap : first_encountered_overlaps) {
if (overlap.first == ReferenceLineInfo::PNC_JUNCTION ||
overlap.first == ReferenceLineInfo::SIGNAL ||
overlap.first == ReferenceLineInfo::STOP_SIGN ||
overlap.first == ReferenceLineInfo::YIELD_SIGN) {
first_encountered_overlap_map_[overlap.first] = overlap.second;
}
}
}
void ScenarioManager::Update(const common::TrajectoryPoint& ego_point,
const Frame& frame) {
ACHECK(!frame.reference_line_info().empty());
Observe(frame);
ScenarioDispatch(frame);
}
void ScenarioManager::ScenarioDispatch(const Frame& frame) {
ACHECK(!frame.reference_line_info().empty());
ScenarioConfig::ScenarioType scenario_type;
int history_points_len = 0;
if (injector_->learning_based_data() &&
injector_->learning_based_data()->GetLatestLearningDataFrame()) {
history_points_len = injector_->learning_based_data()
->GetLatestLearningDataFrame()
->adc_trajectory_point_size();
}
if ((planning_config_.learning_mode() == PlanningConfig::E2E ||
planning_config_.learning_mode() == PlanningConfig::E2E_TEST) &&
history_points_len >= FLAGS_min_past_history_points_len) {
scenario_type = ScenarioDispatchLearning();
} else {
scenario_type = ScenarioDispatchNonLearning(frame);
}
ADEBUG << "select scenario: "
<< ScenarioConfig::ScenarioType_Name(scenario_type);
// update PlanningContext
UpdatePlanningContext(frame, scenario_type);
if (current_scenario_->scenario_type() != scenario_type) {
current_scenario_ = CreateScenario(scenario_type);
}
}
ScenarioConfig::ScenarioType ScenarioManager::ScenarioDispatchLearning() {
////////////////////////////////////////
// learning model scenario
ScenarioConfig::ScenarioType scenario_type =
ScenarioConfig::LEARNING_MODEL_SAMPLE;
return scenario_type;
}
ScenarioConfig::ScenarioType ScenarioManager::ScenarioDispatchNonLearning(
const Frame& frame) {
////////////////////////////////////////
// default: LANE_FOLLOW
ScenarioConfig::ScenarioType scenario_type = default_scenario_type_;
////////////////////////////////////////
// Pad Msg scenario
scenario_type = SelectPadMsgScenario(frame);
if (scenario_type == default_scenario_type_) {
// check current_scenario (not switchable)
switch (current_scenario_->scenario_type()) {
case ScenarioConfig::LANE_FOLLOW:
case ScenarioConfig::PULL_OVER:
break;
case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
case ScenarioConfig::EMERGENCY_PULL_OVER:
case ScenarioConfig::PARK_AND_GO:
case ScenarioConfig::STOP_SIGN_PROTECTED:
case ScenarioConfig::STOP_SIGN_UNPROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
case ScenarioConfig::VALET_PARKING:
case ScenarioConfig::YIELD_SIGN:
// must continue until finish
if (current_scenario_->GetStatus() !=
Scenario::ScenarioStatus::STATUS_DONE) {
scenario_type = current_scenario_->scenario_type();
}
break;
default:
break;
}
}
////////////////////////////////////////
// ParkAndGo / starting scenario
if (scenario_type == default_scenario_type_) {
if (FLAGS_enable_scenario_park_and_go) {
scenario_type = SelectParkAndGoScenario(frame);
}
}
////////////////////////////////////////
// intersection scenarios
if (scenario_type == default_scenario_type_) {
scenario_type = SelectInterceptionScenario(frame);
}
////////////////////////////////////////
// pull-over scenario
if (scenario_type == default_scenario_type_) {
if (FLAGS_enable_scenario_pull_over) {
scenario_type = SelectPullOverScenario(frame);
}
}
////////////////////////////////////////
// VALET_PARKING scenario
if (scenario_type == default_scenario_type_) {
scenario_type = SelectValetParkingScenario(frame);
}
return scenario_type;
}
bool ScenarioManager::IsBareIntersectionScenario(
const ScenarioConfig::ScenarioType& scenario_type) {
return (scenario_type == ScenarioConfig::BARE_INTERSECTION_UNPROTECTED);
}
bool ScenarioManager::IsStopSignScenario(
const ScenarioConfig::ScenarioType& scenario_type) {
return (scenario_type == ScenarioConfig::STOP_SIGN_PROTECTED ||
scenario_type == ScenarioConfig::STOP_SIGN_UNPROTECTED);
}
bool ScenarioManager::IsTrafficLightScenario(
const ScenarioConfig::ScenarioType& scenario_type) {
return (
scenario_type == ScenarioConfig::TRAFFIC_LIGHT_PROTECTED ||
scenario_type == ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN ||
scenario_type == ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN);
}
bool ScenarioManager::IsYieldSignScenario(
const ScenarioConfig::ScenarioType& scenario_type) {
return (scenario_type == ScenarioConfig::YIELD_SIGN);
}
void ScenarioManager::UpdatePlanningContext(
const Frame& frame, const ScenarioConfig::ScenarioType& scenario_type) {
// BareIntersection scenario
UpdatePlanningContextBareIntersectionScenario(frame, scenario_type);
// EmergencyStop scenario
UpdatePlanningContextEmergencyStopcenario(frame, scenario_type);
// PullOver & EmergencyPullOver scenarios
UpdatePlanningContextPullOverScenario(frame, scenario_type);
// StopSign scenario
UpdatePlanningContextStopSignScenario(frame, scenario_type);
// TrafficLight scenario
UpdatePlanningContextTrafficLightScenario(frame, scenario_type);
// YieldSign scenario
UpdatePlanningContextYieldSignScenario(frame, scenario_type);
}
// update: bare_intersection status in PlanningContext
void ScenarioManager::UpdatePlanningContextBareIntersectionScenario(
const Frame& frame, const ScenarioConfig::ScenarioType& scenario_type) {
auto* bare_intersection = injector_->planning_context()
->mutable_planning_status()
->mutable_bare_intersection();
if (!IsBareIntersectionScenario(scenario_type)) {
bare_intersection->Clear();
return;
}
if (scenario_type == current_scenario_->scenario_type()) {
return;
}
// set to first_encountered pnc_junction
const auto map_itr =
first_encountered_overlap_map_.find(ReferenceLineInfo::PNC_JUNCTION);
if (map_itr != first_encountered_overlap_map_.end()) {
bare_intersection->set_current_pnc_junction_overlap_id(
map_itr->second.object_id);
ADEBUG << "Update PlanningContext with first_encountered pnc_junction["
<< map_itr->second.object_id << "] start_s["
<< map_itr->second.start_s << "]";
}
}
// update: emergency_stop status in PlanningContext
void ScenarioManager::UpdatePlanningContextEmergencyStopcenario(
const Frame& frame, const ScenarioConfig::ScenarioType& scenario_type) {
auto* emergency_stop = injector_->planning_context()
->mutable_planning_status()
->mutable_emergency_stop();
if (scenario_type != ScenarioConfig::EMERGENCY_STOP) {
emergency_stop->Clear();
}
}
// update: stop_sign status in PlanningContext
void ScenarioManager::UpdatePlanningContextStopSignScenario(
const Frame& frame, const ScenarioConfig::ScenarioType& scenario_type) {
if (!IsStopSignScenario(scenario_type)) {