仿真平臺-Dreamland
https://azure.apollo.auto/introduction?locale=zh-cn
http://apollo.auto/platform/simulation_cn.html
https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Dreamland_introduction.md
運行方式:
雲端運行你的Git Apollo code, 驗證代碼釋放OK, 測試場景, 網頁版
場景類型:
-
Worldsim 邏輯創建 : Worldsim is synthetic data created manually with specific and well-defined obstacle behavior and traffic light status. They are simple yet effective for testing the autonomous car in a well-defined environment. They do however lack the complexity found in real-world traffic conditions.
-
Logsim 真實世界的log數據 : Logsim is extracted from real world data using our sensors. They are more realistic but also less deterministic. The obstacles perceived may be fuzzy and the traffic conditions are more complicated.
場景邊界權限開通:發郵件給BD
數據採集可視化工具-DreamView
https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md
https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table_cn.md (不全!!!)
運行方式:基於Web
功能:
- 可視化顯示當前自動駕駛車輛模塊的輸出信息,例如規劃路徑、車輛定位、車架信息等。
- 爲使用者提供人機交互接口以監測車輛硬件狀態,對模塊進行開關操作,啓動自動駕駛車輛等。
- 提供調試工具,例如PnC監視器可以高效的跟蹤模塊輸出的問題
可視化圖標舉例:
Planning決策,決策柵欄區
決策柵欄區顯示了Planning模塊對車輛障礙物做出的決策。每種類型的決策會表示爲不同的顏色和圖標,如下圖所示:
Visual Element | Depiction Explanation |
---|---|
|
|
|
|
|
|
|
|
|
線路變更是一個特殊的決策,因此不顯示決策柵欄區,而是將路線變更的圖標顯示在車輛上。
Visual Element | Depiction Explanation |
---|---|
|
|
|
在優先通行的規則下,當在交叉路口的停車標誌處做出讓行決策時,被讓行的物體在頭頂會顯示讓行圖標
Visual Element | Depiction Explanation |
---|---|
停止標誌處的讓行物體 |
停止原因
如果顯示了停止決策柵欄區,則停止原因展示在停止圖標的右側。可能的停止原因和對應的圖標爲:
Visual Element | Depiction Explanation |
---|---|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|