BEV map

最新推荐文章于 2025-04-14 11:20:14 发布
原创 最新推荐文章于 2025-04-14 11:20:14 发布 · 274 阅读 · 0 ·
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#深度学习

博客提及了HDMapNet、VectorMapNet和MapTR，这些可能与深度学习相关技术有关，在信息技术领域有一定应用价值。

HDMapNet

VectorMapNet

MapTR

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Bev任务issue汇总
@bangbang的博客
06-01 963
在做update的话，需要等异步任务结束后再去做update。将每次backward结果存起来，等所有任异步务结束后，再做update。主干训练完的话，进行冻结，然后针对各个head进行训练。多任务更偏向于算法框架，需要解决:(1)（前）, 超过110米其实效果就已经很差了，90米距离效果也比较差。单orin有两个DLA， DLA 通常是放backbone。scale更新的频率和网络参数更新的频率是1:1。的问题，是很难做好的，尤其是。学深度分布depth。lift这种几何投影。不同源的数据是处理的。
avod论文理解与代码解读
qq_29981283的博客
10-09 4426
AVOD 论文理解与代码解读论文简析概述网络结构BEV map特征提取rpn 网络特征融合第二阶段检测网络box 编码方向确定代码解读mini batch的产生与作用rpn modelavod modelloss 论文简析 参考文章： csdn 代码： 代码 文献： 论文 概述 这篇论文的特点是多数据融合。自动驾驶领域对安全性的要求更加严格，这对检测的准确性要求很高。多数据的融合提供了更多的信息，...
BEV在线实时局部地图构建的三个经典方案对比和思考(HDMapNet,VectorMapNet,MapTR)
苹果姐计算机视觉原创知识分享
06-19 2207
众所周知,由于离线高精地图High-Definition Map(HDMap)制作成本高昂,且难以实时更新,基于自车实时感知生成的在线局部地图已经逐渐成为替代解决方案或是冗余方案,因为离线地图精度较高且具备全局信息,在线地图虽然不具备全局信息但具有实时性,二者可以互为补充. 博主在这个领域做了简要的调研,总结比较经典的方案主要有三个:清华赵行MARS Lab(和这个组杠上了)的HDMapNet, VectorMap,和华中科技大学与地平线合作的MapTR,觉得三个模型在框架和思路上也有内在联系和演进的过程
文章解读 -- MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird’s Eye
Darchan的博客
05-26 1385
文章解读 -- MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird’s Eye View Maps
BEV最新综述 | 学术界和工业界方案汇总！优化方法与tricks
lovely_yoshino的博客
10-19 1749
论文链接：https://arxiv.org/pdf/2209.05324.pdf学习感知任务的鸟瞰图（BEV）中的强大表示法是一种趋势，并引起了工业界和学术界的广泛关注。大多数自动驾驶常规方法是在前视图或透视图中执行检测、分割、跟踪等。随着传感器配置变得越来越复杂，集成来自不同传感器的多源信息并在统一视图中表示特征变得至关重要。BEV perception继承了几个优势，如在BEV中表示周围场景直观且融合友好；并且在BEV中表示对象对于后续模块最为理想，如在规划和/或控制中。BEV感知的核心问题在于： （
BEV在线实时局部地图构建的经典方案对比和思考（HDMapNet/VectorMapNet/MapTR）
CV_Autobot的博客
06-19 1023
点击下方卡片，关注“自动驾驶之心”公众号ADAS巨卷干货，即可获取今天自动驾驶之心很荣幸邀请到苹果姐来分享BEV在线实时局部地图构建的经典方案对比和思考，如果您有相关工作需要分享，请在文末联系我们！>>点击进入→自动驾驶之心【高精地图】技术交流群自动驾驶之心原创 · 作者| 苹果姐编辑 | 自动驾驶之心众所周知,由于离线高精地图High-Definition Map(HDMap)...
3d_detection_kit:用于探索3D数据以进行3D对象检测，点云可视化，bev map gen等的工具包。使用KITTI作为虚拟数据
05-08
3D检测套件 此仓库包含几个有用的脚本，这些脚本可用于3D检测算法开发。 包括： 在激光雷达点云上加载和可视化； 生成bev地图（鸟瞰图）； 在点云上显示3D边界框； 在带有calib参数的图像上投影3D边界框； 在bev影像角度上显示bbox； 更新 2020- ：将会继续。 2019-02-27 ：更新vis_3d，它现在可以使用具有3D边界框的mayavi可视化点云。 用法 直接使用： python3 show_pc.py 您会看到点云。 您还应该先使用以下命令安装open3d ： sudo pip3 install open3d-python 讲解 要获取更多信息，您可以访问我们的社区论坛进行交谈： : 将点云转换为bev地图 获取点云的bev地图。 它应该构造一个具有一定宽度和高度的图像，然后每个像素值应为z，如果在顶视图中没有点，则z应该为0，这样bev图像
#include "master.h" #include <log_custom.h> #include <cstddef> #include <cstdint> #include <map> #include <string> #include <base/params_manager/params_manager.h> #include <perception_and_ld_map_fusion/data_fusion/geometry_match_info.h> #include "fmt/core.h" #include "lib/sd_navigation/SDMapElementExtract.h" #include "message/env_model/routing_map/routing_map.h" #include "message/env_model/occ/occ.h" #include "message/sensor/camera/bev_lane/bev_lane.h" #include "cyber/event/trace.h" #include "cyber/time/time.h" #include "modules/perception/env/src/lib/base/localmap_conf.h" #include "modules/simulator/deterministic_scheduler/deterministic_scheduler.h" using byd::simulator::deterministic_scheduler::SchedulerUnitManager; using byd::simulator::deterministic_scheduler::TaskType; using namespace cem::fusion; using namespace cem::fusion::extendLane; namespace cem { namespace fusion { std::shared_ptr<cem::fusion::Master> MasterPtr = nullptr; std::shared_ptr<MasterInterface> GetMasterInstance() { if (!MasterPtr) { MasterPtr = std::shared_ptr<Master>(new Master("modules/perception/env", "local_map")); } return MasterPtr; } Master::Master(const std::string &confdir, const std::string &name) { conf_abs_path_ = confdir + std::string("/"); VLOG(1) << "conf_abs_path_ = " << conf_abs_path_; Init(); } void Master::Init() { LoadConfig(); InitMember(); } void Master::LoadConfig() { ParamsManager::Instance()->ReadJsonParams(conf_abs_path_ + "conf/TrafficRoadFusion/E2_Conf_TrafficRoadFusion.json", conf_abs_path_ + "conf/TrafficRoadFusion/E2_Conf_MeasurementEvaluation.json"); } void Master::InitMember() { routing_map_.reset(new RoutingMap()); pre_processor_.reset(new PreProcessor()); post_processor_.reset(new PostProcessor()); messenger_.reset(new Messenger()); stopline_mapping_.reset(new StoplineMapping); traffic_light_mapping_.reset(new TrafficLightMapping); bev_map_processor_.reset(new BevMapPreProcessor()); fusion_manager_.reset(new FusionManager()); fusion_manager_->Init(); map_fusion_.reset(new MapFusion); lane_guidance_.reset(new LaneGuidance); lane_guidance_city_.reset(new LaneGuidanceCity); env_info_processor_.reset(new navigation::EnvInfoProcessor()); traffic_flow_mapping_.reset(new TrafficFlowMapping); toggle_to_bev_info_.push(MapType::BEV_MAP); cross_road_construction_.reset(new CrossRoadConstruction); cross_road_construction_->Init(); extend_lane_.reset(new ExtendLane); debug_infos_.reset(new DebugInfos); sd_navigation_base_ = std::make_shared<navigation::SdNavigationBase>(); sd_navigation_highway_ = std::make_shared<navigation::SdNavigationHighway>(); sd_navigation_city_ = std::make_shared<navigation::SdNavigationCity>(); if (FLAGS_init_map_source == "ld" || FLAGS_init_map_source == "LD") { toggle_to_bev_info_.push(MapType::HD_MAP); } else { toggle_to_bev_info_.push(MapType::BEV_MAP); } } #define MapLessFlag void Master::Proc() { env_status_ = std::make_shared<byd::msg::orin::routing_map::EnvStatus>(); //get previous cross_road status and cross road distance pre_processor_->is_cross_road_status = cross_road_construction_->IsCrossRoad(); pre_processor_->cross_road_distance = cross_road_construction_->CrossRoadDis(); pre_processor_->Process(); //get previous cross_road status pre_processor_->is_cross_road_status = cross_road_construction_->IsCrossRoad(); RoutingMapPtr routing_map_raw{nullptr}; SensorDataManager::Instance()->GetLatestSensorFrame(routing_map_raw); auto raw_bev_map_ptr = INTERNAL_PARAMS.raw_bev_data.GetRawBevMapPtr(); ///高速和城区的切换 bool IS_ON_HIGHWAY_FLAG = false; { IS_ON_HIGHWAY_FLAG = GetIsOnHighwayFlag(routing_map_raw); if (IS_ON_HIGHWAY_FLAG) { sd_navigation_base_ = sd_navigation_highway_; } else { sd_navigation_base_ = sd_navigation_city_; } } env_status_->set_is_on_freeway(IS_ON_HIGHWAY_FLAG == true); DetectBevMap bev_map = pre_processor_->GetGlobalBevMapPtr(); ///停止线处理 stopline_mapping_->Process(); const auto &bev_stopline_objs = stopline_mapping_->GetStopLines(); ///导航推荐 std::vector<std::pair<uint64_t, std::pair<int, int>>> guide_lane_result = {}; std::vector<uint64_t> sd_guide_lane_ids_ref = {}; sd_navigation_base_->Proc(routing_map_raw, raw_bev_map_ptr, bev_map.bev_map_ptr, guide_lane_result, sd_guide_lane_ids_ref); auto junctions_ptr = INTERNAL_PARAMS.navigation_info_data.GetJunctionInfoCityPtr(); if ((!IS_ON_HIGHWAY_FLAG) && (routing_map_raw != nullptr)) { auto trajectory = sd_navigation_city_->GetNextRightPoints(routing_map_raw); pre_processor_->SetRightTurnTrajectory(routing_map_raw->header.timestamp, trajectory); } ///env_info env_info_processor_->SetIsOnHighway(IS_ON_HIGHWAY_FLAG); env_info_processor_->Process(bev_stopline_objs); const EnvInfo *env_info = env_info_processor_->GetEnvInfo(); if (bev_map.bev_map_ptr != nullptr) { bev_map.bev_map_ptr->env_info = *env_info; } bev_map_processor_->Process(bev_map, sd_guide_lane_ids_ref); fusion_manager_->Process(); const auto routing_map = pre_processor_->routing_map_pre_processor_.GetRoutingMap(); if (routing_map != nullptr) { routing_map->env_info = *env_info; } extend_lane_->Process(bev_map); bev_ld_map_geometry_match_info_.CalculateMapGeometryMatchInfo(fusion_manager_->GetBevMapInfo(), fusion_manager_->GetLdMapInfo()); // cross road part cross_road_construction_->SetGeometryMatchInfo(&bev_ld_map_geometry_match_info_); cross_road_construction_->Process(bev_map.bev_map_ptr, bev_map.Twb, raw_bev_map_ptr, junctions_ptr); // Post-processing of the bev map and intergration the guide lane, virtual // lane, traffic light status, etc. lane_guidance_city_->Process(routing_map_raw, bev_map, bev_stopline_objs, guide_lane_result); traffic_light_mapping_->Process(routing_map_raw, routing_map, lane_guidance_city_->GetMapInfo(), sd_navigation_city_); GeometryMatchResult match_detail; auto map_convert_type = MapToggleMode(match_detail); messenger_->PulishDiagno(); messenger_->PulishTrafficLightE2E(traffic_light_mapping_->GetTrafficLightsE2E()); bool used_ld_map = toggle_to_bev_info_.back() == MapType::HD_MAP; uint32_t map_counter = 0; // std::string map_type_str = used_ld_map ? "ld" : "bev"; map_counter = used_ld_map ? (routing_map ? routing_map->header.cycle_counter : 2) : (lane_guidance_city_->GetMapInfo() ? lane_guidance_city_->GetMapInfo()->header.cycle_counter : 1); const auto &map_convert_params = ParamsManager::Instance()->GetMapConvertParams(); if (IS_ON_HIGHWAY_FLAG) { used_ld_map = false; env_status_->clear_hd_map_suppression_reason(); env_status_->clear_perception_map_suppression_reason(); if (env_info->is_switched_to_LD_ && match_detail.fail_reason != kLostHdMapLane) { env_status_->set_perception_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_IN_THE_RAMP); used_ld_map = true; } else { if (match_detail.fail_reason == kLostHdMapLane) { env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_OUTSIDE_MAP); } else { env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_NOT_IN_THE_RAMP); } used_ld_map = false; } env_status_->clear_distance_to_next_junction(); env_status_->clear_distance_to_passed_junction(); env_status_->clear_left_laneline_match_info(); env_status_->clear_right_laneline_match_info(); // todo: add env status here } else { if (map_convert_params.map_stay_ld) { used_ld_map = true; } else if (map_convert_params.map_stay_bev) { used_ld_map = false; } } std::string map_type_str = used_ld_map ? "ld" : "bev"; if (!map_convert_params.map_stay_ld && used_ld_map) { const bool ld_has{false}; // const bool ld_has = bev_ld_map_geometry_match_info_.LDHasEnoughPoints(); // const bool bev_has = bev_ld_map_geometry_match_info_.BEVHasEnoughPoints(); if (!routing_map || routing_map->route.navi_start.section_id == 0U) { used_ld_map = false; if (!toggle_to_bev_info_.empty()) { toggle_to_bev_info_.pop(); } toggle_to_bev_info_.emplace(MapType::BEV_MAP); if (!routing_map) { env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_NO_HD_MAP_FRAME); } else { env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_NO_NAVIGATION_START_SECTION); } env_status_->clear_perception_map_suppression_reason(); map_type_str = fmt::format("bev ld_less_points.[{:d}-{}-{:d}]", static_cast<bool>(routing_map), routing_map ? routing_map->route.navi_start.section_id : 0, ld_has); } } RoutingMapPtr routing_map_copy_ptr = nullptr; if (nullptr != routing_map) { bool use_ld_tmp = used_ld_map; if (true == used_ld_map) { routing_map->sensor_status_info.sensor_status = 2; } post_processor_->run(routing_map, used_ld_map); if (use_ld_tmp && !used_ld_map) { env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_CLOSE_TO_HIGH_LEVEL_ROAD); env_status_->clear_perception_map_suppression_reason(); env_status_->clear_distance_to_next_junction(); env_status_->clear_distance_to_passed_junction(); env_status_->clear_left_laneline_match_info(); env_status_->clear_right_laneline_match_info(); } map_fusion_->SetGeometryMatchInfo(&bev_ld_map_geometry_match_info_); routing_map_copy_ptr = std::make_shared<RoutingMap>(*routing_map); map_fusion_->Process(bev_map, routing_map_copy_ptr); } if (used_ld_map) { env_status_->set_map_source(byd::msg::orin::routing_map::EnvStatus::EnvSource::EnvStatus_EnvSource_HD_MAP); } else { env_status_->set_map_source(byd::msg::orin::routing_map::EnvStatus::EnvSource::EnvStatus_EnvSource_PERCEPTION_MAP); } #ifdef MapLessFlag used_ld_map = false; #endif debug_infos_->SetDebugInfo(used_ld_map, lane_guidance_city_->GetMapInfo(), lane_guidance_city_->GetTwb(), routing_map_copy_ptr); messenger_->PulishFusionMap(!used_ld_map, lane_guidance_city_->GetMapInfo(), routing_map_copy_ptr, bev_stopline_objs, IS_ON_HIGHWAY_FLAG, sd_navigation_city_->GetInfo()); if (auto map_output = messenger_->GetFusionMapInfo(); map_output) { double adc_to_junction = traffic_light_mapping_->DistanceToJunction(); uint64_t ld_counter = routing_map == nullptr ? 0 : routing_map->header.cycle_counter; uint64_t bev_counter = lane_guidance_city_->GetMapInfo() == nullptr ? 0 : lane_guidance_city_->GetMapInfo()->header.cycle_counter; map_output->mutable_map_info()->mutable_env_status()->CopyFrom(*env_status_); map_output->mutable_map_info()->set_map_version( fmt::format("map_type:{} ld_counter:{} bev_counter:{} vision_counter:{} " "adc_to_junction:{:.2f} map_change_type:{} " "stay_ld:{:d} stay_bev:{:d} IS_ON_HIGHWAY_FLAG:{:d} " "used_ld_map:{:d} is_switched:{:d}", map_type_str, ld_counter, bev_counter, traffic_light_mapping_->GetPerceptionCyberCounter(), adc_to_junction, to_string(map_convert_type), map_convert_params.map_stay_ld, map_convert_params.map_stay_bev, IS_ON_HIGHWAY_FLAG, used_ld_map, env_info->is_switched_to_LD_) + sd_navigation_city_->GetInfo()); map_output->mutable_map_info()->set_engine_version( bev_ld_map_geometry_match_info_.GetDebugInfo() + fmt::format(" is_keep_lane:{:d} is_right:{:d} ", is_lane_keeping_, sd_navigation_city_->IsEgoInDedicatedRightLane()) + traffic_light_mapping_->TrafficLightLaneDebug()); GEOMETRY_LOG << map_output->map_info().map_version(); TRAFFIC_LOG << map_output->map_info().engine_version(); } } bool Master::GetIsOnHighwayFlag(const RoutingMapPtr &routing_map_raw) { auto is_on_highway_flag = [](const SDSectionInfo &sd_section_info) { auto &current_road_class = sd_section_info.road_class; uint32_t current_section_type = sd_section_info.link_type; uint64_t sd_section_id = sd_section_info.id / 10; if ((sd_section_id == 1678534592) || (sd_section_id == 1699361336) || (sd_section_id == 1699374097) || (sd_section_id == 1691246158) || (sd_section_id == 1607693456) || (sd_section_id == 1607693601) || (sd_section_id == 1648672436) || (sd_section_id == 1648672824) || (sd_section_id == 1678890528) || (sd_section_id == 1705771743) || (sd_section_id == 1705771555) || (sd_section_id == 1699402002) || (sd_section_id == 1699402004) || (sd_section_id == 1613352349) || (sd_section_id == 1678533134) || (sd_section_id == 1699372997) || (sd_section_id == 1699374094) || (sd_section_id == 1607690036) || (sd_section_id == 1607690332) || (sd_section_id == 1664789284) || (sd_section_id == 1664789271) || (sd_section_id == 1648672814) || (sd_section_id == 1678890452) || (sd_section_id == 1699443498) || (sd_section_id == 1705771744) || (sd_section_id == 1705771880) || (sd_section_id == 1705771278) || (sd_section_id == 1705771745) || (sd_section_id == 1699402006) || (sd_section_id == 1699402007) || (sd_section_id == 1705771745) || (sd_section_id == 1663998523) || (sd_section_id == 1582251492)) { return false; } if (current_road_class == SDRoadClass::SD_HIGHWAY || current_road_class == SDRoadClass::SD_CITY_FAST_WAY || (current_section_type & (uint32_t)SDLinkTypeMask::SDLT_IC) == (uint32_t)SDLinkTypeMask::SDLT_IC || (current_section_type & (uint32_t)SDLinkTypeMask::SDLT_JCT) == (uint32_t)SDLinkTypeMask::SDLT_JCT || (current_section_type & (uint32_t)SDLinkTypeMask::SDLT_SERVICE) == (uint32_t)SDLinkTypeMask::SDLT_SERVICE) { return true; } return false; }; auto is_highway_ramp = [](const SDSectionInfo &sd_section_info) { uint32_t section_type = sd_section_info.link_type; if ((section_type & (uint32_t)SDLinkTypeMask::SDLT_JCT) == (uint32_t)SDLinkTypeMask::SDLT_JCT || (section_type & (uint32_t)SDLinkTypeMask::SDLT_IC) == (uint32_t)SDLinkTypeMask::SDLT_IC || (section_type & (uint32_t)SDLinkTypeMask::SDLT_SERVICE) == (uint32_t)SDLinkTypeMask::SDLT_SERVICE || (section_type & (uint32_t)SDLinkTypeMask::SDLT_PARK) == (uint32_t)SDLinkTypeMask::SDLT_PARK || (section_type & (uint32_t)SDLinkTypeMask::SDLT_RAMP) == (uint32_t)SDLinkTypeMask::SDLT_RAMP || (sd_section_info.road_class == SDRoadClass::SD_OTHER_ROAD && (section_type & (uint32_t)SDLinkTypeMask::SDLT_POICONNECTION) == (uint32_t)SDLinkTypeMask::SDLT_POICONNECTION)) { return true; } else { return false; } }; auto is_highway_city_connection = [is_on_highway_flag, is_highway_ramp]( const SDSectionInfo &pre_sd_section_info, const SDSectionInfo &cur_sd_section_info, const SDSectionInfo &suc_sd_section_info) { uint32_t cur_section_type = cur_sd_section_info.link_type; if ((pre_sd_section_info.successor_section_id_list.size() == 1) && (is_on_highway_flag(pre_sd_section_info)) && ((cur_section_type & (uint32_t)SDLinkTypeMask::SDLT_IC) == (uint32_t)SDLinkTypeMask::SDLT_IC) && (!is_on_highway_flag(suc_sd_section_info) && (!is_highway_ramp(suc_sd_section_info)))) { return true; } else { return false; } }; if (routing_map_raw == nullptr) { return false; } auto &sd_mpp_sections = routing_map_raw->sd_route.mpp_sections; uint64_t sd_ego_sectionid = routing_map_raw->sd_route.navi_start.section_id; int ego_section_index = -1; for (unsigned int i = 0; i < sd_mpp_sections.size(); i++) { if (sd_ego_sectionid == sd_mpp_sections[i].id) { ego_section_index = i; break; } } if (ego_section_index == -1) { return routing_map_raw->is_on_highway; } auto &current_section = sd_mpp_sections[ego_section_index]; bool IS_ON_HIGHWAY_FLAG = routing_map_raw->is_on_highway; if (IS_ON_HIGHWAY_FLAG) { if (!is_on_highway_flag(current_section)) { return false; } if (ego_section_index >= 1 && ego_section_index < sd_mpp_sections.size() - 1) { if (is_highway_city_connection(sd_mpp_sections[ego_section_index - 1], current_section, sd_mpp_sections[ego_section_index + 1])) { return false; } } if (is_highway_ramp(current_section)) { return true; } double length_tmp = fabs(current_section.length - routing_map_raw->sd_route.navi_start.s_offset); double max_range = 1500; for (unsigned int i = ego_section_index + 1; i < sd_mpp_sections.size(); i++) { if (max_range < length_tmp) { break; } if (i >= 1 && i < sd_mpp_sections.size() - 1) { if (is_highway_city_connection(sd_mpp_sections[i - 1], sd_mpp_sections[i], sd_mpp_sections[i + 1])) { IS_ON_HIGHWAY_FLAG = false; break; } } if (is_on_highway_flag(sd_mpp_sections[i]) && is_highway_ramp(sd_mpp_sections[i])) { break; } if (!is_on_highway_flag(sd_mpp_sections[i])) { IS_ON_HIGHWAY_FLAG = false; break; } length_tmp += sd_mpp_sections[i].length; } return IS_ON_HIGHWAY_FLAG; } else { return false; } } MapConvertType Master::MapToggleMode(GeometryMatchResult &match_detail) { static constexpr size_t queue_max_size = 30; if (bev_ld_matched_info_.size() > queue_max_size) { bev_ld_matched_info_.pop(); } if (toggle_to_bev_info_.size() > queue_max_size) { toggle_to_bev_info_.pop(); } constexpr double distance_bev_to_ld_max = 150; constexpr double distance_bev_to_ld_min = 0.5; constexpr double distance_ld_to_bev_max = 150; constexpr double distance_threshold = 100; const bool bev_ld_boundary_matched = bev_ld_map_geometry_match_info_.IsLaneBoundaryMatch(match_detail); double adc_to_junction = traffic_light_mapping_->DistanceToJunction(); bool is_drive_into_unreliable_road = traffic_light_mapping_->IsUnreliableRoadCrossJunction(); is_drive_into_unreliable_road = false; bool distance_bev_to_ld = adc_to_junction < distance_bev_to_ld_max && adc_to_junction > distance_bev_to_ld_min; bool bev_ld_matched_current_period = distance_bev_to_ld && bev_ld_boundary_matched; double dis_ego_to_passed_junction = traffic_light_mapping_->GetPreviousJunctionEgoPassed(); LaneInfo ego_lane_ld = bev_ld_map_geometry_match_info_.GetLdBevLane(); bool ego_in_junction = ego_lane_ld.id != 0 && ego_lane_ld.type == cem::message::env_model::LaneType::LANE_VIRTUAL_JUNCTION; PLanningResultPtr planning_result{nullptr}; SensorDataManager::Instance()->GetLatestSensorFrame(planning_result); if (planning_result) { if (planning_result->lc_state == PLanningResultData::Keeping) { is_lane_keeping_ = true; } else { is_lane_keeping_ = false; } } if (!env_status_->is_on_freeway() && ((match_detail.fail_reason == MatchFailReason::kNotFailed) || (match_detail.fail_reason == MatchFailReason::kMatchFailed))) { env_status_->set_distance_to_next_junction(adc_to_junction); env_status_->set_distance_to_passed_junction(dis_ego_to_passed_junction); env_status_->mutable_left_laneline_match_info()->set_average_offset(match_detail.left_offset_average); env_status_->mutable_left_laneline_match_info()->set_max_offset(match_detail.left_offset_max); env_status_->mutable_right_laneline_match_info()->set_average_offset(match_detail.right_offset_average); env_status_->mutable_right_laneline_match_info()->set_max_offset(match_detail.right_offset_max); } if (env_status_->is_on_freeway() && match_detail.fail_reason == MatchFailReason::kLostHdMapLane && (!is_lane_keeping_)) { match_detail.fail_reason = MatchFailReason::kNotFailed; } GEOMETRY_LOG << fmt::format( " bev_ld_boundary_matched:{:d} distance_to_junction:{:.2f} ego_in_junction:{:d} vector_type:{:d} size:{:d} " "ego_dis_to_last_junction:{:.2f} is_lane_keeping:{:d} bev_ld_matched_current_period:{:d}", bev_ld_boundary_matched, adc_to_junction, ego_in_junction, (toggle_to_bev_info_.empty() ? MapType::UNKOWN_MAP : toggle_to_bev_info_.back()), toggle_to_bev_info_.size(), dis_ego_to_passed_junction, is_lane_keeping_, bev_ld_matched_current_period); switch (toggle_to_bev_info_.back()) { case MapType::HD_MAP: { if (adc_to_junction > distance_ld_to_bev_max && bev_ld_boundary_matched && dis_ego_to_passed_junction > distance_threshold && is_lane_keeping_) { toggle_to_bev_info_.emplace(MapType::BEV_MAP); env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_PASSED_JUNCTION); return MapConvertType::LD_2_BEV; } if (!is_lane_keeping_) { env_status_->set_perception_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_IS_CHANGING_LANE); } else if (adc_to_junction <= distance_ld_to_bev_max || dis_ego_to_passed_junction <= distance_threshold) { env_status_->set_perception_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_IN_JUNCTION); } else { env_status_->set_perception_map_suppression_reason(byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason:: EnvStatus_MapSuppressionReason_UNABLE_TO_MATCH_PERCEPTION_WITH_HD_MAP); } toggle_to_bev_info_.emplace(MapType::HD_MAP); return MapConvertType::LD_2_LD; } case MapType::BEV_MAP: { if (bev_ld_matched_current_period && is_lane_keeping_ && (!is_drive_into_unreliable_road)) { toggle_to_bev_info_.emplace(MapType::HD_MAP); env_status_->set_perception_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_IN_JUNCTION); return MapConvertType::BEV_2_LD; } if (adc_to_junction < distance_bev_to_ld_min) { toggle_to_bev_info_.emplace(MapType::UNKOWN_MAP); env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_UNKNOWN_REASON); return MapConvertType::BEV_2_UNKNOWN; } toggle_to_bev_info_.emplace(MapType::BEV_MAP); if (!is_lane_keeping_) { env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_IS_CHANGING_LANE); } else if (is_drive_into_unreliable_road) { env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_CLOSE_TO_HIGH_LEVEL_ROAD); } else { if (adc_to_junction > distance_bev_to_ld_max) { env_status_->set_hd_map_suppression_reason(byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason:: EnvStatus_MapSuppressionReason_EGO_NOT_CLOSE_ENOUGH_TO_JUNCTION); } else { env_status_->set_hd_map_suppression_reason(byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason:: EnvStatus_MapSuppressionReason_UNABLE_TO_MATCH_PERCEPTION_WITH_HD_MAP); } } return MapConvertType::BEV_2_BEV; } case MapType::UNKOWN_MAP: { if (bev_ld_matched_current_period && is_lane_keeping_) { toggle_to_bev_info_.emplace(MapType::HD_MAP); env_status_->set_perception_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_EGO_IN_JUNCTION); return MapConvertType::UNKNOWN_2_LD; } if (adc_to_junction > distance_bev_to_ld_min * 2 && is_lane_keeping_) { toggle_to_bev_info_.emplace(MapType::BEV_MAP); env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_UNKNOWN_REASON); return MapConvertType::UNKNOWN_2_BEV; } env_status_->set_hd_map_suppression_reason( byd::msg::orin::routing_map::EnvStatus::MapSuppressionReason::EnvStatus_MapSuppressionReason_UNKNOWN_REASON); toggle_to_bev_info_.emplace(MapType::UNKOWN_MAP); return MapConvertType::UNKNOWN_2_UNKNOWN; } default: { toggle_to_bev_info_.emplace(MapType::BEV_MAP); return MapConvertType::DEFAULT_BEV; } } toggle_to_bev_info_.emplace(MapType::BEV_MAP); return MapConvertType::DEFAULT_BEV; } /**********************************发送消息的数据结构接口************************************/ std::shared_ptr<byd::msg::basic::ModuleStatus> Master::GetModuleStatusPtr() { return this->messenger_->GetDiagnoInfo(); } std::shared_ptr<byd::msg::orin::routing_map::RoutingMap> Master::GetENVRoutingMapPtr() { return this->messenger_->GetRoutingMapInfo(); } std::shared_ptr<byd::msg::orin::routing_map::TrafficLightsE2EInfo> Master::GetTrafficLightsE2EPtr() { return this->messenger_->GetTrafficLightsE2EInfo(); } /***************************接收消息callback函数 * 在此处实现************************************/ void Master::OnVehInfoCallback(const std::shared_ptr<byd::msg::drivers::VehInfo> &msg) { this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::VehicleSignal>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Bcm50msPdu02>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Ibs20msPdu08>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Imcu20msPdu05>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Eps010msPdu00>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Ibs20msPdu15>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Sas10msPdu00>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Mpd100msPdu04>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::Icm100msPdu29>(msg); this->messenger_->Callback<byd::msg::drivers::VehInfo, cem::message::sensor::AdasIpd100msPdu12>(msg); } void Master::OnEnvModelLocalMapInfoCallback(const std::shared_ptr<byd::msg::env_model::LocalMapInfo> &msg) { this->messenger_->Callback<byd::msg::env_model::LocalMapInfo, cem::message::sensor::BevMapInfo>(msg); } void Master::OnRoutingMapCallBack(const std::shared_ptr<byd::msg::orin::routing_map::RoutingMap> &msg) { this->messenger_->Callback<byd::msg::orin::routing_map::RoutingMap, cem::message::env_model::RoutingMap>(msg); } void Master::OnMsgMapEventCallback(const std::shared_ptr<byd::msg::orin::routing_map::MapEvent> &msg) { this->messenger_->Callback<byd::msg::orin::routing_map::MapEvent, cem::message::env_model::MapEvent>(msg); } /* OnMsgMapEventCallback */ void Master::OnPercepTrfInfoCallback(const std::shared_ptr<byd::msg::perception::PerceptionTrafficInfo> &msg) { this->messenger_->Callback<byd::msg::perception::PerceptionTrafficInfo, cem::message::sensor::PercepTrfInfo>(msg); } void Master::OnPerceptionObstaclesInfoCallback(const std::shared_ptr<byd::msg::perception::PerceptionObstacles> &msg) { this->messenger_->Callback<byd::msg::perception::PerceptionObstacles, cem::message::sensor::FusObjInfo>(msg); } void Master::OnMsgDriverInsCallback(const std::shared_ptr<byd::msg::drivers::Ins> &msg) { this->messenger_->Callback<byd::msg::drivers::Ins, cem::message::sensor::LocalizationData>(msg); } void Master::OnMsgLocationDrCallback(const std::shared_ptr<byd::msg::localization::LocalizationEstimate> &msg) { this->messenger_->Callback<byd::msg::localization::LocalizationEstimate, cem::message::sensor::LocalizationData>(msg); } // void Master::OncanoutCallback( // const std::shared_ptr<byd::msg::orin::sm_msgs::MsgSM_BYD_CAN_Output> &msg) // { // this->messenger_->Callback<byd::msg::orin::sm_msgs::MsgSM_BYD_CAN_Output, // cem::message::sensor::CAN1>(msg); // } void Master::OnEnvModelLidaRoadedgeCallback(const std::shared_ptr<byd::msg::env_model::LocalMapInfo> &msg) { this->messenger_->Callback<byd::msg::env_model::LocalMapInfo, cem::message::sensor::LidarRoadEdgeInfo>(msg); } void Master::OnPlanResultCallback(const std::shared_ptr<byd::msg::planning::PLanningResultProto> &msg) { this->messenger_->Callback<byd::msg::planning::PLanningResultProto, cem::message::env_model::PLanningResultData>(msg); } void Master::OnPlanFuncStateCallback(const std::shared_ptr<byd::msg::pnc::PlanFuncState> &msg) { this->messenger_->Callback<byd::msg::pnc::PlanFuncState, cem::message::env_model::PLanFuncState>(msg); } void Master::OncanoutCallback(const std::shared_ptr<byd::msg::orin::sm_msgs::MsgSM_BYD_CAN_Output> &msg) { this->messenger_->Callback<byd::msg::orin::sm_msgs::MsgSM_BYD_CAN_Output, cem::message::env_model::CAN1>(msg); } void Master::OnOccCallback(const std::shared_ptr<byd::msg::perception::OCCInfo>& msg){ this->messenger_->Callback<byd::msg::perception::OCCInfo,cem::env_model::occ::OCCInfo>(msg); return; } /***************************************************************************************************/ } // namespace fusion } // namespace cem 解读下代码
07-19
- **MapToggleMode**：根据几何匹配结果、到路口的距离、是否保持车道等因素，决定使用哪种地图（HD_MAP、BEV_MAP或UNKOWN_MAP）。 ### 消息回调 代码中还有一系列以`OnXXXCallback`命名的回调函数，用于处理来自...
syntax = "proto2"; import "modules/msg/basic_msgs/header.proto"; import "modules/msg/basic_msgs/geometry.proto"; package byd.msg.orin.routing_map; message EnvStatus { enum MapSuppressionReason { NOT_SUPPRESSION = 0; CLOSE_TO_HIGH_LEVEL_ROAD = 1; NO_NAVIGATION_START_SECTION = 2; NO_HD_MAP_FRAME = 3; EGO_IS_CHANGING_LANE = 11; EGO_PASSED_JUNCTION = 12; EGO_IN_JUNCTION = 13; EGO_NOT_CLOSE_ENOUGH_TO_JUNCTION = 14; EGO_OUTSIDE_MAP = 15; EGO_NOT_IN_THE_RAMP = 16; EGO_IN_THE_RAMP = 17; UNABLE_TO_MATCH_PERCEPTION_WITH_HD_MAP = 31; UNKNOWN_REASON = 101; } enum EnvSource { UNDEFINED = 0; PERCEPTION_MAP = 1; HD_MAP = 2; BYD_CROWD_SOURCED_MAP = 3; } message LineMatchInfo { optional double average_offset = 1; optional double max_offset = 2; } optional bool is_on_freeway = 1; optional EnvSource map_source = 2; optional MapSuppressionReason hd_map_suppression_reason = 3; optional MapSuppressionReason perception_map_suppression_reason = 4; optional double distance_to_next_junction = 5; optional double distance_to_passed_junction = 6; optional LineMatchInfo left_laneline_match_info = 7; optional LineMatchInfo right_laneline_match_info = 8; } message MapInfo { enum CoordSys { WGS84 = 0; GCJ02 = 1; RFU = 2; FLU = 3; } optional CoordSys coord_sys = 1; optional string map_version = 2; optional string engine_version = 3; optional string sdmap_version = 4; optional EnvStatus env_status = 5; } enum LightStatus { NONE_LIGHT = 0; //无信号灯 GREEN_LIGHT = 1; YELLOW_LIGHT = 2; RED_LIGHT = 3; UNKNOWN_LIGHT = 4; //有信号灯状态未知 YELLOW_BLINKING = 5; FAIL_DETECTION = 6; BLOCK_FAIL = 7; GREEN_BLINKING = 8; BLURRING_MODE = 9; } enum NoneOddType { NODD_NONE = 0; NORMAL_NOT_ODD = 1; NODD_LOW_PRECISION = 22; NODD_LANE_BOUNDARY_CHANGE = 100; NODD_LANE_BOUNDARY_LOSS_WIDTH_ABNORMAL = 101; NODD_LANE_NUM_INCREASE = 102; NODD_LANE_NUM_DECREASE = 103; NODD_LANE_TYPE_CHANGE = 104; NODD_CONSTRUCTION_OPPOSITE_DIR_BORROW_WAY_NOT_DEGRADATION = 105; NODD_CONSTRUCTION_OPPOSITE_DIR_BORROW_WAY_DEGRADATION = 106; NODD_CONSTRUCTION_SAME_DIR_CHANGE_WAY_NOT_DEGRADATION = 107; NODD_CONSTRUCTION_SAME_DIR_CHANGE_WAY_DEGRADATION = 108; NODD_CONSTRUCTION_CLOSE_WAY = 109; NODD_CONSTRUCTION_CLOSE_WAY_TO_NOT_HIGHWAY_DEGRADATION = 110; NODD_RAMP_INCREASE = 111; NODD_TRAFFIC_CONE = 112; NODD_WATER_SAFETY_BARRIER = 113; NODD_UNKNOWN = 255; } enum PointSource { PS_UNKNOWN = 0; PS_BEV = 1; // 感知形点 TOPO_INSETRT = 2; // 拓扑插值点 SECTION_EXTENTED_FROM_LANEMARKER = 3; // lane使用lanemarker补齐 SECTION_EXTENTED_FROM_FIT = 4; // lane lanemarker使用自身点拟合重采样补齐 SECTION_EXTENTED_FROM_LANE = 5; // lanemarker使用lane点补齐 PS_HDMAP = 6; // 地图形点 PS_INVISIBLE = 7; // 感知不可见点 } message Point { optional double x = 1; optional double y = 2; optional double z = 3; optional double curvature = 4; optional PointSource point_source = 5; optional double mse = 6; // set value when BEV Map used } message Trajectory{ optional uint64 id = 1; optional uint64 lane_id = 2; optional uint64 start_lane_id = 3; optional uint64 end_lane_id = 4; repeated uint64 relative_lane_id = 5; repeated Point points = 6; } message LaneInfo { enum LaneType { LANE_UNKNOWN = 0; LANE_NORMAL = 1; LANE_ACC = 2; LANE_DEC = 3; LANE_RAMP = 4; LANE_EMERGENCY = 5; LANE_ACC_DCC = 6; LANE_BUS_NORMAL = 7; // 公交停靠站 LANE_HOV_NORMAL = 8; LANE_NON_MOTOR = 9; LANE_LEFT_WAIT = 10; LANE_VIRTUAL_COMMON = 11; LANE_VIRTUAL_JUNCTION = 12; LANE_ROUND_ABOUT = 13; LANE_REVERSIBLE = 16; LANE_VARIABLE_TURN = 17; LANE_HARBOR_STOP = 18; // 港湾停靠站 LANE_ENTRY = 19; // 入口 LANE_EXIT = 20; // 出口 LANE_DIVERSION = 21; // 导流区车道 LANE_U_TURN_LANE = 22; // 掉头车道 LANE_RIGHT_TURN_LANE = 23; // 右转专用车道 LANE_RIGHT_TURN_AREA = 24; // 右转等待车道 LANE_U_TURN_AREA = 25; // 掉头等待车道 LANE_NO_TURN_AREA = 26; // 直行等待车道 LANE_VIRTUAL_CONNECTED_LANE = 27; // 虚拟连接车道 LANE_PARKING = 28; // 停车车道 LANE_TOLLBOOTH = 29; // 收费站车道 LANE_OBSTACLE = 30; // 障碍物 LANE_MIXED_TOLL = 31; // 混合收费车道 LANE_REVERSIBLE_CONNECTION_LANE = 32; //潮汐连接路 LANE_ENTRANCE_OR_EXIT_LANE = 33; //主辅路出入口 LANE_LEFT_TURN_LANE = 34; //左转专用道 LANE_CHECKPOINT_LANE = 35; //检查站车道 LANE_USE_THE_LEFT_TURN_LANE = 36; //借道左转车道 LANE_BRT = 37; //公交专用道 } enum TurnType { NO_TURN = 0; LEFT_TURN = 1; RIGHT_TURN = 2; U_TURN = 3; STRAIGHT_AND_LEFT_TURN = 4; STRAIGHT_AND_RIGHT_TURN = 5; STRAIGHT_AND_U_TURN = 6; LEFT_TURN_AND_U_TURN = 7; RIGHT_TURN_AND_U_TURN = 8; STRAIGHT_AND_LEFT_TURN_AND_RIGHT_TURN = 9; LEFT_TURN_AND_RIGHT_TURN = 10; STRAIGHT_AND_LEFT_TURN_AND_U_TURN = 11; STRAIGHT_AND_RIGHT_TURN_AND_U_TURN = 12; LEFT_TURN_AND_RIGHT_TURN_AND_U_TURN = 13; STRAIGHT_AND_LEFT_AND_RIGHT_AND_U_TURN = 14; OTHER_UNKNOWN = 9999; } enum SplitTopology { TOPOLOGY_SPLIT_NONE = 0; TOPOLOGY_SPLIT_LEFT = 1; // split to left TOPOLOGY_SPLIT_RIGHT = 2; // split to right TOPOLOGY_SPLIT_UNKNOWN = 3; } enum MergeTopology { TOPOLOGY_MERGE_NONE = 0; TOPOLOGY_MERGE_LEFT = 1; // merge to left, ego is on right of target lane TOPOLOGY_MERGE_RIGHT = 2; // merge to right, ego is on left of target lane TOPOLOGY_TO_BE_MERGED = 3; TOPOLOGY_MERGE_UNKNOWN = 4; } enum MergeSource { MERGE_UNKNOWN = 0; MERGE_BEV = 1; MERGE_LD = 2; MERGE_SD = 3; } enum TrafficSetReason{ UNKNOWN_STATE = 0; STAY_PREV = 1; SET_DEFAULT_OBJ = 2; NEW_ARROW_LIGHT = 3; NEW_CIRCLE_LIGHT = 4; NEW_UNKNOWN_GREEN = 5; NEW_UNKNOWN_OTHER = 6; NEW_BLURRING_COLOR = 7; NEW_BLURRING_SHAPE = 8; } message MergeInfo { optional bool merge_valid = 1; optional MergeSource merge_source = 2; optional double dis_to_merge = 3; }; optional uint64 id = 1; optional uint64 section_id = 2; optional uint64 junction_id = 3; optional uint64 left_lane_id = 4; optional uint64 right_lane_id = 5; repeated uint64 next_lane_ids = 6; repeated uint64 left_lane_boundary_ids = 7; repeated uint64 right_lane_boundary_ids = 8; repeated uint64 left_road_boundary_ids = 9; repeated uint64 right_road_boundary_ids = 10; optional LaneType type = 11; optional NoneOddType none_odd_type = 12; optional TurnType turn_type = 13; // vaild in city region optional LightStatus light_status = 14; optional SplitTopology split_topology = 15; optional MergeTopology merge_topology = 16; repeated Point points = 17; // hasn't supported lane level curvature yet optional double length = 18; optional double speed_limit = 19; // uint: m/s optional bool is_virtual = 20; repeated uint64 cross_walks = 21; repeated uint64 traffic_stop_lines = 22; optional uint32 light_countdown = 23; repeated uint64 previous_lane_ids = 24; optional MergeInfo merge_info = 25; optional uint32 connect_score = 26; // score of classification as normal and split, ranging from 0 to 100 optional TurnType plan_turn_type = 27; optional bool is_blocked = 28; optional uint32 traffic_light_obj_id = 29; optional uint32 traffic_light_seq_num = 30; optional TrafficSetReason traffic_set_reason = 31; optional uint32 stay_prev_counter = 32; repeated uint64 exp_trajectory_ids = 33; optional bool cnoa_is_virtual = 34; // same as cnoa map is_virtual value, add to solve problem form SR optional uint32 lane_seq = 35; //车道序号，从左到右从1开始递增 optional uint32 stopline_angle_flag = 36; } message LaneBoundaryInfo { enum LineType { UNKNOWN = 0; SOLID = 1; DASHED = 2; SOLID_SOLID = 3; DASHED_DASHED = 4; SOLID_DASHED = 5; DASHED_SOLID = 6; VIRTUAL_LANE = 7; OTHERS = 9999; } enum LaneMarkerColor { LM_COLOR_UNKNOWN = 0; LM_COLOR_WHITE = 1; LM_COLOR_YELLOW = 2; LM_COLOR_BLUE = 3; LM_COLOR_GREEN = 4; LM_COLOR_RED = 5; } message ColorSegment { optional LaneMarkerColor color = 1; optional uint32 start_index = 2; optional uint32 end_index = 3; }; message TypeSegment { optional LineType type = 1; optional uint32 start_index = 2; optional uint32 end_index = 3; }; optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; optional LineType line_type = 3; repeated ColorSegment color_seg = 4; repeated TypeSegment type_seg = 5; repeated Point line_points = 6; } message RoadBoundaryInfo { enum BoundaryType { UNKNOWN_BOUNDARY = 0; FLAT_BOUNDARY = 1; LOW_BOUNDARY = 2; HIGH_BOUNDARY = 3; FENCE_BOUNDARY = 4; VIRTUAL = 12; } optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; optional BoundaryType boundary_type = 3; repeated Point line_points = 4; } message JunctionInfo { optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; } message CrossWalkInfo { optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; } message StopLineInfo { optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; optional uint32 type = 3; //type: 0 - real stopline, 1 - virtual stopline } message TrafficLightInfo { optional uint64 id = 1; optional byd.msg.basic.Point3D center_position = 2; repeated byd.msg.basic.Point3D bounding_box_geometry = 3; repeated uint64 laneids = 4; optional uint32 light_countdown = 5; optional uint32 shape = 6; optional LightStatus light_status = 7; } message NaviPosition { optional uint64 section_id = 1; optional double s_offset = 2; //uint: m } message SectionInfo { enum LDLinkTypeMask { LT_NORMAL = 0; // 0X00000000, // 普通 LT_TUNNEL = 1; // 0X00000001, // 隧道 LT_BRIDGE = 2; // 0X00000002, // 桥 LT_TOLLBOOTH = 4; // 0X00000004, // 收费站道路 LT_DEAD_END = 8; // 0X00000008, // 断头路 LT_IC = 16; // 0X00000010, // IC(高速连接普通路的道路) LT_JCT = 32; // 0X00000020, // JCT(高速连接高速的道路) LT_SAPA = 64; // 0X00000040, // SAPA(服务器、停车区道路) LT_WITHIN_INTERSECTION = 128; // 0X00000080, // 路口内道路 LT_AUTHORIZED = 256; // 0X00000100, // 授权道路 LT_TOLLGATE = 512; // 0X00000200, // 收费岛道路 LT_ABANDONED_TOLLGATE = 1024;// 0X00000400, // 废弃收费岛道路 LT_CHECKPOINT = 2048;// 0X00000800, // 检查站道路 LT_ROUNDABOUT = 4096;// 0X00001000, // 环岛内道路 LT_SERRATED = 8192;// 0X00002000, // 锯齿道路 LT_MAIN_ROAD = 16384;// 0X00004000, // 主路(main road) LT_SIDE_ROAD = 32768; // 0X00008000, // 辅路(side road) LT_MAINROAD_CONNECTION = 65536;// 0X00010000, // 主辅路连接路(mainside connection) LT_NO_S_INTERSECTION = 131072;// 0X00020000, // 无小路口 LT_S_INTERSECTION_LEFT = 262144;// 0X00040000, // 小路口左侧道路 LT_S_INTERSECTION_RIGHT= 524288;//0X00080000, // 小路口右侧道路 LT_S_INTERSECTION_BOTH = 1048576; //0X00100000, // 小路口两侧道路 LT_INJUNCTION = 2097152; //0X00200000, // 路口内道路（编译计算） LT_BOOTH_EXIT = 4194304;//0X00400000, // 出口收费站 LT_BOOTH_ENTRANCE = 8388608;//0X00800000, // 入口收费站 LT_BOOTH_EXIT_ENTRANCE = 16777216;//0X01000000 // 出入口收费站 } optional uint64 id = 1; optional double length = 2; //uint: m repeated uint64 lane_ids = 3; repeated Point points = 4; optional RoadClass road_class = 5; repeated uint64 predecessor_section_id_list = 6; repeated uint64 successor_section_id_list = 7; optional uint32 link_type = 8; //复合类型，与LdLinkTypeMask“按位与”操作判断。 } message ArrowInfo { enum ArrowType { RM_TYPE_STRAIGHT = 1; RM_TYPE_LEFT = 2; RM_TYPE_RIGHT = 3; RM_TYPE_TURNING = 4; RM_TYPE_STRAIGHT_LEFT = 5; RM_TYPE_STRAIGHT_RIGHT = 6; RM_TYPE_STRAIGHT_LEFT_RIGHT = 7; RM_TYPE_LEFT_RIGHT = 8; RM_TYPE_STRAIGHT_TURNING = 9; RM_TYPE_LEFT_TURNING = 10; } optional uint64 id = 1; optional ArrowType type = 2; optional byd.msg.basic.Point3D center_position = 3; repeated byd.msg.basic.Point3D bounding_box_geometry = 4; repeated uint64 lane_id = 5; } message SubPath { optional uint64 enter_section_id = 1; repeated SectionInfo sections = 2; } message RouteInfo { optional uint64 id = 1; optional NaviPosition navi_start = 2; //from currrent section repeated SectionInfo sections = 3; repeated SubPath subpaths = 4; optional string route_id = 5; //ld导航路径的md5值 } enum RoadClass { UNKNOWN = 0; EXPRESSWAY = 1; URBAN_EXPRESSWAY = 2; NATION_ROAD = 3; PROVINCE_ROAD = 4; COUNTRY_ROAD = 6; TOWN_ROAD = 7; SPECIAL_ROAD = 8; // 特服道路 WALK_ROAD = 9; PEOPLE_FERRY = 10; // 人渡 FERRY = 11; // 轮渡 OTHERS = 99; } enum V2RoadClassType { UNKNOWN_ROAD = 0; HIGH_WAY_ROAD = 1; EXPRESS_WAY_ROAD = 2; NATIOANL_ROAD = 3; PROVINCIAL_ROAD = 4; MAIN_ROAD = 5; SUB_ROAD = 6; } enum SDRoadClass { SD_HIGHWAY = 0; SD_CITY_FAST_WAY = 1; SD_NATIONAL_ROAD = 2; SD_PROVINCIAL_ROAD = 3; SD_COUNTY_ROAD = 4; SD_TOWNSHIP_ROAD = 5; SD_OTHER_ROAD = 6; SD_LEVEL_9_ROAD = 7; SD_FERRY = 8; SD_WALY_WAY = 9; SD_INVALID = 127; } message V2RoadClass { optional double start = 1; optional double end = 2; optional V2RoadClassType road_class = 3; } message V2RoadInfo { optional V2RoadClassType road_class = 1; optional int32 lane_num = 2; } message V2TurnInfo { optional uint64 id = 1; optional bool is_valid = 2; enum V2TurnType { UNKNOWN = 0; LEFT = 1; RIGHT = 2; STRAIGHT = 3; U_TURN_LEFT = 4; U_TURN_RIGHT = 5; MERGE_LEFT = 6; MERGE_RIGHT = 7; RAMP_LEFT = 11; RAMP_RIGHT = 12; RAMP_STRAIGHT = 13; RAMP_U_TURN_LEFT = 14; RAMP_U_TURN_RIGHT = 15; } optional V2TurnType turn_type = 3; enum V2DetailTurnType { NONE = 0; TURN_LEFT = 2; // 左转图标 TURN_RIGHT = 3; // 右转图标 SLIGHT_LEFT = 4; // 左前方图标 SLIGHT_RIGHT = 5; // 右前方图标 TURN_HARD_LEFT = 6; // 左后方图标 TURN_HARD_RIGHT = 7; // 右后方图标 UTURN = 8; // 左转掉头图标 (无在线图标) CONTINUE = 9; // 直行图标 TURN_RIGHT_ONLY = 10; // 右转专用道 UTURN_RIGHT = 19; // 右转掉头图标，左侧通行地区的掉头 LEFT_MERGE = 65; // 靠左图标 RIGHT_MERGE = 66; // 靠右图标 } optional V2DetailTurnType detail_turn_type = 4; optional double dist = 5; optional V2RoadInfo before_turn = 6; optional V2RoadInfo after_turn = 7; optional double v2_dist = 8; // V2提供的距离，新增加 } message NonODDInfo { optional string id = 1; optional uint64 reason = 2; optional double dist = 3; } message V2Curvature { optional double curvature = 1; // 曲率半径 optional double distance = 2; // 距离 } message V2TrafficFlow { optional double start_s = 1; optional double end_s = 2; enum V2TrafficFlowType { UNKNOWN_FLOW = 0; SMOOTH_FLOW = 1; SLOW_FLOW = 2; JAMMED_FLOW = 3; SEVERE_JAMMED_FLOW = 4; NO_FLOW = 5; } optional V2TrafficFlowType type = 3; } message EnvInfo { optional bool v2_valid = 1; optional bool v2_has_navigation = 2; optional double v2_dist_to_ramp = 3; optional double v2_dist_to_toll = 4; optional double v2_dist_to_tunnel = 5; repeated V2RoadClass v2_road_classes = 6; repeated V2TurnInfo v2_turn_info = 7; optional double dist_to_subpath = 8; optional double dist_to_split_routelanenum_dec = 9; repeated V2TrafficFlow traffic_flows = 10; repeated V2Curvature v2_curvatures = 11; repeated NonODDInfo v2_non_odd_info = 12; } message SDSectionInfo { enum SDLinkTypeMask { SDLT_INVALID = 0; SDLT_RING = 1; //环岛 0X00000001 SDLT_NOATTR = 2; //无属性 0X00000002 SDLT_MAINSEPARATE = 4; //上下行分离 0X00000004 SDLT_JCT = 8; //JCT 0X00000008 SDLT_CROSSLINK = 16; //交叉点内LINK 0X00000010 SDLT_IC = 32; //IC 0X00000020 SDLT_PARK = 64; //停车区 0X00000040 SDLT_SERVICE = 128; //服务区 0X00000080 SDLT_BRIDGE = 256; //桥 0X00000100 SDLT_WALKSTREET = 512; //步行街 0X00000200 SDLT_SIDEROAD = 1024; //辅路 0X00000400 SDLT_RAMP = 2048; //匝道 0X00000800 SDLT_CLOSEDROAD = 4096; //全封闭道路 0X00001000 SDLT_UNDEFINEDTRAFFICAREA = 8192; //未定义交通区域 0X00002000 SDLT_POICONNECTION = 16384; //连接路 0X00004000 SDLT_TUNNEL = 32768; //隧道 0X00008000 SDLT_RA_FOOTWAY = 65536; //步行道 0X00010000 SDLT_BUS = 131072; //公交专用道 0X00020000 SDLT_RIGHTTURN = 262144; //提前右转 0X00040000 SDLT_SCENICROAD = 524288; //风景线路 0X00080000 SDLT_INAREAROAD = 1048576; //区域内道路 0X00100000 SDLT_LEFTTURN = 2097152; //提前左转 0X00200000 SDLT_UTURN = 4194304; //掉头口 0X00400000 SDLT_MAINSIDECONNECT = 8388608; //主辅路出入口 0X00800000 SDLT_DUMMYLINK = 16777216; //虚拟链接路 0X01000000 SDLT_PARKLINK = 33554432; //停车位引导路 0X02000000 } enum SDDirectionType { UNKNOWN = 0; //未知 BIDIRECTIONAL_PASSABLE = 1; //双向可通行 FORWARD_ONLY = 2; //仅正向通行 REVERSE_ONLY = 3; //仅反向通行 INVALID = 4; //无效 } enum SDLinkTypeExtendMask { SDLTE_INVALID = 0; // = 0X00000000 /**< 0X00,无效值 */ SDLTE_PARKING_ENUUTRANCE = 1; // = 0X00000001, /*停车场出入口连接路 */ SDLTE_GAS_STATION_ENUUTRANCE = 2; // = 0X00000002, /*通往加油站的连接路 */ SDLTE_ESCAPE_LANE = 4; // = 0X00000004, /*避险车道 */ SDLTE_TRUCK_LANE = 8; // = 0X00000008, /*货车专用*/ SDLTE_NOTROUNDABOUT = 16; // = 0X00000010, /*非标环岛 */ SDLTE_FRONT_ROAD = 32; // = 0X00000020, /*门前路段*/ SDLTE_FOOTBRIDGE = 64; // = 0X00000040, /*跨线天桥*/ SDLTE_TUNNEL = 128; // = 0X00000080, /*跨线地道 */ SDLTE_FLYOVER = 256; // = 0X00000100, /*立交桥*/ SDLTE_TAXILANE = 512; // = 0X00000200, /*出租车专用道*/ SDLTE_PASSENGERCARLANE = 1024; // = 0X00000400, /*客运车专用道*/ SDLTE_PANSHANROAD = 2048; // = 0X00000800, /*盘山路*/ } optional uint64 id = 1; optional double length = 2; //uint: m optional uint64 lane_num = 3; repeated Point points = 4; optional SDRoadClass road_class = 5; repeated uint64 predecessor_section_id_list = 6; repeated uint64 successor_section_id_list = 7; optional uint32 link_type = 8; //与SDLinkTypeMask按位与判断 optional double speed_limit = 9; // uint: m/s optional bool has_toll_station = 10; optional SDDirectionType direction = 11; optional uint32 reverse_lane_count = 12; optional double exp_speed = 13; repeated SDLaneGroupIndex lane_group_idx = 14; optional bool has_junction = 15; optional uint32 link_type_extend = 16; //link的扩展类型，与SDLinkTypeExtendMask按位与判断 } message SDSubPath{ enum PathType { NONE = 0; SPLIT = 2; MERGE = 3; } optional uint64 enter_section_id = 1; // 汇入时为汇入主路的link， 汇出时为汇出主路的link repeated SDSectionInfo sections = 2; optional PathType path_type = 3; } message SDLaneGroupIndex { optional uint64 id = 1; optional double start_range_offset = 2; //uint: m optional double end_range_offset = 3; } message SDRecommendLaneGroup { optional uint64 lane_group_id = 1; repeated SDRecommendLGSegment recommend_lane = 2; //推荐区域车道 repeated SDRecommendLGSegment available_lane= 3; //可通行区域 } message SDRouteInfo { optional string id = 1; optional NaviPosition navi_start = 2; //from currrent section repeated SDSectionInfo mpp_sections = 3; repeated SDSubPath subpaths = 4; repeated SDRecommendLaneGroup recommend_lane_list = 5; //导航推荐车道 repeated uint64 mpp_lanegroup_id_list = 6; //lane_group级别的mpp id列表 } message SDRecommendLGSegment{ optional uint32 start_offset = 1; //车道组开始的位置（相对于langroup起点的距离，单位：m） optional uint32 end_offset = 2; //车道组结束的位置（相对于langroup起点的距离，单位：m） repeated uint32 lane_seqs = 3; //车道序号 optional uint32 lane_num = 4; //车道数 } message SDLaneGroupInfo { optional uint64 id = 1; optional double length = 2; //uint: m repeated uint64 successor_lane_group_ids = 3; repeated uint64 predecessor_lane_group_ids = 4; optional uint32 lane_num = 5; repeated LaneInfo lane_info = 6; repeated SDRecommendLGSegment recommend_lane = 7; //推荐区域车道 repeated SDRecommendLGSegment available_lane= 8; //可通行区域 } enum SpeedLimitMode{ passive_mode = 0x0; fusion_mode = 0x1; map_mode = 0x2; vision_mode = 0x3; } enum NormalSpeedStatus{ NORMAL = 0x0; UNKNOWN_LIMIT_SPEED = 0x1; UNLIMITED = 0x2; SPL_CANCELLED = 0x3; NO_DISPLAY = 0x4; } enum UnknownLimitStatus{ INVALID = 0x0; VALID = 0x1; UNCLEAR = 0x2; PRESERVE = 0x3; } enum ConditionType{ UNSPECIFIED = 0; TIME_CONDITION = 1; RAIN_CONDITION = 2; SNOW_CONDITION = 3; } message ConditionLimit{ optional float condition_limit_speed_value = 1; optional uint32 condition_type = 2; } message FusionSpeedInfo{ optional basic.Header header = 1; optional float speed_value = 2; optional uint32 normal_speed_status = 3; optional uint32 unknown_limit_status = 4; optional uint32 speed_limit_mode = 5; optional bool time_condition = 6; optional bool snow_condition = 7; optional bool rain_condition = 8; optional bool distance_condition = 9; repeated ConditionLimit condition_limit = 10; } message SensorStatusInfo{ optional uint32 sensor_status = 1; optional uint64 special_type = 2; } message RoutingMap { enum MapType { UNKOWN_MAP = 0; PERCEPTION_MAP = 1; HD_MAP = 2; BEV_MAP = 3; } optional basic.Header header = 1; optional MapInfo map_info = 2; optional MapType map_type = 3; repeated LaneInfo lanes = 4; repeated LaneBoundaryInfo lane_boundaries = 5; repeated RoadBoundaryInfo road_boundaries = 6; repeated StopLineInfo stop_lines = 7; repeated JunctionInfo junctions = 8; repeated CrossWalkInfo cross_walks = 9; optional RouteInfo route = 10; optional RoadClass cur_road_class = 11; repeated TrafficLightInfo traffic_lights = 12; repeated ArrowInfo arrows = 13; optional bool is_on_highway = 14; repeated byd.msg.basic.Point2D nodes = 15; optional EnvInfo env_info = 16; optional SDRouteInfo sd_route = 17; repeated SDLaneGroupInfo sd_lane_groups = 18; optional FusionSpeedInfo fusionSpeedInfo = 19; optional string debug_info = 20; repeated Trajectory exp_trajectories = 21; optional SensorStatusInfo sensor_status_info = 22; optional TrafficLightStatus traffic_light_uturn = 23; // for env auto_test optional TrafficLightStatus traffic_light_left = 24; // for env auto_test optional TrafficLightStatus traffic_light_straight = 25; // for env auto_test optional TrafficLightStatus traffic_light_right = 26; // for env auto_test } message TrafficLightStatus { optional LightStatus light_status = 1; // 红绿灯颜色 optional LaneInfo.TurnType turn_type = 2; // 红绿灯的转向类型 repeated byd.msg.basic.Point2D stop_line_pts = 3; // 应该在红绿灯前停车的线的位置 optional uint32 traffic_light_num = 4; // 红绿灯倒计时 repeated uint32 lane_ids = 5; // 红绿灯状态对应的lane id optional bool is_navi_light = 6; optional uint64 traffic_obj_id = 7; optional uint64 perception_sequence = 8; optional uint64 stay_prev_counter = 9; optional uint64 invalid_counter = 10; optional LaneInfo.TrafficSetReason traffic_reason = 11; repeated byd.msg.basic.Point2D stop_line_pts_wait = 12; // 应该在红绿灯前停车的线的位置 optional bool stopline_is_virtual = 13; optional double distance_to_stopline = 14; optional bool traffic_match_cloud_file = 15; }; message TrafficLightsE2EInfo { optional basic.Header header = 1; // 里面有seq信息，lane_ids是对应seq地图里面的 repeated TrafficLightStatus traffic_status = 2; // 所有红绿灯状态 optional byd.msg.basic.Point3D pose = 3; // 红绿灯位置 optional TrafficLightStatus traffic_light_uturn = 4; // for env auto_test optional TrafficLightStatus traffic_light_left = 5; // for env auto_test optional TrafficLightStatus traffic_light_straight = 6; // for env auto_test optional TrafficLightStatus traffic_light_right = 7; // for env auto_test repeated TrafficLightInfo traffic_lights = 8; }; 详细解释下接口proto
最新发布
09-04
点数据的来源，如BEV感知点、拓扑插值点、HD地图点等。 --- ### 6. `Point` 描述一个点的坐标、曲率、来源、MSE误差等。 --- ### 7. `Trajectory` 轨迹信息，包含ID、起始车道、点序列等。 --- ### 8. `...
【论文笔记】BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentation
weixin_45657478的博客
07-06 1045
【论文笔记】BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentation
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王的备忘录
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BEV是纯电动汽车英文的简写，纯电动汽车是指以车载电源为动力，以电力作为主要动力的汽车。 可供实用纯电动汽车最早出现在1873年的英国，相比燃油汽车历史更加悠久，比第一台燃油车早了整整十年。 纯电动汽车相对燃油汽车相比燃油汽车对环境的危害小了很多，因此备受推崇。一直很火的特斯拉 Modle S就是纯电动汽车的代表车型。 PHEV是指插电式混合动力汽车，插电式混合动力汽车与纯电动汽车在驱...
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Hali_Botebie的博客
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自动驾驶系统需要高清 (HD) 语义地图来导航城市道路。现有的解决方案通过离线手动标注来解决语义地图绘制问题，但这种方法存在严重的可扩展性问题。近期基于学习的方法可以生成密集的栅格化分割预测来构建地图。然而，这些预测不包含单个地图元素的实例信息，并且需要启发式后处理才能获得矢量化地图。为了应对这些挑战，我们引入了一种端到端的矢量化高清地图学习流程，称为 VectorMapNet。VectorMapNet 利用车载传感器的观测数据，预测鸟瞰图中一组稀疏的折线。
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qq_45880982的博客
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鸟瞰视角下的语义场景分割对于移动机器人的规划和决策至关重要。虽然最近的仅依靠视觉的方法在性能方面取得了显著进展，但它们通常在恶劣的光照条件下（如雨天或夜间）表现不佳。虽然主动传感器提供了解决这一挑战的方案，但激光雷达的 prohibitively 高成本仍然是一个限制因素。将摄像机数据与汽车雷达融合提供了一种更廉价的替代方案，但在先前的研究中受到了较少关注。在这项工作中，我们旨在通过引入 BEVCar，一种新颖的联合 BEV 对象和地图分割方法，推进这一有前途的途径。
分割性能暴涨6%！最新多模态地图BEV融合网络MapFusion
CV_Autobot的博客
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作者 |Xiaoshuai Hao编辑 | 深蓝AI点击下方卡片，关注“自动驾驶之心”公众号戳我->领取自动驾驶近15个方向学习路线>>点击进入→自动驾驶之心『BEV感知』技术交流群本文只做学术分享，如有侵权，联系删文自动驾驶系统包括感知、预测、决策、规划等不同的功能模块。对于其中的自动驾驶规划模块而言，要想实现准确安全的路径规划，就需要利用自动驾驶车辆上配置的传感器采集周...
SOTA！纯视觉多视图BEV下的地图生成和障碍物感知（CVPR2022）
CV_Autobot的博客
09-08 1707
作者|冯偲 编辑|汽车人原文链接：https://zhuanlan.zhihu.com/p/511477453点击下方卡片，关注“自动驾驶之心”公众号ADAS巨卷干货，即可获取点击进入→自动驾驶之心技术交流群后台回复【领域综述】获取自动驾驶全栈近80篇综述论文！论文名：Cross-view Transformers for real-time Map-view Semantic Segm...
点云综述学习笔记（一）
qq_42074056的博客
05-08 4782
论文链接：Deep Learning for 3D Point Clouds: A Survey 参考博客 作者及团队：Y ulan Guo∗, Hanyun Wang∗, Qingyong Hu∗, Hao Liu∗, Li Liu, and Mohammed Bennamoun会议及时间： Arxiv 2019 主要综述内容： 点云的研究方向大致如下：3D形状分类、3D对象检测和跟踪、3D点云分割、3D点云登记，6-DOF姿态评估和3D重建等研究方向。 关于3D点云的综述调查也相对较少。 .
3D Object Detection——BEV-based methods
qq_24505417的博客
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MV3D：Multi-View 3D Object Detection Network for Autonomous Driving AVOD：Joint 3D Proposal Generation and Object Detection from View Aggregation 代表1：MV3D 代表2：AVOD
AVOD-理解系列(一）
weixin_41679651的博客
08-23 4599
AVOD-理解 本篇用于记载之前阅读的论文avod及其代码，纯属个人个人理解．有误之处欢迎指正！ 网络结构 代码流程 1：Feed_dict: feed_dict: 主要就是确定每一个mini_batch里输入图像的各种信息,包括图像的名字,图像的标签文件,图像的ground-plane,以及点云的信息,相机的标定信息. 图像: 图像是随机打乱输入的,每次需要获取的是图像的...
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