如何在预测模块中添加一个预测器?

简介

 

预测器为每个障碍物生成预测轨迹。在这里,假设我们想给我们的车辆增加一个新的预测器,用于其他类型的障碍。

 

添加预测器的步骤

 

如下步骤将会指导您在预测器中添加一个 NewPredictor

 

  1. 定义一个继承基类 Predictor 的类

  2. 实现新类 NewPredictor

  3. 在 prediction_conf.proto中添加一个新的预测器类型

  4. 更新 prediction_conf

  5. 更新预测器管理器(Predictor manager)

 

下面让我们用上面的方法来添加新的预测器。

 

一、定义一个继承基类 Predictor的类

 

在文件夹 modules/prediction/predictor/vehicle中创建一个名为new_predictor.h的文件,文件内容如下:

 

#include "modules/prediction/predictor/predictor.h"

namespace apollo {
namespace prediction {

class NewPredictor : public Predictor {
 public:
  void Predict(Obstacle* obstacle) override;
  // Other useful functions and fields.
};

}  // namespace prediction
}  // namespace apollo

 

二、Implement the class NewPredictor

 

在创建了 new_predictor.h的文件夹中创建文件 new_predictor.cc。 文件内容如下:

 

#include "modules/prediction/predictor/vehicle/new_predictor.h"

namespace apollo {
namespace prediction {

NewPredictor::Predict(Obstacle* obstacle)() {
  // Get the results from evaluator
  // Generate the predicted trajectory
}

// Other functions

}  // namespace prediction
}  // namespace apollo

 

三、添加新的预测器类型

 

prediction_conf.proto中添加新预测器类型:

 

enum PredictorType {
   LANE_SEQUENCE_PREDICTOR = 0;
   FREE_MOVE_PREDICTOR = 1;
   REGIONAL_PREDICTOR = 2;
   MOVE_SEQUENCE_PREDICTOR = 3;
   NEW_PREDICTOR = 4;
 }

 

四、更新prediction_conf

 

modules/prediction/conf/prediction_conf.pb.txt中, 更新predictor_type部分如下:

 

obstacle_conf {
  obstacle_type: VEHICLE
  obstacle_status: ON_LANE
  evaluator_type: NEW_EVALUATOR
  predictor_type: NEW_PREDICTOR
}

 

五、更新预测器管理器(Predictor manager)

 

更新 CreateEvluator( ... ) 如下:

 

case ObstacleConf::NEW_PREDICTOR: {
    predictor_ptr.reset(new NewPredictor());
    break;
  }

 

更新 RegisterPredictors() 如下:

 

1
RegisterPredictor(ObstacleConf::NEW_PREDICTOR);

 

完成以上步骤后,一个新的预测器就创建好了。

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共6条回复 最后由Q1058204131 回复于2019-08-05 15:31
#4 一路有你469 回复于2019-04-15
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#5 一路有你469 回复于2019-04-15

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