README

目录

• dreamview
  • Introduction
  • Directory Structure
  • Input
  • Output
  • configs
  • Flags
  • How to use
  • Related Paper
  • 文档意见反馈

dreamview

Introduction

Dreamview or Apollo's HMI module provides a web application that helps developers visualize the output of other relevant autonomous driving modules, e.g. the vehicle's planning trajectory, car localization, chassis status etc.

Directory Structure

modules/dreamview
├── backend               // dreamview backend implementation
├── BUILD
├── conf
├── cyberfile.xml
├── frontend              // dreamview frontend implementation 
├── launch
├── main.cc
├── proto
└── README.md

Input

Currently Dreamview monitors the following messages:

• Localization, defined by Protobuf message LocalizationEstimate, which can be found in file modules/common_msgs/localization_msgs/localization.proto.
• Chassis, defined by Protobuf message Chassis, which can be found in file modules/common_msgs/chassis_msgs/chassis.proto.
• Planning, defined by Protobuf message ADCTrajectory, which can be found in file modules/common_msgs/planning_msgs/planning.proto.
• Monitor, defined by Protobuf message MonitorMessage, which can be found in file modules/common_msgs/monitor_msgs/monitor.proto.
• Perception Obstacles, defined by Protobuf message PerceptionObstacles, which can be found in file modules/common_msgs/perception_msgs/perception_obstacle.proto.
• Prediction, defined by Protobuf message PredictionObstacles, which can be found in file modules/common_msgs/prediction_msgs/prediction_obstacle.proto.
• Routing, defined by Protobuf message RoutingResponse, which can be found in file modules/common_msgs/routing_msgs/routing.proto.

Output

A web-based dynamic 3D rendering of the monitored messages in a simulated world.

configs

file path	type / struct	Description
modules/dreamview/conf/camera_to_lidar_preprocess_table.pb.txt	apollo::dreamview::PreprocessTable	preprocess table
modules/dreamview/conf/data_collection_table.pb.txt	apollo::dreamview::DataCollectionTable	data collection table
modules/dreamview/conf/lidar_to_gnss_preprocess_table.pb.txt	apollo::dreamview::PreprocessTable	preprocess table
modules/dreamview/conf/hmi_modes	apollo::dreamview::HMIMode	HMI mode config
modules/dreamview/conf/dreamview.conf	gflags	gflags config

Flags

flagfile	type	Description
modules/dreamview/backend/common/dreamview_gflags.cc	cc	dreamview flags define
modules/dreamview/backend/common/dreamview_gflags.h	h	dreamview flags header

How to use

1. Build apollo in source env or install dreamview and monitor package in package management env
2. in source env:

   bash scripts/bootstrap.sh

in package management env:

aem bootstrap start

Related Paper

1. Xu, J., Luo, Q., Xu, K., Xiao, X., Yu, S., Hu, J., Miao, J. and Wang, J., 2019, November. An Automated Learning-Based Procedure for Large-scale Vehicle Dynamics Modeling on Baidu Apollo Platform. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5049-5056). IEEE.
2. Jiang, S., Wang, Y., Lin, L., Lin, W., Cao, Y., Miao, J. and Luo, Q., 2020, November. DRF: A Framework for High-Accuracy Autonomous Driving Vehicle Modeling, arXiv preprint arXiv:2011.00646.

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