README

目录

• perception-radar-detection
  • Introduction
  • Directory Structure
  • Modules
    • RadarDetectionComponent
      • Input
      • Output
      • How to run
  • 文档意见反馈

perception-radar-detection

Introduction

The radar detection module detects and tracks obstacles through the radar sensor, then sends them to the multi-sensor fusion module.

The radar detection module receives the radar drive message, which is already include the objects detected and tracked. Even so, the radar module has re-tracked the objects.

Directory Structure

radar_detection
├── BUILD     // bazel build file
├── README.md
├── app       // main process
├── common    // utils
├── conf      // dag config file
├── cyberfile.xml  // package description file
├── dag
├── data      // lib's configuration file
├── interface
├── launch
├── lib       // algorithm library
├── proto     // proto file
├── radar_detection_component.cc  // component
└── radar_detection_component.h

Modules

RadarDetectionComponent

apollo::perception::radar::RadarDetectionComponent

Input

Input channel	Type	Description
/apollo/sensor/radar/front	apollo::drivers::ContiRadar	radar drive message

>Note: Radar data from driver. The default trigger channel is /apollo/sensor/radar/front. The detailed input channel information is in modules/perception/radar_detection/dag/radar_detection_front.dag file.

Output

Output channel	Type	Description
/perception/inner/PrefusedObjects	apollo::perception::onboard::SensorFrameMessage	frame contains object detection

>Note: The output channel is structure type data. The message is defined in the modules/perception/common/onboard/inner_component_messages/inner_component_messages.h file. The output channel message data can be subscribed by components in the same process. The detailed output channel information is in modules/perception/radar_detection/conf/front_radar_detection_config.pb.txt file.

How to run

In most cases, the radar detection module needs to work with the multi-sensor fusion module. If you want to debug the radar module separately and view the detected obstacle information, you can combine the msg_adapter module.

Run the command as follows.

cyber_launch start modules/perception/launch/perception_radar.launch

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