speed_decider.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
 
#include "modules/planning/tasks/speed_decider/proto/speed_decider.pb.h"
 
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_base/common/frame.h"
#include "modules/planning/planning_base/common/obstacle.h"
#include "modules/planning/planning_interface_base/task_base/task.h"
 
namespace apollo {
namespace planning {
 
class SpeedDecider : public Task {
 public:
  bool Init(const std::string& config_dir, const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
 
  common::Status Execute(Frame* frame,
                         ReferenceLineInfo* reference_line_info) override;
 
 private:
  enum STLocation {
    ABOVE = 1,
    BELOW = 2,
    CROSS = 3,
  };
 
  STLocation GetSTLocation(const PathDecision* const path_decision,
                           const SpeedData& speed_profile,
                           const STBoundary& st_boundary) const;
 
  bool CheckKeepClearCrossable(const PathDecision* const path_decision,
                               const SpeedData& speed_profile,
                               const STBoundary& keep_clear_st_boundary) const;
 
  bool CheckKeepClearBlocked(const PathDecision* const path_decision,
                             const Obstacle& keep_clear_obstacle) const;
 
  bool CheckIsFollow(const Obstacle& obstacle,
                     const STBoundary& boundary) const;
 
  bool CheckStopForPedestrian(const Obstacle& obstacle) const;
 
  bool CreateStopDecision(const Obstacle& obstacle,
                          ObjectDecisionType* const stop_decision,
                          double stop_distance) const;
 
  bool CreateFollowDecision(const Obstacle& obstacle,
                            ObjectDecisionType* const follow_decision) const;
 
  bool CreateYieldDecision(const Obstacle& obstacle,
                           ObjectDecisionType* const yield_decision) const;
 
  bool CreateOvertakeDecision(
      const Obstacle& obstacle,
      ObjectDecisionType* const overtake_decision) const;
 
  common::Status MakeObjectDecision(const SpeedData& speed_profile,
                                    PathDecision* const path_decision) const;
 
  void AppendIgnoreDecision(Obstacle* obstacle) const;
 
  bool IsFollowTooClose(const Obstacle& obstacle) const;
 
  double EstimateProperOvertakingGap(const double target_obs_speed,
                                     const double adc_speed) const;
 
  double EstimateProperFollowGap(const double& adc_speed) const;
 
 private:
  SLBoundary adc_sl_boundary_;
  common::TrajectoryPoint init_point_;
  const ReferenceLine* reference_line_ = nullptr;
  SpeedDeciderConfig config_;
  std::vector<std::pair<double, double>> follow_distance_function_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::SpeedDecider, Task)
 
}  // namespace planning
}  // namespace apollo