Thanks for the detailed code sharing. As a beginner, I have a few questions to ask:

1. which Module to start learning apollo？
2. How to debug apollo using IDE？（like vscode or others）
   Hope you can write a blog about the basic debugging and learning of apollo！
   Best wishes！

您好，非常感谢您之前的回复。
目前我在看车道线检测这一块，用的网络是DarkSCNN，我不太理解process2D这个函数对车道线做了什么处理？您对这一块有研究吗，谢谢！

rule base

• bare_intersection
• dead_end
• emergency
• lane_follow
• narrow_street_u_turn
• park
• park_and_go
• stop_sign
• traffic_light
• yield_sign

learning base

• learning_model

看了几天，还没搞明白V2X模块的输入和输出是什么呢？官方开发文档中有上机教程，感知，融合，规划等多个模块都有，V2X怎么来上机调试呢？（大佬，问的问题有点小儿科，还希望大佬解答下）

I have change the proto file "canbus/proto/chassis.proto". Delete the field "high_beam_signal/low_beam_signal/left_turn_signal/right_turn_signal" but still found in cyber_monitor, below is the log:

ChannelName: /apollo/canbus/chassis
MessageType: apollo.canbus.Chassis
FrameRatio: 0.00
RawMessage Size: 178 Bytes
engine_started: 1
engine_rpm: 799.999878
speed_mps: 0.000025
odometer_m: 0.000000
fuel_range_m: 0
throttle_percentage: 0.000000
brake_percentage: 100.000000
steering_percentage: -0.000000
parking_brake: 0
high_beam_signal: 0
low_beam_signal: 1
right_turn_signal: 1
Have Unknown Fields  // Here is the error

In function PrepareLocalizationMsg(), why do need interpolation?

  CorrectedImu imu_msg;
  FindMatchingIMU(gps_time_stamp, &imu_msg);
  ComposeLocalizationMsg(gps_msg, imu_msg, localization);

Find nearest IMU and the put into localization. IMU adds several types linear acceleration angular velocity euler angle

Hi! Mr.daohu!

How do you configure the file of 'bridge.sh' during lgsvl simulation?

Where can I find the code of this file?

你好，刚开始接触CNN的小白，对于issue标题中的那一章节中全连接层的尺寸有一些疑惑，已知卷积层2的尺寸为7 * 7，那么池化层2中每张特征图的尺寸是不是应该是(7-2)/2+1下取整为3，即为3 * 3，而非7 * 7，所以扁平化特征图(pool2)得到的pool2_flat的尺寸就不是7 * 7 * 64，而是3 * 3 * 64了？
今天才开始接触学习的CNN，所以也不太清楚自己的关注点正确与否， 还望指点[抱拳]

uint32_t pid = cr->processor_id();
这一句，processor_id默认值是-1（二进制位上全是1），但是赋值给无符号32位整型变量pid时，pid就是uint32_t的最大值(2^32-1),肯定要大于逻辑CPU（Processor）的数量的，所以入全局队列。

I want to know the mathematical formula of radar, lidar, camera and world coordinate conversion, but I can't find it in the conversion module. Do you have any suggestions? Thank you, boss.

publish docs to "read the docs"

When I send two messages without time delay, then the message will not send out. I use "tos\examples\talker.cc" and "tos\examples\listener.cc" for test, and found there will be ideal sometime. Not sure it's a problem.

Need to confirm that if the sending frequency is very fast, the data will not be sent out?

Apollo5.0 在/perception/map/hdmap/hamap_input.cc中，有GetRoiHDMapStruct函数，中间调用了MergeBoundaryJunction和GetRoadBoundaryFilteredByJunctions函数，我有点看不太懂，这个ROI是如何Get的，您了解过吗？

看到 planning 模块介绍和 apollo 最新分支对应不上。想请教一下 具体是哪个分支的代码阅读？

1. The algorithm implementation details of the control module, and whether there are widely used open source libraries?
2. How to debug the control module and how to visualize?

If there is a roundabout road, how can we create the routing graph, there will be a ring in routing map?

https://paul.pub/apollo-reference-line/

It is necessary to plan the braking curve when parking. The current PID is adjusted according to the speed and position, which does not conform to human braking habits. There will be slipping, excessive braking, etc.

When parking, I suggest using the following acceleration curve, and the control module considers braking according to the acceleration.

        --------
      /
     / 
-----

Current implementation

For now they use a fix in control module(modules\control\controller\lon_controller.cc), but I don't think it’s very elegant

  // At near-stop stage, replace the brake control command with the standstill
  // acceleration if the former is even softer than the latter
  if ((trajectory_message_->trajectory_type() ==
       apollo::planning::ADCTrajectory::NORMAL) &&
      ((std::fabs(debug->preview_acceleration_reference()) <=
            control_conf_->max_acceleration_when_stopped() &&
        std::fabs(debug->preview_speed_reference()) <=
            vehicle_param_.max_abs_speed_when_stopped()) ||
       std::abs(debug->path_remain()) <
           control_conf_->max_path_remain_when_stopped())) {
    acceleration_cmd =
        (chassis->gear_location() == canbus::Chassis::GEAR_REVERSE)
            ? std::max(acceleration_cmd,
                       -lon_controller_conf.standstill_acceleration())
            : std::min(acceleration_cmd,
                       lon_controller_conf.standstill_acceleration());
    ADEBUG << "Stop location reached";
    debug->set_is_full_stop(true);
  }

感谢您百忙之中，在知乎回答我的问题。
在localization模块中，LidarLocator该类型好像未有具体的定义， 头文件引导“include/LidarLocator.h”但是未找到该文件。相同还有Sins类型。 其中在Localization_lidar_impl_.cc Update函数中用到LidarLocator的函数，可能用点云地图与高精度地图进行匹配（不知道我理解的对不）。

首先感谢分享这么多篇幅的apollo笔记,在阅读时我发现:

可以看到"OpenSpacePlanning","NaviPlanning"和"OnLanePlanning"都继承自同一个基类，并且在PlanningComponent中通过配置选择一个具体的实现进行注册。

这段话上面的图挂了.不知道是不是只有我这样.点击planning超链接,404

1. 多个输入怎么同步时间，以哪个时间为基准来判断，不同步的话如何处理？
2. 一段时间没有控制信号怎么处理？
3. 复位是否彻底？有什么状态会锁定？
4. 换挡如何完成？哪些时候需要考虑换挡
5. control模块通过canbus完成对车的控制
6. 前后控制是不带角度的情况，这里的位置是根据带角度的纵向距离吗？
7. 横向控制也是通过位置？需要事先计算一个初始角度吗？
8. 确认下control的坐标系是frent坐标系，否则没法解释横纵向的问题

Ubuntu 18.04
Apollo v6.0_edu
LGSVL linux64-2021.3

When simulating in LGSVL, the messages, angular_velocity and linear_acceleration in channel localization/pose, are all zeros.
However, the messages above are correct in the channel sensor/gnss/imu, not in the channel sensor/gnss/corrected_imu.
It also show that "Raw IMU message delay, which is usually 10 secend behind current time" in dreamviewer.

We need a way to obtain the linear accelearation and angular velocity through localization.estimate message, since it is necessary for the control component.

Hi guys,

Update!

We have a discuss about autonomous driving every Friday at 8pm. #TencentConference: 812-6581-8776

This document has not been updated for 2 years, so some content is outdated or needs to be added, here I want to know how to improve the document, and need suggestions.

I know that here everyone loves autonomous driving and continues to improve their knowledge. The follow-up plan is to host the documentation to Here, which is more friendly to read.

Any advice would be appreciated, it would be even better if we could participate together!

zero

reference line generate process in planning module

在项目里没有看到apollo.sh，是什么问题？