cyber message middleware, replacing ros as message layer
docker container related
docs documentation related
modules automatic driving module, the main positioning, prediction, perception and planning are all here
calibration, mainly used for calibration of sensor coordinates, used for sensor fusion of sensing modules
canbus communication bus, a standard bus in the industrial field. Given the conservative industry, I estimate that there will be a new bus to replace it later.
common
contrib
controlControl module controls the vehicle trajectory according to the path generated by planning.
The bottom layer is to send commands to the can bus to realize vehicle control.
dataThe generated data of maps, etc. are placed here (other data is to be supplemented)
Dreamview simulation can play back data during autonomous driving. Other manufacturers have also launched some simulation platforms.
Let me introduce it later if you have the chance
Drivers radar, lidar, GPS, canbus, camera and other drivers
guardian supervisor?
localization positioning to get the current location of the car
map map module
Monitor monitoring module, mainly monitors the status of the car and records it, used for fault location, health checks, etc.
Perception: Observation, obtain the current environment of the car, pedestrians, vehicles, traffic lights, etc., and plan the route for the planning module.
planning, planning, planning the path according to perceived situation, short-term planning, only planning100-200The distance of M,
Generate a good path tocontrolModule
prediction, belongs to the perception module, predicts the trajectory of moving objects
routing navigation route is to query on Baidu map2The lines between points, the generated lines are short-term planning or planning module
third_party_perception third-party perception module
Tools tool, there are many tools here, so I will introduce it in detail later
transform conversion, mainly?
v2x, as the name implies, is vehicle-to-everything, which hopes to realize information interaction between the vehicle and all entities that may affect the vehicle.
The purpose is to reduce accidents, slow traffic congestion, reduce environmental pollution and provide other information services.
scripts scripts
third_party third-party library
tools tool directory, basically an empty directory