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This article mainly explains "what are the modules of Apollo". The content of the explanation is simple and clear, and it is easy to learn and understand. Please follow the editor's train of thought to study and learn what are the modules of Apollo.

Control module: executes the space-time trajectory provided by the planning module by generating control commands such as acceleration, braking and steering. The control module takes the planning trajectory as input and generates control instructions to the Can bus.

Routing module: tells the self-driving vehicle how to pass through a series of lanes or roads to reach its destination. To calculate the lanes and roads that self-driving vehicles pass through, the routing module needs to know the starting point and end point.

Data: it is the bridge between the computer and the outside physical world. The data acquisition module is composed of sensors, controllers and other units.

Generic module: this module contains code that is not specific to any module, but helps to improve the functionality of Apollo.

Brief introduction of control

According to the planned trajectory and the current state of the car, the Control module uses different control algorithms to generate a comfortable driving experience, and the Control module can work in normal mode and navigation mode.

Input

Plan the trajectory.

The state of the car.

Location.

Dreamview AUTO schema change request.

Output

Control commands (steering, throttle, brake) sent to the chassis.

Introduction to routin

The routing module generates more advanced navigation information according to the requirements.

The routing module relies on a routing topology file, which is usually named as routing_map.* in Apollo.

You can generate a route map using the following command:

Bash scripts/generate_routing_topo_graph.sh

Input

Map data

Routing requirements (start and end locations)

Output

Routing navigation information

data

This module contains Apollo's data solutions, including tools and infrastructure for data collection, storage, processing, and so on.

General purpose-module apollo_app

Apollo_app compiles the target definition abstract class ApolloApp, which is implemented by all modules, and it also defines the macro APOLLO _ MAIN, which is used to start each module.

Journal

The log compilation goal encapsulates the google logging system into project-specific macros, giving more precise control over the logging level.

Macro (Macro)

The macro compilation goal defines some common class-specific macros.

Adaptor

Adapters are used for communication between different modules. The AdapterManager class derives and manages all dedicated adapters. The adapter needs to be registered using macro REGISTER _ ADAPTER. The adapter class acts as an abstraction layer between the Apollo module and the I / O mechanism, such as ROS.

Configs/data

The vehicle configuration is specified in the file configs/data.

Math

Math implements many useful math libraries.

Monitor (monitoring)

Monitor defines a logging system.

Proto

Proto defines many project-wide protocol buffers.

Status

Status is used to determine whether certain functions can be performed successfully. If not, status will provide useful error messages.

Time

Time is a time-related auxiliary function.

Util

Util contains an implementation of the factory design pattern with registration, some string parsing functions, and some functions for parsing protocol buffers from a file.

Vehicle_state

The vehicle_state classs describes the current state of the vehicle (e.g., position, speed, direction, etc.).

Thank you for your reading, these are the contents of "what are the modules of Apollo". After the study of this article, I believe you have a deeper understanding of what the modules of Apollo have, and the specific use needs to be verified in practice. Here is, the editor will push for you more related knowledge points of the article, welcome to follow!

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