# Dig-into-Apollo **Repository Path**: drshawn/Dig-into-Apollo ## Basic Information - **Project Name**: Dig-into-Apollo - **Description**: Apollo notes (Apollo学习笔记) - Apollo learning notes for beginners. - **Primary Language**: Unknown - **License**: MIT - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 5 - **Forks**: 1 - **Created**: 2020-04-01 - **Last Updated**: 2024-12-23 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # Dig into Apollo ![GitHub](https://img.shields.io/github/license/daohu527/Dig-into-Apollo.svg?style=popout) ![logo](img/logo.jpg) 创建这个项目的初衷是为了在自动驾驶的学习过程中留下一些笔记，参考了不少网络上的资料和个人博客，有的时候真想拍案惊呼:smiley::heart_eyes::heart_eyes:，为什么仅仅依靠网络和自学就能够做到如此优秀:rocket::rocket::rocket:！也因此敦促自己不断学习和贡献优秀的笔记。 > 子曰： 知之者不如好之者，好之者不如乐之者。 :clap::clap::clap:在这里特此感谢@[百度Apollo项目](https://github.com/ApolloAuto/apollo) @[3Blue1Brown](https://space.bilibili.com/88461692/) @[台大李宏毅](https://www.bilibili.com/video/av23593949/) @[iMorpheusAI](https://i.youku.com/i/UNTMxNDU3NjEwMA==?spm=a2hzp.8244740.0.0) @[阿Paul哥](https://paul.pub/about/)，欢迎对项目的贡献，如果觉得项目对你有帮助，欢迎star:heart:！ ## :ledger: 目录 - [apollo简介](introduction) - [简介](introduction#introduction) - [目录结构](introduction#content) - [编译](introduction#compile) - [Map](map) - [Map模块简介](map#introduction) - [Map目录结构](map#content) - [地图数据结构](map#map_data_struct) - [地图信息头](map#header) - [人行横道](map#crosswalk) - [路口](map#junction) - [车道](map#lane) - [停止信号](map#stop_sign) - [交通信号标志](map#signal) - [让行](map#yield) - [重叠区域](map#overlap) - [禁止停车](map#cleararea) - [道路信息](map#road) - [停车区域](map#parking) - [行人道路](map#sidewalk) - [opendriver地图解析](map#parse) - [高精度地图API](map#api) - [如何制作高精度地图](map#how) - [采集](map#collect) - [加工](map#process) - [转换](map#transform) - [Reference](#reference) - [Localization](localization) - [Localization模块简介](localization#introduction) - [代码目录](localization#content) - [RTK定位流程](localization#rtk) - [Reference](localizationreference) - [Perception](perception) - [CNN](perception/cnn) - [什么是CNN？](perception/cnn#what_is_cnn) - [CNN的原理](perception/cnn#cnn_principle) - [卷积层(Convolutional Layer)](perception/cnn#convolutional) - [池化层(Max Pooling Layer)](perception/cnn#max_pool) - [全连接层(Fully Connected Layer)](perception/cnn#fully_connect) - [如何构建CNN](perception/cnn#how_to) - [基本概念](perception/cnn#base_concept) - [引用](perception/cnn#reference) - [Caffe2](perception/caffe2) - [Caffe2环境准备](perception/caffe2#env) - [安装显卡驱动](perception/caffe2#drivers) - [安装CUDA](perception/caffe2#cuda) - [选择CUDA版本](perception/caffe2#cuda_version) - [安装CUDA](perception/caffe2#cuda_install) - [设置环境变量](perception/caffe2#cuda_env) - [检验安装](perception/caffe2#cuda_check) - [安装cuDNN](perception/caffe2#cudnn) - [安装Caffe2](perception/caffe2#caffe2) - [参考](perception/caffe2#reference) - [perception](perception) - [Routing](routing) - [Routing模块简介](routing#introduction) - [基础知识](routing#base) - [Demo](routing#demo) - [地图](routing#map) - [最短距离](routing#shortest_path) - [Routing模块分析](routing#routing) - [创建Routing地图](routing#create_routing_map) - [Routing主流程](routing#routing_main) - [调试工具](routing#tools) - [问题](routing#question) - [OSM数据查找](routing#osm_find) - [Reference](routing#reference) - [Planning](planning) - [Planning模块简介](planning#introduction) - [Planning输入输出](planning#planning_io) - [Planning整个流程](planning#planning_flow) - [Planning模块入口](planning#planning_entry) - [模块注册](planning#planning_register) - [模块初始化](planning#planning_init) - [模块运行](planning#planning_proc) - [OnLanePlanning](planning#onLanePlanning) - [初始化](planning#onLanePlanning_init) - [事件触发](planning#onLanePlanning_trigger) - [Planner](planning#planner) - [Planner注册场景](planning#planner_register) - [运行场景](planning#planner_plan) - [Scenario](planning#scenario) - [场景转换](planning#scenario_update) - [场景运行](planning#scenario_process) - [Task](planning#task) - [DP & QP](planning#dp_qp) - [Reference](planning#reference) - [Control](control) - [Control模块简介](control#introduction) - [Control模块主流程](control#main) - [控制器注册](control#register) - [Pad消息](control#pad) - [estop_标志位](control#estop) - [控制器](control#controller) - [LonController控制器](control#lon_controller) - [校准表](control#calibration_table) - [PID参数调节](control#pid) - [LatController控制器](control#lat_controller) - [MPCController控制器](control#mpc_controller) - [StanleyLatController控制器](control#stanleylat_controller) - [Reference](control#reference) - [Canbus](canbus) - [Canbus模块介绍](canbus#introduction) - [Canbus模块主流程](canbus#main) - [车辆工厂模式(VehicleFactory)](canbus#vehicle_factory) - [车辆控制器(LincolnController)](canbus#lincoln_controller) - [Canbus(驱动程序)](canbus#canbus_driver) - [消息管理器(MessageManager)](canbus#message_manager) - [消息接收(CanReceiver)](canbus#can_receiver) - [消息发送(CanSender)](canbus#can_sender) - [canbus客户端(CanClient)](canbus#can_client) - [Reference](canbus#reference) - [Simulation](simulation) - [为什么需要仿真](simulation#why_simulation) - [如何仿真](simulation#how_simulation) - [仿真软件](simulation#simulator) - [工作方式](simulation#simulator_work) - [工作原理](simulation#simulator_principle) - [如何使用](simulation#how_to) - [桥接器](simulation#adapter) - [制作地图](simulation#make_map) - [测试场景](simulation#test_case) - [功能多样化](simulation#features) - [如何构建自动驾驶仿真系统？](simulation#how_build) - [地图](simulation#simulation_map) - [真实场景地图生成](simulation#map_generate) - [地图模型制作](simulation#model_build) - [高精度地图制作](simulation#hdmap_build) - [虚拟场景地图生成](simulation#virtual_map_build) - [车](simulation#car) - [行为](simulation#behavior) - [NPC](simulation#npc) - [天气](simulation#weather) - [红绿灯](simulation#traffic_light) - [API](simulation#api) - [部署](simulation#deploy) - [总结](simulation#summary) - [参考](simulation#reference) - [Cyber](cyber) - [How do you design cyber?](cyber#how) - [需求分析](cyber#requirements) - [系统设计](cyber#design) - [随意的假设](cyber#hypothesis) - [多节点](cyber#multinode) - [通信方式](cyber#communication) - [资源调度](cyber#schedule) - [软件复用](cyber#reuse) - [快速测试](cyber#test) - [其他](cyber#other) - [云平台](cyber#cloud) - [Reference](cyber#reference) - [Performance](performance) - [线程调度](performance#schedule) - [Cgroups](performance#cgroups) - [CPU亲和性](performance#cpu) - [中断绑定](performance#interrupt) - [linux性能优化](performance#linux) - [Perf安装](performance#perf) - [火焰图](performance#flame_graph) - [Reference](performance#reference) - [Transform](transform) - [Transform模块简介](transform#introduction) - [Transform(静态变换)](transform#static_transform) - [transform_broadcaster（广播）](transform#no_static_transform) - [Buffer（接收缓存）](transform#buffer) - [缓存接口](transform#buffer_interface) - [缓存实现](transform#buffer_class) - [总结](transform#summary) - [Reference](transform#reference) - [Drivers](drivers) - [Dreamview](dreamview) - [Toolbox](toolbox) > 各个模块的介绍都在对应的子目录中，主流程放在readme.md中，一些细节的函数和疑问放在todo.md中，需要了解主流程直接看readme.md，如果要深挖整个代码可以参考todo.md。 ## :unlock: 计划 * 2019/11/11之前的计划 - [ ] perception模块的流程分析 - [ ] cyber的系统调度流程，和消息收发流程 - [x] control模块的流程分析 - [x] canbus模块的流程分析 * 2019/12/30之前的计划 - [ ] planning模块各个控制器的具体实现 - [ ] prediction模块的流程分析 - [ ] routing模块可视化工具介绍 ## :pushpin: 参考 [apollo](https://github.com/ApolloAuto/apollo) [awesome-self-driving-cars](https://github.com/daohu527/awesome-self-driving-cars)