How does apollo add a predictor to the prediction module

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Brief introduction

The predictor generates a prediction trajectory for each obstacle. Here, suppose we want to add a new predictor to our vehicle for other types of obstacles.

To add a predictor

The following steps will guide you to add a NewPredictor to the predictor:

Define a class that inherits the base class Predictor

Implement a new class NewPredictor

Add a new predictor type to prediction_conf.proto

Update prediction_conf

Update predictor Manager (Predictor manager)

Let's use the above method to add a new predictor.

Define a class that inherits the base class Predictor

Create a file called new_predictor.h in the folder modules/prediction/predictor/vehicle with the following contents:

# include "modules/prediction/predictor/predictor.h" namespace apollo {namespace prediction {class NewPredictor: public Predictor {public: void Predict (Obstacle* obstacle) override; / / Other useful functions and fields.};} / / namespace prediction} / / namespace apollo

II. Implement the class NewPredictor

Create the file new_predictor.cc in the folder where the new_predictor.h was created. The contents of the document are as follows:

# include "modules/prediction/predictor/vehicle/new_predictor.h" namespace apollo {namespace prediction {NewPredictor::Predict (Obstacle* obstacle) () {/ Get the results from evaluator / / Generate the predicted trajectory} / / Other functions} / / namespace prediction} / / namespace apollo

Add a new type of predictor

Add a new predictor type to prediction_conf.proto:

Enum PredictorType {LANE_SEQUENCE_PREDICTOR = 0; FREE_MOVE_PREDICTOR = 1; REGIONAL_PREDICTOR = 2; MOVE_SEQUENCE_PREDICTOR = 3; NEW_PREDICTOR = 4;}

Update prediction_conf

In modules/prediction/conf/prediction_conf.pb.txt, the update predictor_type section is as follows:

Obstacle_conf {obstacle_type: VEHICLE obstacle_status: ON_LANE evaluator_type: NEW_EVALUATOR predictor_type: NEW_PREDICTOR}

Update predictor Manager (Predictor manager)

Update CreateEvluator (...) as follows:

Case ObstacleConf::NEW_PREDICTOR: {predictor_ptr.reset (new NewPredictor ()); break;}

Update RegisterPredictors () as follows:

1RegisterPredictor (ObstacleConf::NEW_PREDICTOR): thank you for reading! This is the end of the article on "how to add a predictor to the apollo prediction module". I hope the above content can be of some help to you, so that you can learn more knowledge. if you think the article is good, you can share it for more people to see!