Open Space Planner Profiling Service

Overview

Open Space Profiling Service is a cloud based service to evaluate the open space planner trajectories from road test or simulation records.

Prerequisites

Main Steps

  • Data collection

  • Job submission

  • Results analysis

Data Collection

Data Recording

Finish one autonomous driving scenario with open space planner, e.g. Valet Parking, PullOver, Park and Go.

Data Sanity Check

  • Make sure the following channels are included in records before submitting them to cloud service

    Modules

    channel

    items

    Canbus

    /apollo/canbus/chassis

    exits without error message

    Control

    /apollo/control

    exits without error message

    Planning

    /apollo/planning

    -

    Localization

    /apollo/localization/pose

    -

    GPS

    apollo/sensor/gnss/best_pose

    sol_type to NARROW_INT

  • You can check with cyber_recorder

    cyber_recorder info xxxxxx.record.xxxxx

Job Submission

Upload data to BOS

Here is the folder structure requirements for job submission:

  1. A cyber record file containing the execution of open space planner scenario.

  2. A configuration file vehicle_param.pb.txt; there is a sample file under apollo/modules/common/data/vehicle_param.pb.txt.

Submit job in Dreamland

Go to Apollo Dreamland, login with Baidu account, choose Apollo Fuel --> JobsNew Job, Open Space Planner Profiling,and input the correct BOS path as in Upload data to BOS section:

profiling_submit_task1

Results Analysis

  • After job is done, you should be expecting one email per job including Grading results and Visualization results.

profiling_submit_task1