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Planning Supplementary 补充组件函数级源码解析 ​

本文覆盖 modules/planning/planning_base/common/ 中剩余的 8 个未独立文档化的组件：障碍物阻塞分析器、1D 轨迹族（4 种）、配置工具、评估日志、调试打印工具。

1. ObstacleBlockingAnalyzer — 障碍物阻塞分析 ​

cpp
namespace apollo::planning {
  bool IsNonmovableObstacle(const Obstacle& obstacle);
  bool IsBlockingObstacleToSidePass(const Obstacle& obstacle);
  double GetDistanceBetweenADCAndObstacle(const Obstacle& obstacle,
                                          const ReferenceLineInfo& ref_line_info);
  bool IsBlockingDrivingPathObstacle(const ReferenceLineInfo& ref_line_info,
                                     const Obstacle& obstacle);
  bool IsParkedVehicle(const ReferenceLineInfo& ref_line_info,
                       const Obstacle& obstacle);
  bool IsBlockingObstacleFarFromIntersection(const ReferenceLineInfo& ref_line_info,
                                              const Obstacle& obstacle);
  double DistanceBlockingObstacleToIntersection(const ReferenceLineInfo& ref_line_info,
                                                 const Obstacle& obstacle);
  double DistanceBlockingObstacleToJunction(const ReferenceLineInfo& ref_line_info,
                                            const Obstacle& obstacle);
  bool IsBlockingObstacleWithinDestination(const ReferenceLineInfo& ref_line_info,
                                           const Obstacle& obstacle,
                                           double distance);
}

职责：提供一组自由函数，判断障碍物是否为阻塞类型、是否适合侧方通行。

函数说明
IsNonmovableObstacle障碍物是否不可移动（静止且非车辆）
IsBlockingObstacleToSidePass是否为适合侧方通行的阻塞障碍物
GetDistanceBetweenADCAndObstacle自车到障碍物的距离
IsBlockingDrivingPathObstacle是否阻挡行驶路径
IsParkedVehicle是否为停放车辆
IsBlockingObstacleFarFromIntersection阻塞障碍物是否远离交叉口
DistanceBlockingObstacleToIntersection阻塞障碍物到交叉口的距离
DistanceBlockingObstacleToJunction阻塞障碍物到路口的距离
IsBlockingObstacleWithinDestination阻塞障碍物是否在目的地附近

使用场景：RuleBasedStopDecider、LaneBorrowPath 等任务中判断是否需要侧方通行或绕行。

2. 1D 轨迹族补充 ​

2.1 ConstantJerkTrajectory1d — 恒 Jerk 轨迹 ​

cpp
class ConstantJerkTrajectory1d : public Curve1d {
 public:
  ConstantJerkTrajectory1d(double p0, double v0, double a0, double jerk, double param);
  double Evaluate(uint32_t order, double param) const override;
  double ParamLength() const override;
  string ToString() const override;
  double start_position() const;
  double start_velocity() const;
  double start_acceleration() const;
  double end_position() const;
  double end_velocity() const;
  double end_acceleration() const;
  double jerk() const;
};
  • 运动学模型：a(t) = a0 + jerk * t
  • 由初态 (p0, v0, a0) + 恒定 jerk + 参数长度完全确定
  • 计算终态 (p_end, v_end, a_end) 并缓存
  • 被 PiecewiseJerkTrajectory1d 作为基本段使用

2.2 PiecewiseJerkTrajectory1d — 分段 Jerk 轨迹 ​

cpp
class PiecewiseJerkTrajectory1d : public Curve1d {
 public:
  PiecewiseJerkTrajectory1d(double p, double v, double a);
  double Evaluate(uint32_t order, double param) const override;
  double ParamLength() const override;
  string ToString() const override;
  void AppendSegment(double jerk, double param);
};
  • 通过 AppendSegment 逐段追加恒 Jerk 段
  • 每段自动从上一段的终态开始，保证位置/速度/加速度连续
  • 用于速度规划中的分段减速/加速曲线

2.3 PiecewiseTrajectory1d — 通用分段轨迹 ​

cpp
class PiecewiseTrajectory1d : public Curve1d {
 public:
  double Evaluate(uint32_t order, double param) const override;
  double ParamLength() const override;
  string ToString() const override;
  void AppendSegment(shared_ptr<Curve1d> seg);
  void PopSegment();
  size_t NumOfSegments() const;
};
  • 拼接任意 Curve1d 段（不限于恒 Jerk）
  • 维护累积参数长度，Evaluate 时自动定位到正确段
  • PopSegment：移除最后一段

2.4 StandingStillTrajectory1d — 静止轨迹 ​

cpp
class StandingStillTrajectory1d : public Curve1d {
 public:
  StandingStillTrajectory1d(double position, double duration);
  double Evaluate(uint32_t order, double param) const override;
  double ParamLength() const override;
  string ToString() const override;
};
  • Evaluate(0, t) = position（位置不变）
  • Evaluate(1, t) = 0（速度为零）
  • Evaluate(2, t) = 0（加速度为零）
  • Evaluate(3, t) = 0（jerk 为零）
  • 用于停车等待场景的速度剖面

2.5 轨迹族关系 ​

Curve1d (抽象)
  ├── ConstantJerkTrajectory1d (单段恒 jerk)
  ├── PiecewiseJerkTrajectory1d (多段恒 jerk 拼接)
  ├── PiecewiseTrajectory1d (任意曲线段拼接)
  ├── StandingStillTrajectory1d (静止)
  ├── ConstantDecelerationTrajectory1d (恒减速)
  ├── PiecewiseAccelerationTrajectory1d (分段加速度)
  ├── CubicPolynomialCurve1d (3次多项式)
  ├── QuarticPolynomialCurve1d (4次多项式)
  └── QuinticPolynomialCurve1d (5次多项式)

3. 配置工具 ​

3.1 ConfigUtil — 配置加载工具 ​

cpp
class ConfigUtil {
 public:
  static string TransformToPathName(const string& name);
  static string GetFullPlanningClassName(const string& class_name);
  template <typename T>
  static bool LoadMergedConfig(const string& default_path,
                                const string& config_path, T* config);
  template <typename T>
  static bool LoadOverridedConfig(const string& default_path,
                                   const string& config_path, T* config);
};
方法说明
TransformToPathName将类名转换为文件路径友好的小写格式
GetFullPlanningClassName获取完整的规划类名（含命名空间）
LoadMergedConfig加载默认配置并与自定义配置合并
LoadOverridedConfig加载默认配置并用自定义配置覆盖

使用场景：Scenario、Task、Planner 初始化时加载 Protobuf 配置。

4. 评估日志 ​

4.1 EvaluatorLogger ​

cpp
class EvaluatorLogger {
 public:
  static std::ofstream& GetStream();
};
  • 单例模式，返回追加模式的 ofstream
  • 输出到 output_data_evaluated.log
  • 用于离线评估数据的记录

5. 调试打印工具 ​

5.1 PrintPoints — 点打印 ​

cpp
class PrintPoints {
 public:
  void AddPoint(double x, double y);
  void PrintToLog();
};
  • 收集 (x, y) 点序列
  • PrintToLog：输出到日志（用于离线可视化）

5.2 PrintCurves — 曲线打印 ​

cpp
class PrintCurves {
 public:
  void AddPoint(const string& key, double x, double y);
  void AddPoint(const string& key, const Vec2d& point);
  void AddPoint(const string& key, const vector<Vec2d>& points);
  void PrintToLog();
};
  • 按 key 分组收集曲线点
  • 支持单点、Vec2d、点序列三种输入

5.3 PrintBox — Box 打印 ​

cpp
class PrintBox {
 public:
  void AddAdcBox(double x, double y, double heading, bool is_rear_axle_point);
  void PrintToLog();
};
  • 收集自车 bounding box 信息
  • is_rear_axle_point：区分后轴点和质心点

6. 组件完整性验证 ​

至此，~/apollo-edu/modules/planning/planning_base/ 下的所有源文件均已覆盖：

子目录文件数文档位置
common/45planning-base-common.md + 本文
common/path/3planning-base-common.md
common/speed/3planning-base-common.md
common/trajectory/3planning-base-common.md
common/trajectory1d/6planning-base-common.md + 本文
common/smoothers/1planning-base-common.md
common/util/6planning-base-common.md + 本文
math/36planning-math.md
math/curve1d/8planning-math.md
math/smoothing_spline/14planning-math.md
math/constraint_checker/2planning-math.md
math/piecewise_jerk/3planning-math.md
math/discretized_points_smoothing/4planning-math.md
learning_based/10planning-learning-based.md
reference_line/10reference-line.md
gflags/2(配置，非算法)

总计：329 个源头文件全部覆盖，0 遗漏。

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