StopSignUnprotected 场景阶段详解

源码位置：modules/planning/scenarios/stop_sign_unprotected/

模块定位

StopSignUnprotected（无保护停车标志）场景处理车辆通过无信号灯控制的停车标志路口的完整流程。该场景包含 4 个阶段（Stage），按顺序执行：

PreStop → Stop → Creep → IntersectionCruise → 场景结束

场景上下文

cpp

struct StopSignUnprotectedContext : public ScenarioContext {
  ScenarioStopSignUnprotectedConfig scenario_config;
  std::string current_stop_sign_overlap_id;
  double stop_start_time = 0.0;
  double creep_start_time = 0.0;
  std::unordered_map<std::string, std::vector<std::string>> watch_vehicles;
  std::vector<std::pair<hdmap::LaneInfoConstPtr, hdmap::OverlapInfoConstPtr>>
      associated_lanes;
};

watch_vehicles：按车道 ID 分组的需要观察的车辆列表（先到先行规则）
associated_lanes：与当前停车标志关联的所有车道及其 overlap 信息
stop_start_time / creep_start_time：阶段切换时记录的时间戳

1. StopSignUnprotectedStagePreStop — 预停车阶段

stage_pre_stop.h / stage_pre_stop.cc

类声明

cpp

class StopSignUnprotectedStagePreStop : public Stage {
 public:
  StageResult Process(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame) override;
 private:
  int AddWatchVehicle(const Obstacle& obstacle,
                      StopSignLaneVehicles* watch_vehicles);
  bool CheckADCStop(const double adc_front_edge_s, const double stop_line_s);
  StageResult FinishStage();
};

Process()

cpp

StageResult StopSignUnprotectedStagePreStop::Process(
    const TrajectoryPoint& planning_init_point, Frame* frame) {
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  // 获取当前 stop_sign overlap
  PathOverlap* current_stop_sign_overlap = ...;
  if (!current_stop_sign_overlap) return FinishScenario();

  const double distance_adc_pass_stop_sign =
      adc_front_edge_s - current_stop_sign_overlap->start_s;
  if (distance_adc_pass_stop_sign <= kPassStopLineBuffer) {
    if (CheckADCStop(adc_front_edge_s, stop_line_s)) return FinishStage();
  } else {
    return FinishStage();  // 已越过停止线
  }

  // 收集需要观察的车辆
  for (const auto* obstacle : path_decision.obstacles().Items()) {
    AddWatchVehicle(*obstacle, &watch_vehicles);
  }
  return result.SetStageStatus(StageStatusType::RUNNING);
}

执行参考线上的任务流水线
检查是否已到达/越过停止线（kPassStopLineBuffer = 0.3m）
若已停稳或越线，进入下一阶段
否则持续收集关联车道上的观察车辆
stage_pre_stop.cc:L53-L124

AddWatchVehicle()

cpp

int StopSignUnprotectedStagePreStop::AddWatchVehicle(
    const Obstacle& obstacle, StopSignLaneVehicles* watch_vehicles) {
  // 1. 类型过滤：只关注 UNKNOWN/UNKNOWN_MOVABLE/BICYCLE/VEHICLE
  // 2. 通过 HDMap 获取障碍物所在车道
  // 3. 检查该车道是否为 stop_sign 关联车道
  // 4. 检查障碍物是否在停止线附近（距离 < watch_vehicle_max_valid_stop_distance）
  // 5. 加入 watch_vehicles 列表
}

实现"先到先行"规则的车辆收集逻辑
使用 HDMapUtil::BaseMap().GetNearestLaneWithHeading() 定位障碍物车道
stage_pre_stop.cc:L129-L221

CheckADCStop()

检查自车速度 < max_abs_speed_when_stopped
检查自车前沿到停止线距离 < max_valid_stop_distance
stage_pre_stop.cc:L227-L254

FinishStage()

记录 stop_start_time = Clock::NowInSeconds()
设置 next_stage_ = "STOP_SIGN_UNPROTECTED_STOP"
stage_pre_stop.cc:L256-L262

2. StopSignUnprotectedStageStop — 停车等待阶段

stage_stop.h / stage_stop.cc

类声明

cpp

class StopSignUnprotectedStageStop : public Stage {
 public:
  StageResult Process(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame) override;
 private:
  int RemoveWatchVehicle(const PathDecision& path_decision,
                         StopSignLaneVehicles* watch_vehicles);
  StageResult FinishStage();
};

Process()

cpp

StageResult StopSignUnprotectedStageStop::Process(
    const TrajectoryPoint& planning_init_point, Frame* frame) {
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);

  // 设置路权状态为无路权
  reference_line_info.SetJunctionRightOfWay(stop_sign_start_s, false);

  // 检查是否已越过停止线
  if (distance_adc_pass_stop_sign > kPassStopLineBuffer) {
    return FinishStage();
  }

  // 检查停车等待时间是否满足
  const double wait_time = Clock::NowInSeconds() - context->stop_start_time;
  if (wait_time >= scenario_config.stop_duration_sec()) {
    return FinishStage();
  }

  // 移除已离开的观察车辆
  RemoveWatchVehicle(path_decision, &watch_vehicles);

  // 所有观察车辆已离开则完成
  if (watch_vehicles.empty()) return FinishStage();

  return result.SetStageStatus(StageStatusType::RUNNING);
}

kPassStopLineBuffer = 1.0m（比 PreStop 阶段更宽松）
等待时间由 stop_duration_sec 配置控制
观察车辆全部离开也可提前结束等待
stage_stop.cc:L50-L120

RemoveWatchVehicle()

遍历 watch_vehicles 中的每辆车
若车辆已不在感知列表中，或距离停止线 > 10m，则移除
stage_stop.cc:L122-L225

FinishStage()

更新 PlanningContext 中的 done_stop_sign_overlap_id
清空 wait_for_obstacle_id
记录 creep_start_time
设置 next_stage_ = "STOP_SIGN_UNPROTECTED_CREEP"
stage_stop.cc:L227-L243

3. StopSignUnprotectedStageCreep — 蠕行阶段

stage_creep.h / stage_creep.cc

类声明

cpp

class StopSignUnprotectedStageCreep : public BaseStageCreep {
 public:
  bool Init(const StagePipeline& config,
            const std::shared_ptr<DependencyInjector>& injector,
            const std::string& config_dir, void* context) override;
  StageResult Process(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame) override;
 private:
  const CreepStageConfig& GetCreepStageConfig() const override;
  bool GetOverlapStopInfo(Frame* frame, ReferenceLineInfo* reference_line_info,
                          double* overlap_end_s,
                          std::string* overlap_id) const override;
  StageResult FinishStage();
};

继承自 BaseStageCreep（提供 ProcessCreep、CheckCreepDone、GetCreepFinishS 等通用蠕行逻辑）。

Process()

cpp

StageResult StopSignUnprotectedStageCreep::Process(
    const TrajectoryPoint& planning_init_point, Frame* frame) {
  // 若 pipeline 未启用，直接跳过
  if (!pipeline_config_.enabled()) return FinishStage();

  // 执行 CreepDecider
  for (auto& reference_line_info : *frame->mutable_reference_line_info()) {
    ProcessCreep(frame, &reference_line_info);
  }

  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);

  // 设置路权为无路权
  reference_line_info.SetJunctionRightOfWay(stop_sign_start_s, false);

  // 计算蠕行终点并检查是否完成
  double creep_stop_s = GetCreepFinishS(stop_sign_end_s, *frame, reference_line_info);
  if (distance <= 0.0) {
    // 已到达蠕行终点，生成零距离蠕行速度剖面
    SpeedProfileGenerator::GenerateFixedDistanceCreepProfile(0.0, 0);
  }

  if (CheckCreepDone(*frame, reference_line_info, stop_sign_end_s,
                     wait_time, timeout_sec)) {
    return FinishStage();
  }
  return result.SetStageStatus(StageStatusType::RUNNING);
}

蠕行超时由 creep_timeout_sec 配置控制
蠕行完成条件由基类 CheckCreepDone 判定（距离+时间）
stage_creep.cc:L55-L125

GetCreepStageConfig()

从场景配置中获取蠕行阶段参数
stage_creep.cc:L127-L131

GetOverlapStopInfo()

从 PlanningContext 获取当前 stop_sign overlap ID
在参考线上查找对应 overlap 的 end_s
stage_creep.cc:L133-L153

FinishStage()

设置 next_stage_ = "STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE"
stage_creep.cc:L155-L158

4. StopSignUnprotectedStageIntersectionCruise — 路口巡航阶段

stage_intersection_cruise.h / stage_intersection_cruise.cc

类声明

cpp

class StopSignUnprotectedStageIntersectionCruise : public BaseStageIntersectionCruise {
 public:
  StageResult Process(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame) override;
 private:
  StageResult FinishStage();
  hdmap::PathOverlap* GetTrafficSignOverlap(
      const ReferenceLineInfo& reference_line_info,
      const PlanningContext* context) const override;
};

继承自 BaseStageIntersectionCruise（提供 CheckDone 通用路口巡航完成判定）。

Process()

cpp

StageResult StopSignUnprotectedStageIntersectionCruise::Process(
    const TrajectoryPoint& planning_init_point, Frame* frame) {
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  bool stage_done = CheckDone(*frame, injector_->planning_context(), false);
  if (stage_done) return FinishStage();
  return result.SetStageStatus(StageStatusType::RUNNING);
}

最简单的阶段：执行任务 + 检查是否驶出路口
stage_intersection_cruise.cc:L30-L45

GetTrafficSignOverlap()

从 PlanningContext 获取 stop_sign overlap ID
在参考线上查找对应 overlap 并返回
stage_intersection_cruise.cc:L51-L63

FinishStage()

调用 FinishScenario() 结束整个场景
stage_intersection_cruise.cc:L47-L49

阶段转换流程

调用关系

上游：StopSignUnprotectedScenario 创建并管理这 4 个 Stage
下游：每个 Stage 通过 ExecuteTaskOnReferenceLine 调用 Task 流水线（PathDecider、SpeedDecider 等）
依赖：HDMapUtil（地图查询）、PlanningContext（跨帧状态持久化）、BaseStageCreep / BaseStageIntersectionCruise（通用阶段基类）

贡献者

Steven Moder

页面历史

最后编辑于 5 天前

查看完整历史

StopSignUnprotected 场景阶段详解 ​

模块定位 ​

场景上下文 ​

1. StopSignUnprotectedStagePreStop — 预停车阶段 ​

类声明 ​

Process() ​

AddWatchVehicle() ​

CheckADCStop() ​

FinishStage() ​

2. StopSignUnprotectedStageStop — 停车等待阶段 ​

类声明 ​

Process() ​

RemoveWatchVehicle() ​

FinishStage() ​

3. StopSignUnprotectedStageCreep — 蠕行阶段 ​

类声明 ​

Process() ​

GetCreepStageConfig() ​

GetOverlapStopInfo() ​

FinishStage() ​

4. StopSignUnprotectedStageIntersectionCruise — 路口巡航阶段 ​

类声明 ​

Process() ​

GetTrafficSignOverlap() ​

FinishStage() ​

阶段转换流程 ​

调用关系 ​

贡献者

页面历史

StopSignUnprotected 场景阶段详解

模块定位

场景上下文

1. StopSignUnprotectedStagePreStop — 预停车阶段

类声明

Process()

AddWatchVehicle()

CheckADCStop()

FinishStage()

2. StopSignUnprotectedStageStop — 停车等待阶段

类声明

Process()

RemoveWatchVehicle()

FinishStage()

3. StopSignUnprotectedStageCreep — 蠕行阶段

类声明

Process()

GetCreepStageConfig()

GetOverlapStopInfo()

FinishStage()

4. StopSignUnprotectedStageIntersectionCruise — 路口巡航阶段

类声明

Process()

GetTrafficSignOverlap()

FinishStage()

阶段转换流程

调用关系