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TrafficLight Unprotected 场景阶段详解 ​

源码位置：modules/planning/scenarios/traffic_light_unprotected_left_turn/、modules/planning/scenarios/traffic_light_unprotected_right_turn/

模块定位 ​

无保护信号灯场景处理没有专用转向信号灯保护的左转和右转。与有保护场景不同，这些场景需要在绿灯时额外判断对向/侧向交通是否安全，通过蠕行（creep）方式谨慎通过路口。

一、TrafficLightUnprotectedLeftTurn 无保护左转 ​

场景上下文 ​

cpp
struct TrafficLightUnprotectedLeftTurnContext : public ScenarioContext {
  ScenarioTrafficLightUnprotectedLeftTurnConfig scenario_config;
  std::vector<std::string> current_traffic_light_overlap_ids;
  double creep_start_time;
};

阶段流程 ​

Approach → Creep（可跳过）→ IntersectionCruise → 场景结束

1. StageApproach — 减速接近阶段 ​

stage_approach.cc

cpp
class TrafficLightUnprotectedLeftTurnStageApproach : public Stage {
 public:
  StageResult Process(...) override;
 private:
  StageResult FinishStage(Frame* frame);
};

Process() ​

cpp
StageResult TrafficLightUnprotectedLeftTurnStageApproach::Process(
    const TrajectoryPoint& planning_init_point, Frame* frame) {
  // 限制巡航速度为 approach_cruise_speed（减速接近）
  frame->mutable_reference_line_info()->front().LimitCruiseSpeed(
      scenario_config.approach_cruise_speed());

  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);

  for (const auto& overlap_id : overlap_ids) {
    PathOverlap* overlap = ...;
    reference_line_info.SetJunctionRightOfWay(overlap->start_s, false);
    if (distance_adc_to_stop_line < 0) return FinishStage(frame);
    if (signal_color != GREEN || distance >= max_valid_stop_distance) {
      traffic_light_all_done = false; break;
    }
  }
  if (traffic_light_all_done) return FinishStage(frame);
  return result.SetStageStatus(StageStatusType::RUNNING);
}
  • 与有保护场景的关键区别：主动限速（approach_cruise_speed）
  • 已越过停止线（distance < 0）时直接完成
  • stage_approach.cc:L41-L116

FinishStage() ​

cpp
StageResult TrafficLightUnprotectedLeftTurnStageApproach::FinishStage(Frame* frame) {
  const double adc_speed = injector_->vehicle_state()->linear_velocity();
  if (adc_speed > scenario_config.max_adc_speed_before_creep()) {
    next_stage_ = "TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE";
  } else {
    context->creep_start_time = Clock::NowInSeconds();
    next_stage_ = "TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP";
  }
  // 恢复默认巡航速度
  reference_line_info.LimitCruiseSpeed(FLAGS_default_cruise_speed);
}
  • 速度判定：若当前速度 > max_adc_speed_before_creep，跳过蠕行直接巡航
  • 否则进入蠕行阶段
  • stage_approach.cc:L118-L153

2. TrafficLightUnprotectedLeftTurnStageCreep — 蠕行阶段 ​

stage_creep.cc，继承 BaseStageCreep

Process() ​

  • 执行 ProcessCreep + ExecuteTaskOnReferenceLine
  • 设置无路权
  • 蠕行完成条件：CheckCreepDone（距离+超时）
  • 不检查信号灯颜色（注释：don't check traffic light color while creeping）
  • 完成后设置 next_stage_ = "..._INTERSECTION_CRUISE"
  • stage_creep.cc:L53-L127

3. TrafficLightUnprotectedLeftTurnStageIntersectionCruise — 路口巡航阶段 ​

  • 与有保护场景完全相同：ExecuteTaskOnReferenceLine + CheckDone
  • stage_intersection_cruise.cc:L30-L51

阶段流程 ​

Stop → Creep（可跳过）→ IntersectionCruise → 场景结束

与左转不同，右转场景有一个 Stop 阶段（红灯右转需要先停车）。

1. StageStop — 停车判定阶段 ​

stage_stop.cc

cpp
class TrafficLightUnprotectedRightTurnStageStop : public Stage {
 public:
  StageResult Process(...) override;
 private:
  bool CheckTrafficLightNoRightTurnOnRed(const std::string& traffic_light_id);
  StageResult FinishStage(const bool protected_mode);
};

Process() ​

cpp
StageResult TrafficLightUnprotectedRightTurnStageStop::Process(...) {
  bool traffic_light_all_green = true;
  bool traffic_light_no_right_turn_on_red = false;

  for (const auto& overlap_id : overlap_ids) {
    if (distance > max_valid_stop_distance) { all_stop = false; break; }
    if (signal_color != GREEN) {
      all_green = false;
      no_right_turn_on_red = CheckTrafficLightNoRightTurnOnRed(overlap_id);
      break;
    }
  }

  // 全绿灯 → 有保护模式通过
  if (all_stop && all_green) return FinishStage(true);

  // 有"禁止红灯右转"标志
  if (no_right_turn_on_red) {
    if (distance_pass > min_pass_s_distance) return FinishStage(false);
    if (enable_right_turn_on_red && wait_time > duration) return FinishStage(false);
  } else {
    // 无禁止标志 → 可直接右转
    return FinishStage(false);
  }
}
  • 三种通过模式：
    1. 绿灯 → protected_mode = true，跳过蠕行
    2. 无"禁止红灯右转" → 直接进入蠕行/巡航
    3. 有"禁止红灯右转" → 等待 red_light_right_turn_stop_duration_sec 后通过
  • stage_stop.cc:L41-L141

CheckTrafficLightNoRightTurnOnRed() ​

cpp
bool CheckTrafficLightNoRightTurnOnRed(const std::string& traffic_light_id) {
  // 检查信号灯是否有 NO_RIGHT_TURN_ON_RED 标志
  // 或者是否有 ARROW_RIGHT 子信号（箭头灯）
}
  • 查询 HDMap 中信号灯的 sign_info 和 subsignal 属性
  • stage_stop.cc:L143-L165

FinishStage() ​

  • protected_mode = true：直接进入 IntersectionCruise
  • protected_mode = false：根据速度决定进入 Creep 或 IntersectionCruise
  • stage_stop.cc:L168-L201

2. StageCreep — 蠕行阶段 ​

  • 与左转蠕行逻辑完全相同
  • 不检查信号灯颜色（红灯右转时已确认可通行）
  • stage_creep.cc:L57-L131

3. TrafficLightUnprotectedRightTurnStageIntersectionCruise — 路口巡航阶段 ​

  • 标准 CheckDone + FinishScenario

阶段转换对比 ​

场景阶段序列特殊逻辑
UnprotectedLeftTurnApproach → Creep → IntersectionCruise主动限速接近；高速时跳过 Creep
UnprotectedRightTurnStop → Creep → IntersectionCruise红灯右转判定；禁止标志检查

调用关系 ​

  • 上游：各自的 Scenario 类
  • 下游：ExecuteTaskOnReferenceLine → Task 流水线
  • 共用基类：BaseStageCreep（蠕行）、BaseStageIntersectionCruise（路口巡航）
  • 依赖：HDMapUtil（信号灯标志查询）、SpeedProfileGenerator（蠕行速度剖面）

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