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ApolloAuto / apollo

An open autonomous driving platform
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Planning E2E mode seems not working in right way #14782

Open mgcho0608 opened 1 year ago

mgcho0608 commented 1 year ago

System information

Steps to reproduce the issue:

Hi, I have problems in working E2E planning mode of apollo with lgsvl simulator SingleLaneRoad map. When I ran it in E2E mode, the car moved strangely even though it was in a simple single lane environment (for example, it encroached on the lane with a zigzag pattern). The scenario type is 'LEARNING_MODEL_SAMPLE LEARNING_MODEL_RUN', so it's certain that it moved in E2E mode. Have other users experienced this problem when running in E2E mode?

Screenshot from 2023-02-14 09-23-57

daohu527 commented 1 year ago

You can start from the following 2 points

  1. Please check the delay, you can use cyber_monitor to check whether the topic frequency is stable
  2. Check if the frame rate of the simulator is stable
mgcho0608 commented 1 year ago

Thanks for reply.

  1. I used cyber_monitor and get this results. Screenshot from 2023-02-14 10-27-21

  2. I can't sure but maybe the green number of the right upside is the frame rate. Screenshot from 2023-02-14 10-30-55

mgcho0608 commented 1 year ago

It seems communication with learning_data topic was not stable. But, how can I fix it? I have observed that the car operates normally when it is not in E2E mode.

mgcho0608 commented 1 year ago

This is the result of the cyber_monitor when it was run in NOT_LEARNING mode, not E2E_TEST, with the same thing as the other one. At this time, the car drove straight along the lane. Screenshot from 2023-02-14 10-49-14

daohu527 commented 1 year ago

It seems communication with learning_data topic was not stable.

@mgcho0608 learning_data is send by Apollo? how it works？

mgcho0608 commented 1 year ago

@daohu527 I have confirmed that the learning_data topic (which is only usable in RL_TEST mode) not sending messages is normal in E2E_TEST mode. The biggest issue is that in E2E_TEST mode, the messages from the planning topic, which normally maintains a frame ratio of about 8-9 during normal operation (NO_LEARNING mode), are close to 0.00, indicating that messages are hardly being transmitted from the planning topic. To investigate this, I plan to use ADEBUG logging to determine exactly where in the planning process a significant amount of time is being spent. If anyone has any good ideas related to my issue, please let me know.

AlexandrZabolotny commented 1 year ago

Hello @mgcho0608 How did you get semantic_map for single road HD-map?