Turn on the "PNC Monitor" from the 'Others' panel.Build Apollo and run Dreamview on your web browser.To move around:right-click and drag or swipe with three fingers.To zoom in/out: mouse scroll or pinch with two fingers.Main view that reflects the point of view chosen from Layer Menu: Visual Element Possible reasons and the corresponding icons are: Visual Element When a STOP decision fence is shown, the reason to stop is displayed on the right side of the stop icon. When a yield decision is made based on the "Right of Way" laws at a stop-sign intersection, the obstacles to be yielded will have the yield icon on top: Visual Element Overtake object decision - the dotted line connects with the respective objectĬhanging lane is a special decision and hence, instead of having decision fence, a change lane icon shows on the autonomous car: Visual Element.Yield object decision - the dotted line connects with the respective object.Stop depicting the object stopping reason.Stop depicting the primary stopping reason.
Each type of decision is presented in different color and icon as shown below: Visual Element
The lines show the predicted movement of the obstacle with the same color as the obstacleĭecision fences reflect decisions made by planning module to ego-vehicle (main) and obstacles (objects). The distance from the autonomous car and obstacle speed. The white arrow shows the directional heading of the obstacle. The velocity arrow shows the direction of the movement with the length proportional to the magnitude. The green thick curvy band indicates the planned trajectory. Nudge object decision - the orange zone indicates the area to avoid. The red thick line shows the routing suggestion. The driving mode (AUTO/DISENGAGED/MANUAL/etc.). The status of left/right turn signals (In an emergency situation, both signals will be on.). Main view animated 3D computer graphics in a web browser.Įlements in the main view are listed in the table below: Visual Element For example, if the map selected from the map selector is "Demo", then default_end_way_point.txt is located under modules/map/data/demo. To edit POIs, see default_end_way_point.txt file under the directory of the Map. If the selected POI contains only a point, the start point of the routing request is the current position of the autonomous car otherwise, the start position is the first point from the desired route. If route editing is off, clicking a desired POI will send a routing request to the server. If route editing is on, routing point(s) can be added visually on the map. List of predefined routes or single points, known as point of interest (POI). Module Delay: the time delay between two messages for each topicĬonsole: monitor messages from the Apollo platformĪ panel to view the hardware status and turn the modules on/offĪ toggle menu for visual elements displays.Ī visual tool to plan a route before sending the routing request to the Routing moduleĪ panel to report issues to drive event topic ("/apollo/drive_event") to rosbag. Others: switches and buttons for tools used frequently Start auto: starts driving the vehicle autonomously Quick Start: commands supported from the selected mode. Sidebar panel controls what is displayed in the tool view described below: TasksĪll the tasks that you could perform in DreamView: Under this mode, Baidu (or Google) Map presents the absolute position of the ego-vehicle, while the main view has all objects and map elements presented in relative positions to the ego-vehicle. Note: navigation mode is for the purpose of the low-cost feature introduced in Apollo 2.5. Once detected, Dreamview will display a pop-up of the data recorder window for the co-driver to enter a new drive event.ĭepending on the mode chosen from the mode selector, the corresponding modules and commands, defined in hmi.conf, will be presented in the Module Controller, and Quick Start, respectively. The Co-Driver switch is used to detect disengagement event automatically. The Header has 3 drop-downs that can be set as shown: The application layout is divided into several regions: header, sidebar, main view, and tool view. provides debugging tools, such as PnC Monitor to efficiently track module issues. 
provides human-machine interface for users to view hardware status, turn on/off of modules, and start the autonomous driving car.planning trajectory, car localization, chassis status, etc. visualizes the current output of relevant autonomous driving modules, e.g.
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