fea: upgrade to 10.0.1

- cyber: - dd7bb9bba2 fix: fix aem auto logout issue on host env - 4e9beedd85 fix: update docs and some bugfix - 2d9d082d4e fix: upgrade aem and fix cyber_visualizer - 22dceb8cb1 fix: cyber_visualizer show image error bugfix - 46ef41a2df fix: upgrade to 10.0.0-rc1-r3 - docs: - de4b56515a modify the bev+occ doc for file link error. - dfb8a828c2 fix: fix issue of openning old docs from studio - fe519c3045 docs: Update docs links and descriptions - 14229454c7 docx(perception): modify some error of docs for apollo 10.0 - f6743e9b52 docx(perception): modify some error of docs for apollo 10.0 - 4e9beedd85 fix: update docs and some bugfix - c18c6a1c62 docs(planning): modify the config path - canbus: - 2760dc085d fix: load canbus vehicle library based on env `APOLLO_LIB_PATH` - dreamview: - ed752fd0fb fix(dreamview): change dv proto find path. - 7b9fd85e11 Feat(dreamview_plus\dreamview): change absolute path to relative path - cadd761e80 Feat(dreamview_plus/dreamview): fix env from APOLLO_PATH to APOLLO_DISTRIBUTION_HOME to keep same with docker env - be5a299080 fix: 修复gps朝向不正确的问题 - b46114ff60 fix(dvp): 修复创建常用路由时无法关闭循环路由选项的问题 - ee42e99218 build(dvp): build dreamview plus - planning: - fe519c3045 docs: Update docs links and descriptions - 405b27a83b fix(planning):fix park_and_go bug - perception: - 4e9beedd85 fix: update docs and some bugfix Signed-off-by: wangchuang03 <[email protected]> Change-Id: I3af1adfa4eb5e70e83fd94926aadde446d93d439
ApolloAuto · Dec 16, 2024 · 411b692 · 411b692
1 parent 38ae485
commit 411b692
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diff --git a/aem/activate.sh b/aem/activate.sh
@@ -19,6 +19,9 @@
 #set -e
 #set -x
 
+source /etc/profile
+source $HOME/.bashrc
+
 if [[ "${BASH_SOURCE-}" == "$0" ]]; then
   echo "this script should be sourced, e.g. source $0" >&2
   exit 1
@@ -118,14 +121,14 @@ export APOLLO_PLUGIN_DESCRIPTION_PATH="${APOLLO_ENV_ROOT}/opt/apollo/neo"
 
 # runtime variables
 export AEM_HOST_VIRTUALENV=1
-export APOLLO_DISTRIBUTION_VERSION="${APOLLO_DISTRIBUTION_VERSION:-9.0}"
+export APOLLO_DISTRIBUTION_VERSION="${APOLLO_DISTRIBUTION_VERSION:-10.0}"
 export APOLLO_DISTRIBUTION_HOME="${APOLLO_DISTRIBUTION_HOME:-${APOLLO_ENV_ROOT}/opt/apollo/neo}"
 export APOLLO_SYSROOT_DIR="${APOLLO_SYSROOT_DIR:-/opt/apollo/sysroot}"
 export APOLLO_CACHE_DIR="${APOLLO_CACHE_DIR:-./.cache}"
 export APOLLO_BAZEL_DIST_DIR="${APOLLO_BAZEL_DIST_DIR:-${APOLLO_CACHE_DIR}/distdir}"
 export APOLLO_ROOT_DIR="${APOLLO_ROOT_DIR:-${APOLLO_ENV_ROOT}/apollo}"
 export APOLLO_PATH="${APOLLO_PATH:-${APOLLO_ENV_ROOT}/opt/apollo/neo}"
-export GLOG_log_dir="${GLOG_log_dir:-${APOLLO_ENV_ROOT}/apollo/data/log}"
+export GLOG_log_dir="${GLOG_log_dir:-${APOLLO_ENV_WORKROOT}/data/log}"
 export CYBER_PATH="${CYBER_PATH:-${APOLLO_ROOT_DIR}/cyber}"
 export CYBER_IP="${CYBER_IP:-127.0.0.1}"
 export CYBER_DOMAIN_ID="${CYBER_DOMAIN_ID:-80}"
@@ -165,7 +168,7 @@ alias buildtool='_abt() {
 # ensure directorys exists
 mkdir -p "${APOLLO_CONFIG_HOME}"
 mkdir -p "${CYBER_PATH}"
-mkdir -p "${APOLLO_ENV_ROOT}/apollo/data/log"
-mkdir -p "${APOLLO_ENV_ROOT}/apollo/data/core"
-mkdir -p "${APOLLO_ENV_ROOT}/apollo/data/bag"
+mkdir -p "${APOLLO_ENV_WORKROOT}/data/log"
+mkdir -p "${APOLLO_ENV_WORKROOT}/data/core"
+mkdir -p "${APOLLO_ENV_WORKROOT}/data/bag"
 mkdir -p "${APOLLO_ENV_ROOT}/apollo/modules/map/data"
diff --git a/aem/aem-create b/aem/aem-create
@@ -215,6 +215,9 @@ parse_arguments() {
       --cpu)
         export APOLLO_ENV_USE_GPU_HOST=0
         ;;
+      --no-mount-env)
+        export APOLLO_NO_MOUNT_ENV=1
+        ;;
       --)
         env_args+=($@)
         break

diff --git a/aem/buildtool.conf.tpl b/aem/buildtool.conf.tpl
@@ -49,6 +49,6 @@ march=-march=native
 
 [setting]
 host=apollo.baidu.com
-version=9.0.0-rc1-r19
+version=10.0.0-rc1-r1
 request_timeout=5
 
diff --git a/aem/conf_manager.py b/aem/conf_manager.py
@@ -31,7 +31,7 @@
 logging.basicConfig(format=FORMAT, level=logging.DEBUG)
 logger = logging.getLogger('apollo')
 
-APOLLO_CONF_ROOT = '/apollo'
+APOLLO_CONF_ROOT = os.getenv("APOLLO_RUNTIME_PATH", '/apollo')
 
 
 def quit(signum, _):

diff --git a/aem/env.sh b/aem/env.sh
@@ -23,6 +23,7 @@ else
   export AEM_HOME=${AEM_HOME:-$(dirname $(realpath $0))}
 fi
 export AEM_SYS_SHARE=${AEM_SYS_SHARE:-${AEM_HOME}/share/aem}
+export AEM_VERSION='10.0.0-rc1-r3'
 
 export APOLLO_ENVS_ROOT=${APOLLO_ENVS_ROOT:-${HOME}/.aem/envs}
 export APOLLO_ENV_NAME="${USER}"

diff --git a/aem/funcs.sh b/aem/funcs.sh
@@ -358,7 +358,7 @@ apollo_create_hostenv() {
   local buildtool_version="10.0.0-beta-r1"
   # dpkg -x "/apollo_workspace/apollo-neo-buildtool_${buildtool_version}_amd64.deb" "${APOLLO_ENV_ROOT}"
   install -d -m 755 "${APOLLO_ENV_ROOT}/opt/apollo/neo/packages/buildtool/${buildtool_version}"
-  wget -c "https://apollo-system.cdn.bcebos.com/archive/10.0/buildtool-${buildtool_version}.tar.gz" -O - | tar -zx -C "${APOLLO_ENV_ROOT}/opt/apollo/neo/packages/buildtool/${buildtool_version}" --strip-components=1
+  wget --no-check-certificate -c "https://apollo-system.cdn.bcebos.com/archive/10.0/buildtool-${buildtool_version}.tar.gz" -O - | tar -zx -C "${APOLLO_ENV_ROOT}/opt/apollo/neo/packages/buildtool/${buildtool_version}" --strip-components=1
   subenv "${AEM_HOME}/buildtool.conf.tpl" "${APOLLO_ENV_ROOT}/opt/apollo/neo/packages/buildtool/${buildtool_version}/config/module.conf"
   ln -snf "${APOLLO_ENV_ROOT}/opt/apollo/neo/packages/buildtool/${buildtool_version}" "${APOLLO_ENV_ROOT}/opt/apollo/neo/packages/buildtool/latest"
   install -d -m 755 "${APOLLO_ENV_ROOT}/opt/apollo/neo/bin"
@@ -552,6 +552,8 @@ apollo_create_container_volume_options() {
   volume_opts+=('-v' '/tmp/.X11-unix:/tmp/.X11-unix:rw')
   # kernel modules
   volume_opts+=('-v' '/lib/modules:/lib/modules')
+  # localtime
+  volume_opts+=('-v' '/etc/localtime:/etc/localtime:ro')
 
   # auca
   auca_sdk_so="/usr/lib/libapollo-auca-sdk.so.1"
@@ -572,10 +574,13 @@ apollo_create_container_volume_options() {
   volume_opts+=('-v' '/dev/null:/dev/raw1394')
 
   # volume for apollo packages and configurations
-  for x in {apollo,opt}; do
-    local volume_name="${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}_${x}"
-    volume_opts+=('-v' "${volume_name}:/${x}")
-  done
+  if [[ ${APOLLO_NO_MOUNT_ENV} -ne 1 ]]; then
+    for x in {apollo,opt}; do
+      local volume_name="${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}_${x}"
+      volume_opts+=('-v' "${volume_name}:/${x}")
+    done
+  fi
+
 
   # volume of user shared configurations' and resources' directories
   volume_opts+=('-v' "${HOME}/.apollo:/home/${APOLLO_ENV_CONTAINER_USER}/.apollo")
@@ -658,7 +663,7 @@ apollo_container_download_arm_lib() {
       if [[ "${APOLLO_ENV_CROSS_PLATFORM}" == "aarch64" ]]; then
         info "download external library for cross-compilation..."
         local tegra_lib_url="https://apollo-pkg-beta.cdn.bcebos.com/archive/tegra.tar.gz"
-        apollo_execute_cmd_in_container "cd ~ && wget -nv ${tegra_lib_url} && \
+        apollo_execute_cmd_in_container "cd ~ && wget --no-check-certificate -nv ${tegra_lib_url} && \
                   tar -xzvf ~/tegra.tar.gz -C /usr/lib/aarch64-linux-gnu/ > /dev/null"
       fi
     fi

diff --git a/aem/make_deb.sh b/aem/make_deb.sh
@@ -1,6 +1,12 @@
 #!/bin/bash
 
-VERSION=${VERSION:-10.0.0-rc1-r1}
+export SCRIPT_DIR=$(
+  cd $(dirname $0)
+  pwd
+)
+source ${SCRIPT_DIR}/env.sh
+
+VERSION=${AEM_VERSION}
 PKG_NAME="${PKG_NAME:-apollo-neo-env-manager-dev}"
 CODE_NAME="${CODE_NAME:-$(lsb_release -cs)}"
 ARCH="${ARCH:-$(dpkg --print-architecture)}"
@@ -32,6 +38,8 @@ EOF
 rm -f /etc/bash_completion.d/aem
 rm -f /usr/share/zsh/functions/Completion/Unix/_aem
 rm -f /usr/bin/aem
+rm -rf /opt/apollo/neo/packages/env-manager-dev
+rm -rf /usr/local/bin/aem
 EOF
   chmod +x "${build_dir}/DEBIAN/prerm"
 

diff --git a/aem/run.sh b/aem/run.sh
@@ -203,6 +203,7 @@ aem_usage() {
   echo "Usage:
     $0 <subcommand> [...args]
 Subcommands:
+  version           Show aem version
   create|start      Create and start a new environment
   remove            Remove and stop an existing environment
   list              List all available environments
@@ -258,6 +259,11 @@ aem() {
     return 0
   fi
 
+  if [[ "${cmd}" == "version" ]]; then
+    colorize ${AEM_VERSION} ${CSI_SGR_PARAM_BOLD} ${CSI_SGR_PARAM_FG_BLUE} 
+    return 0
+  fi
+
   cmd_path="$(command -v "aem-${cmd}" || true)"
   if [[ -z "${cmd_path}" ]]; then
     if [[ -x "${SCRIPT_DIR}/aem-${cmd}" ]]; then
@@ -290,7 +296,7 @@ aem() {
   #   return "${ret}"
   # fi
 }
-export -f aem
+# export -f aem
 
 main() {
   if [[ (-L "$0") && ("$(type -t $(basename $0))" == "function") ]]; then

diff --git a/docs/02_Quick Start/demo_guide/images/Apollo_10_0.png b/docs/02_Quick Start/demo_guide/images/Apollo_10_0.png
diff --git a/docs/08_Planning/hybrid_a_star_en.md b/docs/08_Planning/hybrid_a_star_en.md
@@ -4,17 +4,21 @@
 The goal of htbrid_a_star is to generate the coarse trajectory in the open space. Hybrid_a_star contains node3d， grid_search， reeds_shepp_path and hybrid_a_star. hybrid_a_star is the most important component generating the coarse trajectory and call the grid_search and reeds_shepp_path.
 
 # Where is the code
-Please refer to [hybrid a star.cc](https://github.com/ApolloAuto/apollo/tree/master/modules/planning/open_space/coarse_trajectory_generator/hybrid_a_star.cc)
+Please refer to [hybrid a star.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_open_space/coarse_trajectory_generator/hybrid_a_star.cc)
 
 # Code Reading
-1. Input: current point(planned start point), goal point(planned end point), ROI_xy_boundary(the maximum and minimum boundary value of x and y), obstacles vertices vector(the corner position information). The function is follow:
+1. Input: current point(planned start point), goal point(planned end point), ROI_xy_boundary(the maximum and minimum boundary value of x and y), obstacles vertices vector(the corner position information). Optional, soft_boundary_vertices_vec (vectors which want to far away), reeds_sheep_last_straight (is the rs curve straight). The function is follow:
    ```  cpp
-        bool HybridAStar::Plan(double sx, double sy, double sphi, 
-                              double ex, double ey, double ephi,
-                              const std::vector<double>& XYbounds,
-                              const std::vector<std::vector<common::math::Vec2d>>& obstacles_vertices_vec,HybridAStartResult* result)
+        bool HybridAStar::Plan(
+            double sx, double sy, double sphi, double ex, double ey, double ephi,
+            const std::vector<double>& XYbounds,
+            const std::vector<std::vector<common::math::Vec2d>>& obstacles_vertices_vec,
+            HybridAStartResult* result,
+            const std::vector<std::vector<common::math::Vec2d>>&
+                soft_boundary_vertices_vec,
+            bool reeds_sheep_last_straight)
    ```
-The input HybridAStar::Plan() is called by the open_space_trajectory_provider.cc, please refer to [open_space_trajectory_provider.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/optimizers/open_space_trajectory_generation/open_space_trajectory_provider.cc)
+The input HybridAStar::Plan() is called by the open_space_trajectory_provider.cc, please refer to [open_space_trajectory_provider.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/open_space_trajectory_provider/open_space_trajectory_provider.cc)
 
 2. Construct obstacles_linesegment_vector. The main method is to form a line segment from a single obstacle point in order; then, each obstacle line segment is stored in obstacles_linesegment_vector that will be used to generate the DP map.
     ``` cpp
@@ -32,7 +36,7 @@ The input HybridAStar::Plan() is called by the open_space_trajectory_provider.cc
         }
         obstacles_linesegments_vec_ = std::move(obstacles_linesegments_vec);
     ```
-3. Construct the planned point same as Node3d, please refer to [node3d.h](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/open_space/coarse_trajectory_generator/node3d.h). The planned starting point and the ending point are constructed in the form of Node3d that will be save to open set and will be checked by the ValidityCheck() function.
+3. Construct the planned point same as Node3d, please refer to [node3d.h](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_open_space/coarse_trajectory_generator/node3d.h). The planned starting point and the ending point are constructed in the form of Node3d that will be save to open set and will be checked by the ValidityCheck() function.
     ``` cpp
         start_node_.reset(
         new Node3d({sx}, {sy}, {sphi}, XYbounds_, planner_open_space_config_));
@@ -68,19 +72,24 @@ The input HybridAStar::Plan() is called by the open_space_trajectory_provider.cc
    2. Boundary overlap judgment. If the bounding box of vehicle overlaps any line segment, then return false. Judge the overlap by          whether the line and box intersect.
 
     ``` cpp
-    bool GridSearch::GenerateDpMap(const double ex, const double ey, 
-                                   const std::vector<double>& XYbounds,
-                                   const std::vector<std::vector<common::math::LineSegment2d>> &obstacles_linesegments_vec) 
+    bool GridSearch::GenerateDpMap(
+        const double ex,
+        const double ey,
+        const std::vector<double>& XYbounds,
+        const std::vector<std::vector<common::math::LineSegment2d>>&
+            obstacles_linesegments_vec,
+        const std::vector<std::vector<common::math::LineSegment2d>>&
+            soft_boundary_linesegments_vec) 
     ```
-    the function is used to generate dp map by dynamic programming, please refer (https://github.com/ApolloAuto/apollo/blob/master/modules/planning/open_space/coarse_trajectory_generator/grid_search.cc)
-1. Parameter: ex and ey are the postion of goal point, XYbounds_ is the boundary of x and y, obstacles_linesegments_ is the line            segments which is composed of boundary point.
+    the function is used to generate dp map by dynamic programming, please refer  [grid_search.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_open_space/coarse_trajectory_generator/grid_search.cc)
+1. Parameter: ex and ey are the postion of goal point, XYbounds_ is the boundary of x and y, obstacles_linesegments_ is the line segments which is composed of boundary point.
 2. Introduction: the function is used to generate the dp map
 3. Process detail: 
    1. Grid the XYbounds_ according to grid resolution, then get the max grid.
    2. Dp map store the cost of node.
 
     ``` cpp
-    bool HybridAStar::AnalyticExpansion(std::shared_ptr<Node3d> current_node)
+    bool HybridAStar::AnalyticExpansion(std::shared_ptr<Node3d> current_node, std::shared_ptr<Node3d>* candidate_final_node)
     ```
     The function is used to check if an analystic curve could be connected from current configuration to the end configuration without collision. if so, search ends.
 1. Parameter: current node is start point of planning.
@@ -91,7 +100,7 @@ The input HybridAStar::Plan() is called by the open_space_trajectory_provider.cc
    3. Load the whole reeds shepp path as nodes and add nodes to the close set.
 
     ``` cpp
-    bool HybridAStar::AnalyticExpansion(std::shared_ptr<Node3d> current_node)
+    bool HybridAStar::AnalyticExpansion(std::shared_ptr<Node3d> current_node, std::shared_ptr<Node3d>* candidate_final_node)
     ```
     The funtion is used to generate next node based on the current node.
 1. Parameter: the current node of the search and the next node serial number 

diff --git a/docs/08_Planning/open_space_trajectory_optimizer_en.md b/docs/08_Planning/open_space_trajectory_optimizer_en.md
@@ -4,7 +4,7 @@
 The goal of this part is to optimizes the initial trajectory in the open space. Open_space_trajectory_optimizer is able to call a variety of different optimization algorithms.
 
 # Where is the code
-Please refer [open_space_trajectory_optimizer.cc](https://github.com/ApolloAuto/apollo/tree/master/modules/planning/tasks/optimizers/open_space_trajectory_generation/open_space_trajectory_optimizer.cc)
+Please refer [open_space_trajectory_optimizer.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/open_space_trajectory_provider/open_space_trajectory_optimizer.cc)
 
 # Code Reading
 1. Input: stitching trajectory is provided by the open_space_trajectory_provider, planned target point, boundary of x and y, rotation angle relative to the corner of parking space, the reference origin point, line segment of boundary.

diff --git a/docs/08_Planning/open_space_trajectory_partition.md b/docs/08_Planning/open_space_trajectory_partition.md
@@ -8,7 +8,7 @@ Open space trajectory partition task is used to partition and optimize stiched t
 
 # Where is the code
 
-Please refer [open space trajectory parition](https://github.com/ApolloAuto/apollo/modules/planning/tasks/optimizers/open_space_trajectory_partition/open_space_trajectory_partition.cc).
+Please refer [open space trajectory parition](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/open_space_trajectory_partition/open_space_trajectory_partition.cc).
 
 # Code Reading
 

diff --git a/docs/08_Planning/open_space_trajectory_provider_en.md b/docs/08_Planning/open_space_trajectory_provider_en.md
@@ -4,10 +4,10 @@
 The goal of this part is to generate the final trajectory in the open space. Open_space_trajectory_provider is very important to control the flow and call the hybrid a star and trajectory smoothing algorithm. 
 
 # Where is the code
-Please refer to [open_space_trajectory_provider.cc](https://github.com/ApolloAuto/apollo/tree/master/modules/planning/tasks/optimizers/open_space_trajectory_generation/open_space_trajectory_provider.cc)
+Please refer to [open_space_trajectory_provider.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/open_space_trajectory_provider/open_space_trajectory_provider.cc)
 
 # Code Reading
-1. Input: open_space_trajectory_provider::Process() is called by the OPEN_SPACE_TRAJECTORY_PROVIDER task of VALET_PARKING_PARKING stage, please refer to [valet_parking_config.pb.txt](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/conf/scenario/valet_parking_config.pb.txt).
+1. Input: open_space_trajectory_provider::Process() is called by the OPEN_SPACE_TRAJECTORY_PROVIDER task of VALET_PARKING_PARKING stage.
 
 2. There is a stop trajectory which generated in the park and go check stage. In order to ensure safety, it is necessary in this case. 
     ``` cpp
@@ -28,7 +28,7 @@ Please refer to [open_space_trajectory_provider.cc](https://github.com/ApolloAut
     }
     ```
 4. Whether vehicle is stoped due to fallback is determined by the IsVehicleStopDueToFallBack() function. This determines the final trajectory planning.
-5. If vehicle is stopped due to fallback, replan stitching trajectory by ComputeReinitStitchingTrajectory() function. If not, replan stitching trajectory by ComputeStitchingTrajectory(), please refer to [trajectory_stitcher.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/common/trajectory_stitcher.cc).
+5. If vehicle is stopped due to fallback, replan stitching trajectory by ComputeReinitStitchingTrajectory() function. If not, replan stitching trajectory by ComputeStitchingTrajectory(), please refer to [trajectory_stitcher.cc](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_base/common/trajectory_stitcher.cc).
 6. Generate trajectory depends on the FLAGS_enable_open_space_planner_thread. A stop trajectory is generated in the following cases:
    1. Planning thread is stopped. 
    2. The vehicle arrives near the destination. 

diff --git a/docs/08_Planning/parking_scenario.md b/docs/08_Planning/parking_scenario.md
@@ -14,7 +14,7 @@ There are three scenairos, park and go, pull over and valet parking, which relat
 
 # Where is the code
 
-Please refer [park](https://github.com/ApolloAuto/apollo/modules/planning/scenarios/park/) & [park and go](https://github.com/ApolloAuto/apollo/modules/planning/scenarios/park_and_go/).
+Please refer [park](https://github.com/ApolloAuto/apollo/tree/master/modules/planning/scenarios/valet_parking) & [park and go](https://github.com/ApolloAuto/apollo/tree/master/modules/planning/scenarios/park_and_go).
 
 # Code Reading
 

diff --git a/docs/08_Planning/planning_component.md b/docs/08_Planning/planning_component.md
@@ -9,7 +9,7 @@ This article describes the architecture of planning module. It mainly consists o
 
 # Where is the code
 
-Please refer to [code](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_component.h).
+Please refer to [code](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_component/planning_component.h).
 
 # Code Reading
 

diff --git a/docs/08_Planning/planning_piecewise_jerk_nonlinear_speed_optimizer.md b/docs/08_Planning/planning_piecewise_jerk_nonlinear_speed_optimizer.md
@@ -7,7 +7,7 @@ After a smooth driving guide line is generated, the trajectory is under the cons
 
 # Where is the code
 
-Please refer [code](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.cc)
+Please refer [code](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/piecewise_jerk_speed_nonlinear/piecewise_jerk_speed_nonlinear_optimizer.cc)
 
 # Code Reading
 

diff --git a/docs/08_Planning/planning_speed_bounds_decider.md b/docs/08_Planning/planning_speed_bounds_decider.md
@@ -6,7 +6,7 @@ This document describes the process of speed bounds decider. Speed bounds decide
 
 # Where is the code
 
-Please refer [code](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.cc)
+Please refer [code](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/speed_bounds_decider/speed_bounds_decider.cc)
 
 # Code Reading
 

diff --git a/docs/09_Decider/open_space_decider.md b/docs/09_Decider/open_space_decider.md
@@ -8,7 +8,7 @@ Open space decider is used to process related infomation and provide information
 
 # Where is the code
 
-Please refer [open space decider](https://github.com/ApolloAuto/apollo/modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc).
+Please refer [open space roi decider](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/tasks/open_space_roi_decider/open_space_roi_decider.cc).
 
 # Code Reading
 

diff --git a/docs/09_Decider/path_assessment_decider_cn.md b/docs/09_Decider/path_assessment_decider_cn.md
@@ -28,7 +28,7 @@ Fig.1的具体运行过程可以参考[path_bounds_decider]()。
 
 本节说明path assessment decider的代码流程。
 
-请参考代码[Apollo r6.0.0 path_assessment_decider](https://github.com/ApolloAuto/apollo/tree/r6.0.0/modules/planning/tasks/deciders/path_assessment_decider)
+请参考代码[Apollo 10.0 path_assessment_decider_util](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_interface_base/task_base/common/path_util/path_assessment_decider_util.cc)
 
 - 输入
-Original file line number
+Diff line change
@@ Expand Up @@
     本节说明path assessment decider的代码流程。
-    请参考代码[Apollo r6.0.0 path_assessment_decider](https://github.com/ApolloAuto/apollo/tree/r6.0.0/modules/planning/tasks/deciders/path_assessment_decider)
+    请参考代码[Apollo 10.0 path_assessment_decider_util](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/planning_interface_base/task_base/common/path_util/path_assessment_decider_util.cc)
     - 输入
@@ Expand Down @@