package apollo.planning

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next id: 24

optional apollo.common.Header header = 1;

• optional double total_path_length = 2

  in meters

• optional double total_path_time = 3

  in seconds

• optional EStop estop = 6

• optional bool is_replan = 9

  is_replan == true mean replan triggered

• repeated common.TrajectoryPoint trajectory_point = 12

  path data + speed data

• repeated common.PathPoint path_point = 13

  path point without speed info

• optional LatencyStats latency_stats = 15

• optional ADCTrajectory.RightOfWayStatus right_of_way_status = 17

• optional ADCTrajectory.TrajectoryType trajectory_type = 21

• optional string replan_reason = 22

• optional bool car_in_dead_end = 24

  complete dead end flag

• optional RSSInfo rss_info = 100

  output related to RSS

the routing used for current planning result optional apollo.common.Header routing_header = 16;

Used in: ADCTrajectory

• UNPROTECTED = 0

• PROTECTED = 1

Used in: ADCTrajectory

• UNKNOWN = 0

• NORMAL = 1

• PATH_FALLBACK = 2

• SPEED_FALLBACK = 3

• PATH_REUSED = 4

Used in: PlanningStatus

• optional string current_pnc_junction_overlap_id = 1

• optional string done_pnc_junction_overlap_id = 2

• optional uint32 clear_counter = 3

Used in: PlanningStatus

• optional ChangeLaneStatus.Status status = 1

• optional string path_id = 2

  the id of the route segment that the vehicle is driving on

• optional double timestamp = 3

  the time stamp when the state started.

• optional bool exist_lane_change_start_position = 4

  the starting position only after which lane-change can happen.

• optional double last_succeed_timestamp = 6

  optional apollo.common.Point3D lane_change_start_position = 5; the last time stamp when the lane-change planning succeed.

• optional bool is_current_opt_succeed = 7

  if the current path and speed planning on the lane-change reference-line succeed.

• optional bool is_clear_to_change_lane = 8

  denotes if the surrounding area is clear for ego vehicle to change lane at this moment.

Used in: ChangeLaneStatus

• IN_CHANGE_LANE = 1

  during change lane state

• CHANGE_LANE_FAILED = 2

  change lane failed

• CHANGE_LANE_FINISHED = 3

  change lane finished

Used in: DiscretePointsSmootherConfig

• optional double weight_cos_included_angle = 1

• optional double weight_anchor_points = 2

• optional double weight_length = 3

• optional int32 print_level = 4

  ipopt settings

• optional int32 max_num_of_iterations = 5

• optional int32 acceptable_num_of_iterations = 6

• optional double tol = 7

• optional double acceptable_tol = 8

• optional bool ipopt_use_automatic_differentiation = 9

• optional double stop_distance = 1

  stop distance(m) to the creeping stop fence while creeping

  meter

• optional double speed_limit = 2

  m/s

• optional double max_valid_stop_distance = 3

  max distance(m) to the to the creeping stop fence to be considered as a valid stop for creep

  meter

• optional double min_boundary_t = 4

  min boundary t to ignore obstacles while creeping

  second

• optional double ignore_max_st_min_t = 5

  tolerance min_t & min_s to ignore obstacles which are moving on same direction of ADC while creeping

  second

• optional double ignore_min_st_min_s = 6

  meter

Used in: PlanningStatus

• optional uint32 creep_clear_counter = 1

Used in: PlanningStatus

• optional string crosswalk_id = 1

• repeated StopTime stop_time = 2

  the timestamp when start stopping for the crosswalk

• repeated string finished_crosswalk = 3

Used in: PlanningStatus

• optional bool has_passed_destination = 1

Used in: ReferenceLineSmootherConfig

• optional DiscretePointsSmootherConfig.SmoothingMethod smoothing_method = 3

• oneof SmootherConfig

  • CosThetaSmootherConfig cos_theta_smoothing = 4

  • FemPosDeviationSmootherConfig fem_pos_deviation_smoothing = 5

Used in: DiscretePointsSmootherConfig

• NOT_DEFINED = 0

• COS_THETA_SMOOTHING = 1

• FEM_POS_DEVIATION_SMOOTHING = 2

Used in: PlannerOpenSpaceConfig

• optional double weight_steer = 1

  Distance approach weight configs

• optional double weight_a = 2

• optional double weight_steer_rate = 3

• optional double weight_a_rate = 4

• optional double weight_x = 5

• optional double weight_y = 6

• optional double weight_phi = 7

• optional double weight_v = 8

• optional double weight_steer_stitching = 9

• optional double weight_a_stitching = 10

• optional double weight_first_order_time = 11

• optional double weight_second_order_time = 12

• optional double min_safety_distance = 13

• optional double max_speed_forward = 14

• optional double max_speed_reverse = 15

• optional double max_acceleration_forward = 16

• optional double max_acceleration_reverse = 17

• optional double min_time_sample_scaling = 18

• optional double max_time_sample_scaling = 19

• optional bool use_fix_time = 20

• optional IpoptConfig ipopt_config = 21

• optional bool enable_constraint_check = 22

• optional bool enable_hand_derivative = 23

• optional bool enable_derivative_check = 24

  True to enable hand derived derivative inside open space planner

• optional bool enable_initial_final_check = 25

  True to enable derivative check inside open space planner

• optional DistanceApproachMode distance_approach_mode = 26

• optional bool enable_jacobian_ad = 27

• optional bool enable_check_initial_state = 28

• optional double weight_end_state = 29

• optional double weight_slack = 30

Used in: DistanceApproachConfig

• DISTANCE_APPROACH_IPOPT = 0

• DISTANCE_APPROACH_IPOPT_CUDA = 1

• DISTANCE_APPROACH_IPOPT_FIXED_TS = 2

• DISTANCE_APPROACH_IPOPT_FIXED_DUAL = 3

• DISTANCE_APPROACH_IPOPT_RELAX_END = 4

• DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK = 5

Used in: SpeedHeuristicOptimizerConfig

• optional double unit_t = 1

• optional int32 dense_dimension_s = 2

• optional double dense_unit_s = 3

• optional double sparse_unit_s = 4

• optional double speed_weight = 10

• optional double accel_weight = 11

• optional double jerk_weight = 12

• optional double obstacle_weight = 13

• optional double reference_weight = 14

• optional double go_down_buffer = 15

• optional double go_up_buffer = 16

• optional double default_obstacle_cost = 20

  obstacle cost config

• optional double default_speed_cost = 31

  speed cost config

• optional double exceed_speed_penalty = 32

• optional double low_speed_penalty = 33

• optional double reference_speed_penalty = 34

• optional double keep_clear_low_speed_penalty = 35

• optional double accel_penalty = 40

  accel cost config

• optional double decel_penalty = 41

• optional double positive_jerk_coeff = 50

  jerk cost config

• optional double negative_jerk_coeff = 51

• optional double max_acceleration = 60

  other constraint

• optional double max_deceleration = 61

• optional double safe_time_buffer = 70

  buffer

• optional double safe_distance = 71

• optional double spatial_potential_penalty = 80

  spatial potential cost config for minimal time traversal

• optional bool is_lane_changing = 81

Used in: PlannerOpenSpaceConfig

• optional double weight_d = 1

  Dual variable Warm Start

• optional IpoptConfig ipopt_config = 2

• optional DualWarmUpMode qp_format = 3

• optional double min_safety_distance = 4

• optional bool debug_osqp = 5

• optional double beta = 6

• optional OSQPConfig osqp_config = 7

Used in: DualVariableWarmStartConfig

• IPOPT = 0

• IPOPTQP = 1

• OSQP = 2

• DEBUG = 3

• SLACKQP = 4

Used in: ADCTrajectory

• optional bool is_estop = 1

  is_estop == true when emergency stop is required

• optional string reason = 2

Used in: DiscretePointsSmootherConfig, IterativeAnchoringConfig

• optional double weight_fem_pos_deviation = 2

• optional double weight_ref_deviation = 3

• optional double weight_path_length = 4

• optional bool apply_curvature_constraint = 5

• optional double weight_curvature_constraint_slack_var = 6

• optional double curvature_constraint = 7

• optional bool use_sqp = 8

• optional double sqp_ftol = 9

• optional double sqp_ctol = 10

• optional int32 sqp_pen_max_iter = 11

• optional int32 sqp_sub_max_iter = 12

• optional int32 max_iter = 100

  osqp settings

• optional double time_limit = 101

  time_limit set to be 0.0 meaning no time limit

• optional bool verbose = 102

• optional bool scaled_termination = 103

• optional bool warm_start = 104

• optional int32 print_level = 200

  ipopt settings

• optional int32 max_num_of_iterations = 201

• optional int32 acceptable_num_of_iterations = 202

• optional double tol = 203

• optional double acceptable_tol = 204

Used in: DistanceApproachConfig, DualVariableWarmStartConfig

• optional int32 ipopt_print_level = 1

  Ipopt configs

• optional int32 mumps_mem_percent = 2

• optional double mumps_pivtol = 3

• optional int32 ipopt_max_iter = 4

• optional double ipopt_tol = 5

• optional double ipopt_acceptable_constr_viol_tol = 6

• optional double ipopt_min_hessian_perturbation = 7

• optional double ipopt_jacobian_regularization_value = 8

• optional string ipopt_print_timing_statistics = 9

• optional string ipopt_alpha_for_y = 10

• optional string ipopt_recalc_y = 11

• optional double ipopt_mu_init = 12

  ipopt barrier parameter, default 0.1

Used in: PlannerOpenSpaceConfig

• optional double interpolated_delta_s = 1

  Ipopt configs

• optional int32 reanchoring_trails_num = 2

• optional double reanchoring_pos_stddev = 3

• optional double reanchoring_length_stddev = 4

• optional bool estimate_bound = 5

• optional double default_bound = 6

• optional double vehicle_shortest_dimension = 7

• optional FemPosDeviationSmootherConfig fem_pos_deviation_smoother_config = 8

• optional double collision_decrease_ratio = 9

• optional double max_forward_v = 10

  TODO(QiL, Jinyun): Merge following with overall config for open space

• optional double max_reverse_v = 11

• optional double max_forward_acc = 12

• optional double max_reverse_acc = 13

• optional double max_acc_jerk = 14

• optional double delta_t = 15

• optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 16

• UNKNOWN = 0

• IN_ROAD = 1

• CROSS_ROAD = 2

• FORK_ROAD = 3

• MAIN_SIDE = 4

• DEAD_END = 5

• optional bool enable_lane_change_urgency_check = 1

• optional bool enable_prioritize_change_lane = 2

  True to enable prioritize change_lane reference line

• optional bool enable_remove_change_lane = 3

  True to enable remove change_lane reference line");

• optional bool reckless_change_lane = 4

  always allow the vehicle change lane. The vehicle may continue changing lane

• optional double change_lane_success_freeze_time = 5

  not allowed to change lane this amount of time if just finished

  second

• optional double change_lane_fail_freeze_time = 6

  not allowed to change lane this amount of time if just failed

  second

Used in: ADCTrajectory

• optional double total_time_ms = 1

• repeated TaskStats task_stats = 2

• optional double init_frame_time_ms = 3

• optional LearningModelInferenceTaskConfig.ModelType model_type = 1

• optional string cpu_model_file = 2

• optional string gpu_model_file = 3

• optional bool use_cuda = 4

• optional double trajectory_delta_t = 5

  delta_t depends on the model output, not a configurable value here

  second

• optional bool allow_empty_learning_based_data = 6

• optional bool allow_empty_output_trajectory = 7

Used in: LearningModelInferenceTaskConfig

• CNN = 1

• CNN_LSTM = 2

• optional double min_adc_future_trajectory_time_length = 1

  second

Used in: NaviPathDeciderConfig

• repeated ShiftConfig lateral_shift = 1

• optional double min_nudge_distance = 1

• optional double max_nudge_distance = 2

• optional double max_allow_nudge_speed = 3

• optional double safe_distance = 4

• optional double nudge_allow_tolerance = 5

• optional uint32 cycles_number = 6

• optional double judge_dis_coeff = 7

• optional double basis_dis_value = 8

• optional double lateral_velocity_value = 9

• optional double speed_decider_detect_range = 10

• optional uint32 max_keep_nudge_cycles = 11

• optional double min_path_length = 1

• optional uint32 min_look_forward_time = 2

• optional double max_keep_lane_distance = 3

• optional double max_keep_lane_shift_y = 4

• optional double min_keep_lane_offset = 5

• optional double keep_lane_shift_compensation = 6

• optional MoveDestLaneConfigTable move_dest_lane_config_talbe = 7

• optional double move_dest_lane_compensation = 8

• optional double max_kappa_threshold = 9

• optional double kappa_move_dest_lane_compensation = 10

• optional uint32 start_plan_point_from = 11

• optional double preferred_accel = 1

• optional double preferred_decel = 2

• optional double preferred_jerk = 3

• optional double max_accel = 4

• optional double max_decel = 5

• optional double obstacle_buffer = 6

• optional double safe_distance_base = 7

• optional double safe_distance_ratio = 8

• optional double following_accel_ratio = 9

• optional double soft_centric_accel_limit = 10

• optional double hard_centric_accel_limit = 11

• optional double hard_speed_limit = 12

• optional double hard_accel_limit = 13

• optional bool enable_safe_path = 14

• optional bool enable_planning_start_point = 15

• optional bool enable_accel_auto_compensation = 16

• optional double kappa_preview = 17

• optional double kappa_threshold = 18

Dual variable configs for OSQP

Used in: DualVariableWarmStartConfig

• optional double alpha = 1

• optional double eps_abs = 2

• optional double eps_rel = 3

• optional int32 max_iter = 4

• optional bool polish = 5

• optional bool osqp_debug_log = 6

Used in: PlanningStatus

• repeated string partitioned_trajectories_index_history = 1

• optional bool position_init = 2

Used in: PlanningStatus

• optional double adc_init_heading = 2

  optional apollo.common.PointENU adc_init_position = 1;

• optional bool in_check_stage = 3

  optional apollo.common.PointENU adc_adjust_end_pose = 4;

(message has no fields)

• optional bool is_lane_borrowing = 1

• optional bool is_pull_over = 2

• optional double pull_over_destination_to_adc_buffer = 3

  not search pull-over position if the destination is within this distance from ADC

• optional double pull_over_destination_to_pathend_buffer = 4

  not search pull-over position if the destination is within this distance to path-end

• optional double pull_over_road_edge_buffer = 5

  disquality a pull-over position if the available path boundary's edge is not within this distance from the road edge

• optional double pull_over_approach_lon_distance_adjust_factor = 6

• optional double adc_buffer_coeff = 7

• optional bool is_extend_lane_bounds_to_include_adc = 8

• optional double static_obstacle_buffer = 1

  buffer for static obstacles (meter)

Used in: PlanningStatus

• optional int32 front_static_obstacle_cycle_counter = 1

• optional int32 able_to_use_self_lane_counter = 2

• optional bool is_in_path_lane_borrow_scenario = 3

• optional string front_static_obstacle_id = 4

• repeated PathDeciderStatus.LaneBorrowDirection decided_side_pass_direction = 5

Used in: PathDeciderStatus

• LEFT_BORROW = 1

  borrow left neighbor lane

• RIGHT_BORROW = 2

  borrow right neighbor lane

• optional bool allow_lane_borrowing = 1

• optional uint32 min_path_reference_length = 1

• optional double weight_x_ref_path_reference = 2

  learning model s weight

• optional bool reuse_path = 1

• optional double acc_weight = 1

  Driving comfort weights

• optional double jerk_weight = 2

• optional double lat_acc_weight = 3

• optional double s_potential_weight = 4

  Minimal traversal time weight

• optional double ref_v_weight = 5

  Preferred cruising speed weight

• optional double ref_s_weight = 6

  Optional reference speed profile weight

• optional double end_s_weight = 7

  Task specific end point weight

• optional double end_v_weight = 8

• optional double end_a_weight = 9

• optional double soft_s_bound_weight = 10

  soft safety boundary constraint violation weight

• optional bool use_warm_start = 100

  Solver settings

• optional PiecewiseJerkPathWeights default_path_config = 1

• optional PiecewiseJerkPathWeights lane_change_path_config = 2

• optional double path_reference_l_weight = 3

Used in: PiecewiseJerkPathOptimizerConfig

• optional double l_weight = 1

• optional double dl_weight = 2

• optional double ddl_weight = 3

• optional double dddl_weight = 4

Used in: IterativeAnchoringConfig, WarmStartConfig

• optional double acc_weight = 1

• optional double jerk_weight = 2

• optional double kappa_penalty_weight = 3

• optional double ref_s_weight = 4

• optional double ref_v_weight = 5

• optional ROIConfig roi_config = 1

  Open Space ROIConfig

• optional WarmStartConfig warm_start_config = 2

  Hybrid A Star Warm Start

• optional DualVariableWarmStartConfig dual_variable_warm_start_config = 3

  Dual Variable Warm Start

• optional DistanceApproachConfig distance_approach_config = 4

  Distance Approach Configs

• optional IterativeAnchoringConfig iterative_anchoring_smoother_config = 5

  Iterative Anchoring Configs

• optional TrajectoryPartitionConfig trajectory_partition_config = 6

  Trajectory PartitionConfig Configs

• optional float delta_t = 7

• optional double is_near_destination_threshold = 8

• optional bool enable_check_parallel_trajectory = 9

• optional bool enable_linear_interpolation = 10

• optional double is_near_destination_theta_threshold = 11

note: please keep this one as minimal as possible. do NOT pollute it.

• optional BareIntersectionStatus bare_intersection = 1

• optional ChangeLaneStatus change_lane = 2

• optional CreepDeciderStatus creep_decider = 3

• optional CrosswalkStatus crosswalk = 4

• optional DestinationStatus destination = 5

• optional OpenSpaceStatus open_space = 7

  optional EmergencyStopStatus emergency_stop = 6;

• optional ParkAndGoStatus park_and_go = 8

• optional PathDeciderStatus path_decider = 9

• optional PullOverStatus pull_over = 10

• optional ReroutingStatus rerouting = 11

• optional SpeedDeciderStatus speed_decider = 13

  optional ScenarioStatus scenario = 12;

• optional StopSignStatus stop_sign = 14

• optional TrafficLightStatus traffic_light = 15

• optional YieldSignStatus yield_sign = 16

Used in: PlanningStatus

• optional PullOverStatus.PullOverType pull_over_type = 1

• optional bool plan_pull_over_path = 2

• optional double theta = 4

  optional apollo.common.PointENU position = 3;

• optional double length_front = 5

• optional double length_back = 6

• optional double width_left = 7

• optional double width_right = 8

Used in: PullOverStatus

• PULL_OVER = 1

  pull-over upon destination arrival

• EMERGENCY_PULL_OVER = 2

  emergency pull-over

Used in: ReferenceLineSmootherConfig

• optional uint32 spline_order = 1

• optional double max_spline_length = 2

• optional double regularization_weight = 3

• optional double second_derivative_weight = 4

• optional double third_derivative_weight = 5

Used in: PlannerOpenSpaceConfig

• optional double roi_longitudinal_range_start = 1

  longitudinal range of parking roi backward

• optional double roi_longitudinal_range_end = 2

  longitudinal range of parking roi forward

• optional double parking_start_range = 3

  parking spot range detection threshold

• optional bool parking_inwards = 4

  Parking orientation for reverse parking

Used in: ADCTrajectory

• optional bool is_rss_safe = 1

• optional double cur_dist_lon = 2

• optional double rss_safe_dist_lon = 3

• optional double acc_lon_range_minimum = 4

• optional double acc_lon_range_maximum = 5

• optional double acc_lat_left_range_minimum = 6

• optional double acc_lat_left_range_maximum = 7

• optional double acc_lat_right_range_minimum = 8

• optional double acc_lat_right_range_maximum = 9

• optional double max_constraint_interval = 1

  The output resolution for discrete point smoother reference line is directly decided by max_constraint_interval

• optional double longitudinal_boundary_bound = 2

• optional double max_lateral_boundary_bound = 3

• optional double min_lateral_boundary_bound = 4

• optional uint32 num_of_total_points = 5

  The output resolution for qp smoother reference line.

• optional double curb_shift = 6

• optional double lateral_buffer = 7

• optional double resolution = 8

  The output resolution for spiral smoother reference line.

• oneof SmootherConfig

  • QpSplineSmootherConfig qp_spline = 20

  • SpiralSmootherConfig spiral = 21

  • DiscretePointsSmootherConfig discrete_points = 22

Used in: PlanningStatus

• optional double last_rerouting_time = 1

• optional bool need_rerouting = 2

  optional apollo.routing.RoutingRequest routing_request = 3;

• optional double max_adc_stop_speed = 1

• optional double max_valid_stop_distance = 2

• optional double search_beam_length = 3

• optional double search_beam_radius_intensity = 4

• optional double search_range = 5

• optional double is_block_angle_threshold = 6

• optional double approach_distance_for_lane_change = 10

• optional double urgent_distance_for_lane_change = 11

• optional double total_time = 1

Used in: MoveDestLaneConfigTable

• optional double max_speed = 1

• optional double max_move_dest_lane_shift_y = 3

• optional double total_time = 1

• optional double boundary_buffer = 2

• optional double max_centric_acceleration_limit = 3

• optional double minimal_kappa = 4

• optional double point_extension = 5

• optional double lowest_speed = 6

• optional double collision_safety_range = 7

• optional double static_obs_nudge_speed_ratio = 8

• optional double dynamic_obs_nudge_speed_ratio = 9

Used in: PlanningStatus

• repeated StopTime pedestrian_stop_time = 1

• optional DpStSpeedOptimizerConfig default_speed_config = 1

• optional DpStSpeedOptimizerConfig lane_change_speed_config = 2

Used in: ReferenceLineSmootherConfig

• optional double max_deviation = 1

  The max deviation of spiral reference line smoother.

• optional double piecewise_length = 2

  The piecewise length of spiral smoother.

• optional uint32 max_iteration = 3

  The iteration num of spiral reference line smoother.");

• optional double opt_tol = 4

  The desired convergence tol for spiral opt;

• optional double opt_acceptable_tol = 5

  The acceptable convergence tol for spiral opt

• optional uint32 opt_acceptable_iteration = 6

  The number of acceptable iters before termination for spiral opt;

• optional double weight_curve_length = 7

  The weight of curve length term in objective function

• optional double weight_kappa = 8

  The weight of kappa term in objective function

• optional double weight_dkappa = 9

  The weight of dkappa term in objective function

Used in: PlanningStatus

• optional string current_stop_sign_overlap_id = 1

• optional string done_stop_sign_overlap_id = 2

• repeated string wait_for_obstacle_id = 3

Used in: CrosswalkStatus, SpeedDeciderStatus

• optional string obstacle_id = 1

• optional double stop_timestamp_sec = 2

  the timestamp when start stopping for the crosswalk

Used in: LatencyStats

• optional string name = 1

• optional double time_ms = 2

Used in: PlanningStatus

• repeated string current_traffic_light_overlap_id = 1

• repeated string done_traffic_light_overlap_id = 2

Used in: PlannerOpenSpaceConfig

• optional uint64 interpolated_pieces_num = 1

• optional uint64 initial_gear_check_horizon = 2

• optional double heading_searching_range = 3

• optional double gear_shift_period_duration = 4

• optional double gear_shift_max_t = 5

• optional double gear_shift_unit_t = 6

Used in: PlannerOpenSpaceConfig

• optional double xy_grid_resolution = 1

  Hybrid a star for warm start

• optional double phi_grid_resolution = 2

• optional uint64 next_node_num = 3

• optional double step_size = 4

• optional double traj_forward_penalty = 5

• optional double traj_back_penalty = 6

• optional double traj_gear_switch_penalty = 7

• optional double traj_steer_penalty = 8

• optional double traj_steer_change_penalty = 9

• optional double grid_a_star_xy_resolution = 15

  Grid a star for heuristic

• optional double node_radius = 16

• optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 17

• optional double traj_kappa_contraint_ratio = 10

Used in: PlanningStatus

• repeated string current_yield_sign_overlap_id = 1

• repeated string done_yield_sign_overlap_id = 2

• repeated string wait_for_obstacle_id = 3