package decision

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unified object decision while estop

Used in: ObjectDecisionType

(message has no fields)

Used in: ObjectStatus

• oneof object_tag

  • ObjectIgnore ignore = 1

  • ObjectStop stop = 2

  • ObjectFollow follow = 3

  • ObjectYield yield = 4

  • ObjectOvertake overtake = 5

  • ObjectNudge nudge = 6

  • ObjectAvoid avoid = 7

  • ObjectSidePass side_pass = 8

Used in: ObjectMotionType

(message has no fields)

Used in: ObjectDecisionType

• optional double distance_s = 1

  minimum longitudinal distance in meters

• optional geometry.PointENU fence_point = 2

• optional double fence_heading = 3

Used in: ObjectDecisionType

(message has no fields)

Used in: ObjectStatus

• oneof motion_tag

  • ObjectStatic static = 1

  • ObjectDynamic dynamic = 2

dodge the obstacle in lateral direction when driving

Used in: ObjectDecisionType

• optional ObjectNudge.Type type = 1

• optional double distance_l = 2

  minimum lateral distance in meters. positive if type = LEFT_NUDGE negative if type = RIGHT_NUDGE

Used in: ObjectNudge

• LEFT_NUDGE = 1

  drive from the left side to nudge a static obstacle

• RIGHT_NUDGE = 2

  drive from the right side to nudge a static obstacle

• DYNAMIC_LEFT_NUDGE = 3

  drive from the left side to nudge a dynamic obstacle

• DYNAMIC_RIGHT_NUDGE = 4

  drive from the right side to nudge a dynamic obstacle

Used in: ObjectDecisionType

• optional double distance_s = 1

  minimum longitudinal distance in meters

• optional geometry.PointENU fence_point = 2

• optional double fence_heading = 3

• optional double time_buffer = 4

  minimum time buffer required before the

Used in: ObjectDecisionType

• optional ObjectSidePass.Type type = 1

Used in: ObjectSidePass

• LEFT = 1

• RIGHT = 2

Used in: ObjectMotionType

(message has no fields)

• optional ObjectMotionType motion_type = 1

• optional ObjectDecisionType decision_type = 2

Used in: ObjectDecisionType

• optional StopReasonCode reason_code = 1

• optional double distance_s = 2

  in meters

• optional geometry.PointENU stop_point = 3

  When stopped, the front center of vehicle should be at this point.

• optional double stop_heading = 4

  When stopped, the heading of the vehicle should be stop_heading.

• repeated string wait_for_obstacle = 5

Used in: ObjectDecisionType

• optional double distance_s = 1

  minimum longitudinal distance in meters

• optional geometry.PointENU fence_point = 2

• optional double fence_heading = 3

• optional double time_buffer = 4

  minimum time buffer required after the

Used in: ObjectStop

• STOP_REASON_HEAD_VEHICLE = 1

• STOP_REASON_DESTINATION = 2

• STOP_REASON_PEDESTRIAN = 3

• STOP_REASON_OBSTACLE = 4

• STOP_REASON_PREPARKING = 5

• STOP_REASON_SIGNAL = 100

  only for red signal

• STOP_REASON_STOP_SIGN = 101

• STOP_REASON_YIELD_SIGN = 102

• STOP_REASON_CLEAR_ZONE = 103

• STOP_REASON_CROSSWALK = 104

• STOP_REASON_CREEPER = 105

• STOP_REASON_REFERENCE_END = 106

  end of the reference_line

• STOP_REASON_YELLOW_SIGNAL = 107

  yellow signal

• STOP_REASON_PULL_OVER = 108

  pull over

• STOP_REASON_SIDEPASS_SAFETY = 109

• STOP_REASON_PRE_OPEN_SPACE_STOP = 200

• STOP_REASON_LANE_CHANGE_URGENCY = 201

• STOP_REASON_EMERGENCY = 202

• optional string id = 1

  lane id

• optional double start_s = 2

  in meters

• optional double end_s = 3

  in meters

• optional double speed_limit = 4

  in m/s