package waymo.open_dataset

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A segment of a lane with a given adjacent boundary.

Used in: LaneCenter, LaneNeighbor

• optional int32 lane_start_index = 1

  The index into the lane's polyline where this lane boundary starts.

• optional int32 lane_end_index = 2

  The index into the lane's polyline where this lane boundary ends.

• optional int64 boundary_feature_id = 3

  The adjacent boundary feature ID of the MapFeature for the boundary. This can either be a RoadLine feature or a RoadEdge feature.

• optional RoadLine.RoadLineType boundary_type = 4

  The adjacent boundary type. If the boundary is a road edge instead of a road line, this will be set to TYPE_UNKNOWN.

Used in: MapFeature

• repeated MapPoint polygon = 1

  The polygon defining the outline of the crosswalk. The polygon is assumed to be closed (i.e. a segment exists between the last point and the first point).

The dynamic map information at a single time step.

Used in: Scenario

• repeated TrafficSignalLaneState lane_states = 1

  The traffic signal states for all observed signals at this time step.

Used in: Map

• optional double timestamp_seconds = 1

  The timestamp associated with the dynamic feature data.

• repeated TrafficSignalLaneState lane_states = 2

  The set of traffic signal states for the associated time step.

Used in: MapFeature

• optional double speed_limit_mph = 1

  The speed limit for this lane.

• optional LaneCenter.LaneType type = 2

• optional bool interpolating = 3

  True if the lane interpolates between two other lanes.

• repeated MapPoint polyline = 8

  The polyline data for the lane. A polyline is a list of points with segments defined between consecutive points.

• repeated int64 entry_lanes = 9

  A list of IDs for lanes that this lane may be entered from.

• repeated int64 exit_lanes = 10

  A list of IDs for lanes that this lane may exit to.

• repeated BoundarySegment left_boundaries = 13

  The boundaries to the left of this lane. There may be different boundary types along this lane. Each BoundarySegment defines a section of the lane with a given boundary feature to the left. Note that some lanes do not have any boundaries (i.e. lane centers in intersections).

• repeated BoundarySegment right_boundaries = 14

  The boundaries to the right of this lane. See left_boundaries for details.

• repeated LaneNeighbor left_neighbors = 11

  A list of neighbors to the left of this lane. Neighbor lanes include only adjacent lanes going the same direction.

• repeated LaneNeighbor right_neighbors = 12

  A list of neighbors to the right of this lane. Neighbor lanes include only adjacent lanes going the same direction.

Type of this lane.

Used in: LaneCenter

• TYPE_UNDEFINED = 0

• TYPE_FREEWAY = 1

• TYPE_SURFACE_STREET = 2

• TYPE_BIKE_LANE = 3

Used in: LaneCenter

• optional int64 feature_id = 1

  The feature ID of the neighbor lane.

• optional int32 self_start_index = 2

  The self adjacency segment. The other lane may only be a neighbor for only part of this lane. These indices define the points within this lane's polyline for which feature_id is a neighbor. If the lanes are neighbors at disjoint places (e.g., a median between them appears and then goes away) multiple neighbors will be listed. A lane change can only happen from this segment of this lane into the segment of the neighbor lane defined by neighbor_start_index and neighbor_end_index.

• optional int32 self_end_index = 3

• optional int32 neighbor_start_index = 4

  The neighbor adjacency segment. These indices define the valid portion of the neighbor lane's polyline where that lane is a neighbor to this lane. A lane change can only happen into this segment of the neighbor lane from the segment of this lane defined by self_start_index and self_end_index.

• optional int32 neighbor_end_index = 5

• repeated BoundarySegment boundaries = 6

  A list of segments within the self adjacency segment that have different boundaries between this lane and the neighbor lane. Each entry in this field contains the boundary type between this lane and the neighbor lane along with the indices into this lane's polyline where the boundary type begins and ends.

• repeated MapFeature map_features = 1

  The full set of map features.

• repeated DynamicState dynamic_states = 2

  A set of dynamic states per time step. These are ordered in consecutive time steps.

Used in: Map, Scenario

• optional int64 id = 1

  A unique ID to identify this feature.

• oneof feature_data

  Type specific data.

  • LaneCenter lane = 3

  • RoadLine road_line = 4

  • RoadEdge road_edge = 5

  • StopSign stop_sign = 7

  • Crosswalk crosswalk = 8

  • SpeedBump speed_bump = 9

Used in: Crosswalk, LaneCenter, RoadEdge, RoadLine, SpeedBump, StopSign, TrafficSignalLaneState

• optional double x = 1

  Position in meters. The origin is an arbitrary location.

• optional double y = 2

• optional double z = 3

Used in: Track

• optional double center_x = 2

  Coordinates of the center of the object bounding box.

• optional double center_y = 3

• optional double center_z = 4

• optional float length = 5

  The dimensions of the bounding box in meters.

• optional float width = 6

• optional float height = 7

• optional float heading = 8

  The yaw angle in radians of the forward direction of the bounding box (the vector from the center of the box to the middle of the front box segment) counter clockwise from the X-axis (right hand system about the Z axis). This angle is normalized to [-pi, pi).

• optional float velocity_x = 9

  The velocity vector in m/s. This vector direction may be slightly different from the heading of the bounding box.

• optional float velocity_y = 10

• optional bool valid = 11

  False if the state data is invalid or missing.

An object that must be predicted for the scenario.

Used in: Scenario

• optional int32 track_index = 1

  An index into the Scenario `tracks` field for the object to be predicted.

• optional RequiredPrediction.DifficultyLevel difficulty = 2

  The difficulty level for this object.

A difficulty level for predicting a given track.

Used in: RequiredPrediction

• NONE = 0

• LEVEL_1 = 1

• LEVEL_2 = 2

Used in: MapFeature

• optional RoadEdge.RoadEdgeType type = 1

  The type of road edge.

• repeated MapPoint polyline = 2

  The polyline defining the road edge. A polyline is a list of points with segments defined between consecutive points.

Type of this road edge.

Used in: RoadEdge

• TYPE_UNKNOWN = 0

• TYPE_ROAD_EDGE_BOUNDARY = 1

  Physical road boundary that doesn't have traffic on the other side (e.g., a curb or the k-rail on the right side of a freeway).

• TYPE_ROAD_EDGE_MEDIAN = 2

  Physical road boundary that separates the car from other traffic (e.g. a k-rail or an island).

Used in: MapFeature

• optional RoadLine.RoadLineType type = 1

  The type of the lane boundary.

• repeated MapPoint polyline = 2

  The polyline defining the road edge. A polyline is a list of points with segments defined between consecutive points.

Type of this road line.

Used in: BoundarySegment, RoadLine

• TYPE_UNKNOWN = 0

• TYPE_BROKEN_SINGLE_WHITE = 1

• TYPE_SOLID_SINGLE_WHITE = 2

• TYPE_SOLID_DOUBLE_WHITE = 3

• TYPE_BROKEN_SINGLE_YELLOW = 4

• TYPE_BROKEN_DOUBLE_YELLOW = 5

• TYPE_SOLID_SINGLE_YELLOW = 6

• TYPE_SOLID_DOUBLE_YELLOW = 7

• TYPE_PASSING_DOUBLE_YELLOW = 8

• optional string scenario_id = 5

  The unique ID for this scenario.

• repeated double timestamps_seconds = 1

  Timestamps corresponding to the track states for each step in the scenario. The length of this field is equal to tracks[i].states_size() for all tracks i and equal to the length of the dynamic_map_states_field.

• optional int32 current_time_index = 10

  The index into timestamps_seconds for the current time. All time steps after this index are future data to be predicted. All steps before this index are history data.

• repeated Track tracks = 2

  Tracks for all objects in the scenario. All object tracks in all scenarios in the dataset have the same number of object states. In this way, the tracks field forms a 2 dimensional grid with objects on one axis and time on the other. Each state can be associated with a timestamp in the 'timestamps_seconds' field by its index. E.g., tracks[i].states[j] indexes the i^th agent's state at time timestamps_seconds[j].

• repeated DynamicMapState dynamic_map_states = 7

  The dynamic map states in the scenario (e.g. traffic signal states). This field has the same length as timestamps_seconds. Each entry in this field can be associated with a timestamp in the 'timestamps_seconds' field by its index. E.g., dynamic_map_states[i] indexes the dynamic map state at time timestamps_seconds[i].

• repeated MapFeature map_features = 8

  The set of static map features for the scenario.

• optional int32 sdc_track_index = 6

  The index into the tracks field of the autonomous vehicle object.

• repeated int32 objects_of_interest = 4

  A list of objects IDs in the scene detected to have interactive behavior. The objects in this list form an interactive group. These IDs correspond to IDs in the tracks field above.

• repeated RequiredPrediction tracks_to_predict = 11

  A list of tracks to generate predictions for. For the challenges, exactly these objects must be predicted in each scenario for test and validation submissions. This field is populated in the training set only as a suggestion of objects to train on.

Used in: MapFeature

• repeated MapPoint polygon = 1

  The polygon defining the outline of the speed bump. The polygon is assumed to be closed (i.e. a segment exists between the last point and the first point).

Used in: MapFeature

• repeated int64 lane = 1

  The IDs of lane features controlled by this stop sign.

• optional MapPoint position = 2

  The position of the stop sign.

The object states for a single object through the scenario.

Used in: Scenario

• optional int32 id = 1

  The unique ID of the object being tracked. The IDs start from zero and are non-negative.

• optional Track.ObjectType object_type = 2

  The type of object being tracked.

• repeated ObjectState states = 3

  The object states through the track. States include the 3D bounding boxes and velocities.

Used in: Track

• TYPE_UNSET = 0

  This is an invalid state that indicates an error.

• TYPE_VEHICLE = 1

• TYPE_PEDESTRIAN = 2

• TYPE_CYCLIST = 3

• TYPE_OTHER = 4

Used in: DynamicMapState, DynamicState

• optional int64 lane = 1

  The ID for the MapFeature corresponding to the lane controlled by this traffic signal state.

• optional TrafficSignalLaneState.State state = 2

  The state of the traffic signal.

• optional MapPoint stop_point = 3

  The stopping point along the lane controlled by the traffic signal. This is the point where dynamic objects must stop when the signal is in a stop state.

Used in: TrafficSignalLaneState

• LANE_STATE_UNKNOWN = 0

• LANE_STATE_ARROW_STOP = 1

  States for traffic signals with arrows.

• LANE_STATE_ARROW_CAUTION = 2

• LANE_STATE_ARROW_GO = 3

• LANE_STATE_STOP = 4

  Standard round traffic signals.

• LANE_STATE_CAUTION = 5

• LANE_STATE_GO = 6

• LANE_STATE_FLASHING_STOP = 7

  Flashing light signals.

• LANE_STATE_FLASHING_CAUTION = 8