package apollo.planning.autotuning

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caputuring the obstacle raw distance information from surrounding environment based on ST graph

Used in: TrajectoryRawFeature

• repeated ObstacleSTRawData.ObstacleSTData obstacle_st_data = 1

• repeated ObstacleSTRawData.ObstacleSTData obstacle_st_nudge = 2

• repeated ObstacleSTRawData.ObstacleSTData obstacle_st_sidepass = 3

Used in: ObstacleSTRawData

• optional int32 id = 1

• optional double speed = 2

• optional bool is_virtual = 3

• optional double probability = 4

• repeated STPointPair polygon = 8

• repeated STPointPair distribution = 9

Used in: ObstacleSTData

• optional double s_lower = 1

• optional double s_upper = 2

• optional double t = 3

• optional double l = 4

  filled when nudging

Used in: TrajectoryPointRawFeature

• optional common.PathPoint cartesian_coord = 1

• optional common.FrenetFramePoint frenet_coord = 2

Used in: TrajectoryPointwiseFeature

• optional double l = 1

• optional double dl = 2

• optional double ddl = 3

• optional double kappa = 4

• repeated PathPointwiseFeature.ObstacleFeature obstacle_info = 5

• optional PathPointwiseFeature.BoundRelatedFeature left_bound_feature = 6

• optional PathPointwiseFeature.BoundRelatedFeature right_bound_feature = 7

Used in: PathPointwiseFeature

• optional double bound_distance = 1

• optional BoundRelatedFeature.CrossableLevel crossable_level = 2

Used in: BoundRelatedFeature

• CROSS_FREE = 0

• CROSS_ABLE = 1

• CROSS_FORBIDDEN = 2

Used in: PathPointwiseFeature

• optional double lateral_distance = 1

Used in: TrajectoryPointRawFeature

• optional double s = 1

  [m]

• optional double t = 2

  [s]

• optional double v = 3

  [m/s]

• optional double a = 4

  [m/s^2]

• optional double j = 5

  [m/s^3]

• optional double speed_limit = 6

  speed limit with curvature adj [m/s]

• repeated SpeedPointRawFeature.ObjectDecisionFeature follow = 10

• repeated SpeedPointRawFeature.ObjectDecisionFeature overtake = 11

• repeated SpeedPointRawFeature.ObjectDecisionFeature virtual_decision = 13

• repeated SpeedPointRawFeature.ObjectDecisionFeature stop = 14

• repeated SpeedPointRawFeature.ObjectDecisionFeature collision = 15

• repeated SpeedPointRawFeature.ObjectDecisionFeature nudge = 12

• repeated SpeedPointRawFeature.ObjectDecisionFeature sidepass_front = 16

• repeated SpeedPointRawFeature.ObjectDecisionFeature sidepass_rear = 17

• repeated SpeedPointRawFeature.ObjectDecisionFeature keep_clear = 18

Used in: SpeedPointRawFeature

• optional int32 id = 1

  obstacle id

• optional double relative_s = 2

  relative to eog, s_obs - s_host [m]

• optional double relative_l = 3

  relative to ego, l_obs - l_host [m]

• optional double relative_v = 4

  relative to ego, v_obs - v_host [m/s]

• optional double speed = 5

  speed [m / s]

Used in: TrajectoryPointwiseFeature

• optional double s = 1

• optional double t = 2

• optional double v = 3

• optional double speed_limit = 4

• optional double acc = 5

• optional double jerk = 6

• repeated SpeedPointwiseFeature.ObstacleFeature follow_obs_feature = 7

• repeated SpeedPointwiseFeature.ObstacleFeature overtake_obs_feature = 8

• repeated SpeedPointwiseFeature.ObstacleFeature nudge_obs_feature = 9

• repeated SpeedPointwiseFeature.ObstacleFeature stop_obs_feature = 10

• optional int32 collision_times = 11

• repeated SpeedPointwiseFeature.ObstacleFeature virtual_obs_feature = 12

• optional double lateral_acc = 13

• optional double path_curvature_abs = 14

• repeated SpeedPointwiseFeature.ObstacleFeature sidepass_front_obs_feature = 15

• repeated SpeedPointwiseFeature.ObstacleFeature sidepass_rear_obs_feature = 16

Used in: SpeedPointwiseFeature

• optional double longitudinal_distance = 1

• optional double obstacle_speed = 2

• optional double lateral_distance = 3

• optional double probability = 4

• optional double relative_v = 5

• repeated TrajectoryPointwiseFeature point_feature = 1

Used in: TrajectoryRawFeature

• optional PathPointRawFeature path_feature = 1

• optional SpeedPointRawFeature speed_feature = 2

Used in: TrajectoryFeature

• optional PathPointwiseFeature path_input_feature = 1

• optional SpeedPointwiseFeature speed_input_feature = 2

• repeated TrajectoryPointRawFeature point_feature = 1

• optional ObstacleSTRawData st_raw_data = 2