package apollo.control

Get desktop application:
View/edit binary Protocol Buffers messages

next id : 27

Used in: guardian.GuardianCommand

• optional common.Header header = 1

• optional double throttle = 3

  target throttle in percentage [0, 100]

• optional double brake = 4

  target brake in percentage [0, 100]

• optional double steering_rate = 6

  target non-directional steering rate, in percentage of full scale per second [0, 100]

• optional double steering_target = 7

  target steering angle, in percentage of full scale [-100, 100]

• optional bool parking_brake = 8

  parking brake engage. true: engaged epd brake

• optional double speed = 9

  target speed, in m/s

• optional double acceleration = 10

  target acceleration in m`s^-2

• optional bool reset_model = 16

  model reset

• optional bool engine_on_off = 17

  engine on/off, true: engine on

• optional double trajectory_fraction = 18

  completion percentage of trajectory planned in last cycle

• optional canbus.Chassis.DrivingMode driving_mode = 19

• optional canbus.Chassis.GearPosition gear_location = 20

• optional Debug debug = 22

• optional common.VehicleSignal signal = 23

• optional LatencyStats latency_stats = 24

• optional PadMessage pad_msg = 25

• optional common.EngageAdvice engage_advice = 26

• optional bool is_in_safe_mode = 27

• optional bool left_turn = 13

  deprecated fields

• optional bool right_turn = 14

• optional bool high_beam = 11

• optional bool low_beam = 12

• optional bool horn = 15

• optional TurnSignal turnsignal = 21

• optional common.Header header = 1

  common header

• optional bool replan_request = 2

  request replan. true: need replan, false: don't need replan

• optional ReplanRequestReasonCode replan_req_reason_code = 3

  request replan reason code

• optional string replan_request_reason = 4

  request replan reason

Used in: ControlCommand

• optional SimpleLongitudinalDebug simple_lon_debug = 1

• optional SimpleLateralDebug simple_lat_debug = 2

• optional InputDebug input_debug = 3

• optional SimpleMPCDebug simple_mpc_debug = 4

Used in: PadMessage

• START = 1

• RESET = 2

• VIN_REQ = 3

Used in: Debug

• optional common.Header localization_header = 1

• optional common.Header canbus_header = 2

• optional common.Header trajectory_header = 3

• optional common.Header latest_replan_trajectory_header = 4

Used in: ControlCommand

• optional double total_time_ms = 1

• repeated double controller_time_ms = 2

• optional bool total_time_exceeded = 3

Used in: MracDebug

• repeated double state_adaptive_gain = 1

• repeated double input_adaptive_gain = 2

• repeated double nonlinear_adaptive_gain = 3

Used in: SimpleLateralDebug

• optional int32 mrac_model_order = 1

• repeated double mrac_reference_state = 2

• repeated double mrac_state_error = 3

• optional MracAdaptiveGain mrac_adaptive_gain = 4

• optional int32 mrac_reference_saturation_status = 5

• optional int32 mrac_control_saturation_status = 6

Used in: ControlCommand

• optional common.Header header = 1

  control mode, set mode according to low level definition

• optional DrivingAction action = 2

  action in the driving_mode

Used in: ControlInteractiveMsg

• REPLAN_REQ_ALL_REPLAN = 1

• REPLAN_REQ_STATION_REPLAN = 2

• REPLAN_REQ_SPEED_REPLAN = 3

Used in: Debug

• optional double lateral_error = 1

• optional double ref_heading = 2

• optional double heading = 3

• optional double heading_error = 4

• optional double heading_error_rate = 5

• optional double lateral_error_rate = 6

• optional double curvature = 7

• optional double steer_angle = 8

• optional double steer_angle_feedforward = 9

• optional double steer_angle_lateral_contribution = 10

• optional double steer_angle_lateral_rate_contribution = 11

• optional double steer_angle_heading_contribution = 12

• optional double steer_angle_heading_rate_contribution = 13

• optional double steer_angle_feedback = 14

• optional double steering_position = 15

• optional double ref_speed = 16

• optional double steer_angle_limited = 17

• optional double lateral_acceleration = 18

  time derivative of lateral error rate, in m/s^2

• optional double lateral_jerk = 19

  second time derivative of lateral error rate, in m/s^3

• optional double ref_heading_rate = 20

• optional double heading_rate = 21

• optional double ref_heading_acceleration = 22

  heading_acceleration, as known as yaw acceleration, is the time derivative of heading rate, in rad/s^2

• optional double heading_acceleration = 23

• optional double heading_error_acceleration = 24

• optional double ref_heading_jerk = 25

  heading_jerk, as known as yaw jerk, is the second time derivative of heading rate, in rad/s^3

• optional double heading_jerk = 26

• optional double heading_error_jerk = 27

• optional double lateral_error_feedback = 28

  modified lateral_error and heading_error with look-ahead or look-back station, as the feedback term for control usage

• optional double heading_error_feedback = 29

• optional common.TrajectoryPoint current_target_point = 30

  current planning target point

• optional double steer_angle_feedback_augment = 31

  Augmented feedback control term in addition to LQR control

• optional MracDebug steer_mrac_debug = 32

  Mrac control status and feedback states for steer control

• optional bool steer_mrac_enable_status = 33

• optional double lateral_centripetal_acceleration = 34

  lat acc in ENU, in m/s^2

Used in: Debug

• optional double station_reference = 1

• optional double station_error = 2

• optional double station_error_limited = 3

• optional double preview_station_error = 4

• optional double speed_reference = 5

• optional double speed_error = 6

• optional double speed_controller_input_limited = 7

• optional double preview_speed_reference = 8

• optional double preview_speed_error = 9

• optional double preview_acceleration_reference = 10

• optional double acceleration_cmd_closeloop = 11

• optional double acceleration_cmd = 12

• optional double acceleration_lookup = 13

• optional double speed_lookup = 14

• optional double calibration_value = 15

• optional double throttle_cmd = 16

• optional double brake_cmd = 17

• optional bool is_full_stop = 18

• optional double slope_offset_compensation = 19

• optional double current_station = 20

• optional double path_remain = 21

• optional int32 pid_saturation_status = 22

• optional int32 leadlag_saturation_status = 23

• optional double speed_offset = 24

• optional double current_speed = 25

• optional double acceleration_reference = 26

• optional double current_acceleration = 27

• optional double acceleration_error = 28

• optional double jerk_reference = 29

• optional double current_jerk = 30

• optional double jerk_error = 31

• optional common.TrajectoryPoint current_matched_point = 32

• optional common.TrajectoryPoint current_reference_point = 33

• optional common.TrajectoryPoint preview_reference_point = 34

• optional double acceleration_lookup_limit = 35

• optional double vehicle_pitch = 36

• optional bool is_epb_brake = 37

• optional double current_steer_interval = 38

• optional bool is_wait_steer = 39

• optional bool is_stop_reason_by_destination = 40

• optional bool is_stop_reason_by_prdestrian = 41

• optional bool is_full_stop_soft = 42

Used in: Debug

• optional double lateral_error = 1

• optional double ref_heading = 2

• optional double heading = 3

• optional double heading_error = 4

• optional double heading_error_rate = 5

• optional double lateral_error_rate = 6

• optional double curvature = 7

• optional double steer_angle = 8

• optional double steer_angle_feedforward = 9

• optional double steer_angle_lateral_contribution = 10

• optional double steer_angle_lateral_rate_contribution = 11

• optional double steer_angle_heading_contribution = 12

• optional double steer_angle_heading_rate_contribution = 13

• optional double steer_angle_feedback = 14

• optional double steering_position = 15

• optional double ref_speed = 16

• optional double steer_angle_limited = 17

• optional double station_reference = 18

• optional double station_error = 19

• optional double speed_reference = 20

• optional double speed_error = 21

• optional double acceleration_reference = 22

• optional bool is_full_stop = 23

• optional double station_feedback = 24

• optional double speed_feedback = 25

• optional double acceleration_cmd_closeloop = 26

• optional double acceleration_cmd = 27

• optional double acceleration_lookup = 28

• optional double speed_lookup = 29

• optional double calibration_value = 30

• optional double steer_unconstrained_control_diff = 31

• optional double steer_angle_feedforward_compensation = 32

• repeated double matrix_q_updated = 33

  matrix_q_updated_ size = 6

• repeated double matrix_r_updated = 34

  matrix_r_updated_ size = 2

• optional double lateral_acceleration = 35

  time derivative of lateral error rate, in m/s^2

• optional double lateral_jerk = 36

  second time derivative of lateral error rate, in m/s^3

• optional double ref_heading_rate = 37

• optional double heading_rate = 38

• optional double ref_heading_acceleration = 39

  heading_acceleration, as known as yaw acceleration, is the time derivative of heading rate, in rad/s^2

• optional double heading_acceleration = 40

• optional double heading_error_acceleration = 41

• optional double ref_heading_jerk = 42

  heading_jerk, as known as yaw jerk, is the second time derivative of heading rate, in rad/s^3

• optional double heading_jerk = 43

• optional double heading_error_jerk = 44

• optional double acceleration_feedback = 45

• optional double acceleration_error = 46

• optional double jerk_reference = 47

• optional double jerk_feedback = 48

• optional double jerk_error = 49

• optional double lateral_error_feedback = 50

  modified lateral_error and heading_error with look-ahead or look-back station, as the feedback term for control usage

• optional double heading_error_feedback = 51

• optional double steer_angle_feedback_augment = 52

  Augmented feedback control term in addition to MPC control

• optional common.TrajectoryPoint current_matched_point = 53

• optional common.TrajectoryPoint current_reference_point = 54

• optional common.TrajectoryPoint preview_reference_point = 55

• optional double preview_station_error = 56

• optional double preview_speed_reference = 57

• optional double preview_speed_error = 58

• optional double preview_acceleration_reference = 59

• optional double vehicle_pitch = 60

• optional double slope_offset_compensation = 61

• optional double path_remain = 62

• optional double acceleration_lookup_offset = 63

• optional double acceleration_vrf = 64

Used in: ControlCommand

• TURN_NONE = 0

• TURN_LEFT = 1

• TURN_RIGHT = 2