package apollo.external_command

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• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• required ActionCommandType command = 3

  The action command.

Used in: ActionCommand

• FOLLOW = 1

  Follow the current lane.

• CHANGE_LEFT = 2

  Change to the laft lane.

• CHANGE_RIGHT = 3

  Change to the right lane.

• PULL_OVER = 4

  Pull over and stop driving.

• STOP = 5

  Stop driving smoothly in emergency case.

• START = 6

  Start driving after paused.

• CLEAR_PLANNING = 7

  Clear the input planning command to cancel planning.

• SWITCH_TO_MANUAL = 50

  Switch to manual drive mode.

• SWITCH_TO_AUTO = 51

  Switch to auto drive mode.

• VIN_REQ = 52

  Varify vin code of vehicle.

• ENTER_MISSION = 53

  Enter mission model

• EXIT_MISSION = 54

  Exit mission model

Path boundary generated with the distance from center to left and right boundary given.

Used in: PathFollowCommand

• required double left_path_width = 1

  Distance from the path center to left boundary.

• required double right_path_width = 2

  Distance from the path center to right boundary.

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• optional common.VehicleSignal basic_signal = 3

  The basic vehicle signals which can also be controlled by apollo system.

• optional google.protobuf.Any custom_operation = 4

  Custom chassis operation command defined by user for extensibility.

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• required CommandStatusType status = 3

  The status of command execution.

• optional string message = 4

  The message for the status.

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

Used in: CommandStatus

• RUNNING = 1

  Command is being executed without error.

• FINISHED = 2

  Command is finished.

• ERROR = 3

  Command's execution has error.

• UNKNOWN = 4

  Cannot get the status of command.

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• required Pose parking_spot_pose = 3

  Pose of the parking spot.

• repeated RoiPolygon non_drivable_roi = 4

  Region where openspace trajectory will be searched. Junction containing "non_drivable_roi" should be contained by "drivable_roi" polygon points should be clockwise if outer polygon can drive. otherwise polygon points should be counter-clockwise if inner polygon can drive

• required RoiPolygon drivable_roi = 5

• optional double target_speed = 6

  Expected speed when executing this command. If "target_speed" > maximum speed of the vehicle, use maximum speed of the vehicle instead. If it is not given, the default target speed of system will be used.

Used in: task_manager.CycleRoutingTask

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• optional bool is_start_pose_set = 3

  If the start pose is set as the first point of "way_point".

• repeated Pose way_point = 4

  The points between "start_pose" and "end_pose".

• required Pose end_pose = 5

  End pose of the lane follow command, must be given.

• repeated LaneSegment blacklisted_lane = 6

  The lane segments which should not be passed by.

• repeated string blacklisted_road = 7

  The road which should not be passed by.

• optional double target_speed = 8

  Expected speed when executing this command. If "target_speed" > maximum speed of the vehicle, use maximum speed of the vehicle instead. If it is not given, the default target speed of system will be used.

Used in: LaneFollowCommand, ValetParkingCommand

• optional string id = 1

  lane id which this LaneSegment belongs to.

• optional double start_s = 2

  Start s of this LaneSegment on the lane.

• optional double end_s = 3

  End s of this LaneSegment on the lane.

PathBoundary with left and right boundary.

Used in: PathFollowCommand

• repeated Point left_boundary = 1

  Left boundary of the path, each boundary point mapped to the path point.

• repeated Point right_boundary = 2

  Right boundary of the path, each boundary point mapped to the path point.

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• repeated Point way_point = 3

  Path point to be followed, a valid path should contain >= 2 points. No lane on the map is followed for this command.

• oneof boundary

  • PathBoundary path_boundary = 4

    PathBoundary with left and right boundary.

  • BoundaryWithWidth boundary_with_width = 5

    Path boundary generated with the distance from center to left and right boundary given.

• optional double target_speed = 6

  Expected speed when executing this command. If "target_speed" > maximum speed of the vehicle, use maximum speed of the vehicle instead. If it is not given, the default target speed of system will be used.

Used in: PathBoundary, PathFollowCommand, RoiPolygon

• required double x = 1

  x coordinate.

• required double y = 2

  y coordinate.

Used in: FreeSpaceCommand, LaneFollowCommand, PreciseParkingCommand, ValetParkingCommand

• required double x = 1

  x coordinate.

• required double y = 2

  y coordinate.

• optional double heading = 3

  Rotation around z axis in Cartesian coordinate system.

Used in: PreciseParkingCommand

• CHARGE = 0

• DUMP = 1

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• optional bool is_start_pose_set = 3

  If the start pose is set as the first point of "way_point".

• required Pose parking_spot_pose = 4

  Pose of the parking spot.

• required bool parking_inwards = 5

  true: parking inwards, false: parking outwards

• required PreciseMissionType mission_type = 6

• optional double target_speed = 7

  not given, the default target speed of system will be used.

Region of interest in form of polygon. If the points of polygon is in anticlockwise, ROI is drivable area; otherwise if they are in clockwise, ROI is prohibited driving area.

Used in: FreeSpaceCommand, ZoneCoverCommand

• repeated Point point = 1

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• oneof linear_speed

  • double target_speed = 3

    Replace the target speed of current motion command with this new target speed.

  • double target_speed_factor = 4

    Multiple the target speed in current motion command with the factor. The factor should be in range [0, 1.0].

  • bool is_restore_target_speed = 5

    Restore the target speed with the initial value(The default configured target speed or set in motion command).

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• optional bool is_start_pose_set = 3

  If the start pose is set as the first point of "way_point".

• repeated Pose way_point = 4

  The points between "start_pose" and "end_pose".

• repeated LaneSegment blacklisted_lane = 5

  The lane segments which should not be passed by.

• repeated string blacklisted_road = 6

  The road which should not be passed by.

• required string parking_spot_id = 7

  The id of the parking spot on the map.

• optional double target_speed = 8

  Expected speed when executing this command. If "target_speed" > maximum speed of the vehicle, use maximum speed of the vehicle instead. If it is not given, the default target speed of system will be used.

• optional common.Header header = 1

• optional int64 command_id = 2

  Unique identification for command.

• required string overlap_id = 3

• optional double target_speed = 4

• repeated RoiPolygon non_drivable_roi = 5

• optional RoiPolygon drivable_roi = 6