package apollo.planning

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next id: 24

• optional common.Header header = 1

• optional double total_path_length = 2

  in meters

• optional double total_path_time = 3

  in seconds

• optional EStop estop = 6

• optional planning_internal.Debug debug = 8

• optional bool is_replan = 9

  is_replan == true mean replan triggered

• optional canbus.Chassis.GearPosition gear = 10

  Specify trajectory gear

• repeated common.TrajectoryPoint trajectory_point = 12

  path data + speed data

• repeated common.PathPoint path_point = 13

  path point without speed info

• optional DecisionResult decision = 14

• optional LatencyStats latency_stats = 15

• optional common.Header routing_header = 16

  the routing used for current planning result

• optional ADCTrajectory.RightOfWayStatus right_of_way_status = 17

• repeated hdmap.Id lane_id = 18

  lane id along current reference line

• optional common.EngageAdvice engage_advice = 19

  set the engage advice for based on current planning result.

• optional ADCTrajectory.CriticalRegion critical_region = 20

  critical region will be empty when planning is NOT sure which region is critical critical regions may or may not overlap

• optional ADCTrajectory.TrajectoryType trajectory_type = 21

• optional string replan_reason = 22

• repeated hdmap.Id target_lane_id = 23

  lane id along target reference line

• optional bool car_in_dead_end = 24

  complete dead end flag

• optional LocationPose location_pose = 25

  vehicle location pose

• optional bool is_collision = 26

  in RELATIVE_CONTROL trajectory type, if trajectory is collisioned with obstable

• optional RSSInfo rss_info = 100

  output related to RSS

the region where planning cares most

Used in: ADCTrajectory

• repeated common.Polygon region = 1

Used in: ADCTrajectory

• UNPROTECTED = 0

• PROTECTED = 1

Used in: ADCTrajectory

• UNKNOWN = 0

• NORMAL = 1

• PATH_FALLBACK = 2

• SPEED_FALLBACK = 3

• PATH_REUSED = 4

• OPEN_SPACE = 5

• EDGE_FOLLOW = 6

• RELATIVE_CONTROL = 7

Used in: ADCTrajectory

• optional MainDecision main_decision = 1

• optional ObjectDecisions object_decision = 2

• optional common.VehicleSignal vehicle_signal = 3

Used in: ADCTrajectory

• optional bool is_estop = 1

  is_estop == true when emergency stop is required

• optional string reason = 2

Used in: MainEmergencyStop

(message has no fields)

Used in: MainEmergencyStop

(message has no fields)

• UNKNOWN = 0

• IN_ROAD = 1

• CROSS_ROAD = 2

• FORK_ROAD = 3

• MAIN_SIDE = 4

• DEAD_END = 5

Used in: ADCTrajectory

• optional double total_time_ms = 1

• repeated TaskStats task_stats = 2

• optional double init_frame_time_ms = 3

Used in: ADCTrajectory

• optional Point vehice_location = 1

  vehice location pose

• optional Point left_lane_boundary_point = 2

  left width point of vehice location

• optional Point right_lane_boundary_point = 3

  right width SL point of vehice location

This message is deprecated

Used in: MainDecision

• optional MainChangeLane.Type type = 1

• repeated TargetLane default_lane = 2

• optional MainStop default_lane_stop = 3

• optional MainStop target_lane_stop = 4

Used in: MainChangeLane

• LEFT = 1

• RIGHT = 2

Used in: MainDecision

• optional routing.ChangeLaneType change_lane_type = 1

  cruise current lane

Used in: DecisionResult

• oneof task

  • MainCruise cruise = 1

  • MainStop stop = 2

  • MainEmergencyStop estop = 3

  • MainChangeLane change_lane = 4

  • MainMissionComplete mission_complete = 6

  • MainNotReady not_ready = 7

  • MainParking parking = 8

• repeated TargetLane target_lane = 5

Used in: MainDecision

• optional MainEmergencyStop.ReasonCode reason_code = 1

• optional string reason = 2

• oneof task

  • EmergencyStopHardBrake hard_brake = 3

    hard brake

  • EmergencyStopCruiseToStop cruise_to_stop = 4

    cruise to stop

Unexpected event happened, human driver is required to take over

Used in: MainEmergencyStop

• ESTOP_REASON_INTERNAL_ERR = 1

• ESTOP_REASON_COLLISION = 2

• ESTOP_REASON_ST_FIND_PATH = 3

• ESTOP_REASON_ST_MAKE_DECISION = 4

• ESTOP_REASON_SENSOR_ERROR = 5

Used in: MainDecision

• optional common.PointENU stop_point = 1

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

• optional double stop_heading = 2

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

Used in: MainDecision

• optional string reason = 1

  decision system is not ready. e.g. wait for routing data.

Used in: MainDecision

• optional MainParking.ParkingStatus status = 1

Used in: MainParking

• IN_PARKING = 1

  TODO(QiL): implement and expand to more enums

Used in: MainChangeLane, MainDecision

• optional StopReasonCode reason_code = 1

• optional string reason = 2

• optional common.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.

• optional routing.ChangeLaneType change_lane_type = 5

unified object decision while estop

Used in: ObjectDecisionType

(message has no fields)

Used in: ObjectDecisions

• optional string id = 1

• optional int32 perception_id = 2

• repeated ObjectDecisionType object_decision = 3

Used in: ObjectDecision, ObjectStatus, planning_internal.DecisionTag

• 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: DecisionResult

• repeated ObjectDecision decision = 1

Used in: ObjectMotionType

(message has no fields)

Used in: ObjectDecisionType

• optional double distance_s = 1

  minimum longitudinal distance in meters

• optional common.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 common.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 common.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 common.PointENU fence_point = 2

• optional double fence_heading = 3

• optional double time_buffer = 4

  minimum time buffer required after the

• optional common.Header header = 1

• optional PadMessage.DrivingAction action = 2

  driving action

Used in: PadMessage, simulation.DriveActionConfig

• NONE = 100

• FOLLOW = 0

• CHANGE_LEFT = 1

• CHANGE_RIGHT = 2

• PULL_OVER = 3

• STOP = 4

• RESUME_CRUISE = 5

• CLEAR_PLANNING = 6

• ENTER_MISSION = 7

  Enter mission model

• EXIT_MISSION = 8

  Exit mission model

Used in: PlanningCommand

• optional common.Header header = 1

• required string parking_spot_id = 2

  The id of the parking spot on the map.

• optional double target_speed = 3

  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.

• optional routing.RoutingResponse lane_follow_command = 3

  Move along the lanes on map.

• optional double target_speed = 4

  Target speed in command.

• optional bool is_motion_command = 5

  Indicate if the command is a motion command.

• oneof command

  • ParkingCommand parking_command = 6

    Move to the given pose with open space planning trajectory.

  • google.protobuf.Any custom_command = 7

    Custom command defined by user for extensibility.

Used in: LocationPose

• optional double x = 1

• optional double y = 2

Used in: ADCTrajectory

• optional bool is_rss_safe = 1

• optional double cur_dist_lon = 2

• optional double rss_safe_dist_lon = 3

• optional double acc_lon_range_minimum = 4

• optional double acc_lon_range_maximum = 5

• optional double acc_lat_left_range_minimum = 6

• optional double acc_lat_left_range_maximum = 7

• optional double acc_lat_right_range_minimum = 8

• optional double acc_lat_right_range_maximum = 9

Used in: planning_internal.ObstacleDebug

• optional double start_s = 1

• optional double end_s = 2

• optional double start_l = 3

• optional double end_l = 4

• repeated common.SLPoint boundary_point = 5

Used in: MainStop, 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

Used in: MainChangeLane, MainDecision

• 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

Used in: LatencyStats

• optional string name = 1

• optional double time_ms = 2