package apollo.prediction

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next id = 40

Used in: ObstacleHistory, PredictionObstacle

• optional int32 id = 1

  Obstacle ID

• repeated common.Point3D polygon_point = 30

  Obstacle features

• optional common.Point3D position = 2

• optional common.Point3D front_position = 27

• optional common.Point3D velocity = 3

• optional common.Point3D raw_velocity = 28

  from perception

• optional common.Point3D acceleration = 4

• optional double velocity_heading = 5

• optional double speed = 6

• optional double acc = 7

• optional double theta = 8

• optional double length = 9

• optional double width = 10

• optional double height = 11

• optional double tracking_time = 12

• optional double timestamp = 13

• optional Lane lane = 14

  Obstacle type-specific features

• optional JunctionFeature junction_feature = 26

• optional common.Point3D t_position = 16

  Obstacle tracked features

• optional common.Point3D t_velocity = 17

• optional double t_velocity_heading = 18

• optional double t_speed = 19

• optional common.Point3D t_acceleration = 20

• optional double t_acc = 21

• optional bool is_still = 22

• optional perception.PerceptionObstacle.Type type = 23

• optional double label_update_time_delta = 24

• optional ObstaclePriority priority = 25

• optional ObstacleInteractiveTag interactive_tag = 37

• optional bool is_near_junction = 29

• repeated PredictionTrajectoryPoint future_trajectory_points = 31

  Obstacle ground-truth labels:

• repeated common.TrajectoryPoint short_term_predicted_trajectory_points = 32

  Obstacle short-term predicted trajectory points

• repeated Trajectory predicted_trajectory = 33

  Obstacle predicted trajectories

• repeated common.TrajectoryPoint adc_trajectory_point = 34

  ADC trajectory at the same frame, and ADC trajectory timestamp

• optional double adc_timestamp = 38

• optional perception.PerceptionObstacle adc_localization = 39

• repeated string surrounding_lane_id = 35

  Surrounding lanes

• repeated string within_lane_id = 36

• optional double timestamp = 1

• optional ObstacleHistory ego_history = 2

• repeated ObstacleHistory obstacles_history = 3

self driving car intent

Used in: PredictionObstacles

• optional Intent.Type type = 1

Used in: Intent

• UNKNOWN = 0

• STOP = 1

• CRUISE = 2

• CHANGE_LANE = 3

Used in: JunctionFeature

• optional string exit_lane_id = 1

• optional common.Point3D exit_position = 2

• optional double exit_heading = 3

• optional double exit_width = 4

Used in: Feature

• optional string junction_id = 1

• optional double junction_range = 2

• optional LaneFeature enter_lane = 3

• repeated JunctionExit junction_exit = 4

• repeated double junction_mlp_feature = 5

• repeated int32 junction_mlp_label = 6

  dim is number of masks, i.e. 12

• repeated double junction_mlp_probability = 7

• repeated string start_lane_id = 8

Used in: Feature

• repeated LaneFeature current_lane_feature = 1

  Features of all possible current lanes.

• optional LaneFeature lane_feature = 2

  Features of the most possible current lane.

• repeated LaneFeature nearby_lane_feature = 3

  Features of all nearby lanes.

• optional LaneGraph lane_graph = 4

  Lane graph

• optional LaneGraph lane_graph_ordered = 5

• optional double label_update_time_delta = 26

  For modeling

Used in: JunctionFeature, Lane

• optional string lane_id = 1

• optional uint32 lane_turn_type = 2

• optional double lane_s = 3

• optional double lane_l = 4

• optional double angle_diff = 5

• optional double dist_to_left_boundary = 6

• optional double dist_to_right_boundary = 7

• optional double lane_heading = 8

• optional hdmap.Lane.LaneType lane_type = 9

Used in: Lane

• repeated LaneSequence lane_sequence = 1

• optional int32 obstacle_id = 1

• optional string lane_id = 2

• optional double lane_s = 3

• optional double lane_l = 4

Used in: LaneSegment, LaneSequence

• optional common.Point3D position = 1

• optional double heading = 2

• optional double width = 3

• optional double relative_s = 4

  relative s to focus obstacle

• optional double relative_l = 5

  relative l to focus obstacle

• optional double angle_diff = 6

  lane point heading relative to focused obstacle heading

• optional double kappa = 7

• optional LanePoint.ScenarioType scenario_type = 8

• optional double speed_limit = 9

Used in: LanePoint

• URBAN_ROAD = 0

• JUNCTION = 1

• HIGHWAY = 2

Used in: LaneSequence

• optional string lane_id = 1

• optional double start_s = 2

  s offset of the first lane point

• optional double end_s = 3

  s offset of the last lane point

• optional uint32 lane_turn_type = 4

• repeated LanePoint lane_point = 5

• optional double adc_s = 7

  If this lane-segment is the one that's closest to ADC, then adc_s gives the s of the ADC.

• optional int32 adc_lane_point_idx = 8

• optional double total_length = 6

next id = 24

Used in: LaneGraph

• optional int32 lane_sequence_id = 1

• repeated LaneSegment lane_segment = 2

• optional int32 adc_lane_segment_idx = 23

  The index of the lane-segment that is closest to ADC:

• repeated common.PathPoint path_point = 8

• optional hdmap.Lane.LaneType lane_type = 22

• optional double lane_s = 17

• optional double lane_l = 18

• optional bool vehicle_on_lane = 10

• repeated NearbyObstacle nearby_obstacle = 3

  nearby obstacles on this lane sequence

• optional StopSign stop_sign = 20

• optional int32 right_of_way = 21

  right_of_way score

• optional LaneSequence.Features features = 4

• optional int32 label = 5

• optional double probability = 6

• optional double acceleration = 7

• optional double time_to_lane_center = 16

• optional double time_to_lane_edge = 19

• optional LaneSequence.BehaviorType behavior_type = 9

• repeated LanePoint curr_lane_point = 11

  lane points on this lane sequence

• repeated LanePoint left_neighbor_point = 12

  lane points on the left neighbor lane sequence

• repeated LanePoint right_neighbor_point = 13

  lane points on the right neighbor lane sequence

• repeated NearbyObstacle left_nearby_obstacle = 14

  nearby obstacles on the left neighbor lane sequence

• repeated NearbyObstacle right_nearby_obstacle = 15

  nearby obstacles on the right neighbor lane sequence

Used in: LaneSequence

• NOT_GOTO_LANE = 1

• CONSTANT_SPEED = 2

• SMALL_ACCELERATION = 3

• LARGE_ACCELERATION = 4

• SMALL_DECELERATION = 5

• LARGE_DECELERATION = 6

Used in: LaneSequence

• repeated double mlp_features = 1

Used in: LaneSequence

• optional int32 id = 1

• optional double s = 2

  relative to focus obstacle

• optional double l = 3

  relative to focus obstacle

Used in: FrameEnv

• repeated Feature feature = 1

• optional bool is_trainable = 2

estimated obstacle intent

Used in: PredictionObstacle

• optional ObstacleIntent.Type type = 1

Used in: ObstacleIntent

• UNKNOWN = 0

• STOP = 1

• STATIONARY = 2

• MOVING = 3

• CHANGE_LANE = 4

• LOW_ACCELERATION = 5

• HIGH_ACCELERATION = 6

• LOW_DECELERATION = 7

• HIGH_DECELERATION = 8

Used in: dreamview.Object, Feature, PredictionObstacle

• optional ObstacleInteractiveTag.InteractiveTag interactive_tag = 37

Used in: ObstacleInteractiveTag

• INTERACTION = 1

• NONINTERACTION = 2

Used in: dreamview.Object, Feature, PredictionObstacle

• optional ObstaclePriority.Priority priority = 25

Used in: ObstaclePriority

• CAUTION = 1

• NORMAL = 2

• IGNORE = 3

Used in: PredictionObstacles

• optional perception.PerceptionObstacle perception_obstacle = 1

• optional double timestamp = 2

  GPS time in seconds

• optional double predicted_period = 3

  the length of the time for this prediction (e.g. 10s)

• repeated Trajectory trajectory = 4

  can have multiple trajectories per obstacle

• optional ObstacleIntent intent = 5

  estimated obstacle intent

• optional ObstaclePriority priority = 6

• optional ObstacleInteractiveTag interactive_tag = 9

• optional bool is_static = 7

• repeated Feature feature = 8

  Feature history latest -> earliest sequence

• optional common.Header header = 1

  timestamp is included in header

• repeated PredictionObstacle prediction_obstacle = 2

  make prediction for multiple obstacles

• optional common.ErrorCode perception_error_code = 3

  perception error code

• optional double start_timestamp = 4

  start timestamp

• optional double end_timestamp = 5

  end timestamp

• optional Intent intent = 6

  self driving car intent

• optional Scenario scenario = 7

  Scenario

• repeated perception.PerceptionWaste perception_waste = 8

  waste

Used in: PredictionTrajectoryPoint

• required double x = 1

• required double y = 2

• optional double velocity_heading = 3

Used in: Feature

• required PredictionPathPoint path_point = 1

• required double timestamp = 2

Used in: PredictionObstacles

• optional Scenario.Type type = 1

• optional string junction_id = 2

Used in: Scenario

• UNKNOWN = 0

• CRUISE = 1000

• CRUISE_URBAN = 1001

• CRUISE_HIGHWAY = 1002

• JUNCTION = 2000

• JUNCTION_TRAFFIC_LIGHT = 2001

• JUNCTION_STOP_SIGN = 2002

Used in: LaneSequence

• optional string stop_sign_id = 1

• optional string lane_id = 2

• optional double lane_s = 3

  the s value within the lane

• optional double lane_sequence_s = 4

  the s value along lane sequence

Used in: Feature, PredictionObstacle

• optional double probability = 1

  probability of this trajectory

• repeated common.TrajectoryPoint trajectory_point = 2