package apollo.simulation

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Used in: Condition

• optional double duration = 1

• optional double distance = 2

• optional double x = 3

• optional double y = 4

Used in: Condition

• optional string name = 1

• optional double min_acceleration = 2

• optional double max_acceleration = 3

• optional bool use_score = 4

• optional double single_deduction = 5

Used in: Scenario

• optional int32 id = 1

• optional string description = 2

• optional double width = 3

• optional double length = 4

• optional double height = 5

• optional AgentConfig.Type type = 6

• optional double appear_time = 7

• optional double disappear_time = 8

• repeated AgentConfig.TrackedPoint tracked_point = 9

• optional AgentConfig.MotionType motiontype = 10

• optional double distance = 11

• optional AgentConfig.TrackedPoint start_position = 12

• optional AgentConfig.TrackedPoint end_position = 14

• optional string start_lane = 15

• optional string end_lane = 16

• optional AgentConfig.TriggerType trigger_type = 20

• optional double start_distance = 13

  Start when distance from adc < start_distance

• optional double start_time = 21

• optional bool avoid_rear_end_collision = 17

  Whether the agent avoids rear-end collision

• optional double rear_end_collision_distance = 18

• optional AgentConfig.NearCar near_car = 19

• optional AgentConfig.NearCrosswalk near_crosswalk = 22

Static, lane follow and tracked objects.

Used in: AgentConfig

• STATIC = 0

• LANE_FOLLOW = 1

  not implemented

• TRACKED = 2

When an obstacle approaches the adc at a certain distance, it needs to decelerate.

Used in: AgentConfig

• optional double distance = 1

• optional double acceleration = 2

• optional bool is_same_lane = 3

• optional bool only_include_behind = 4

Need to decelerate when an obstacle meets the crosswalk

Used in: AgentConfig

• optional double distance = 1

• optional double acceleration = 2

Used in: AgentConfig

• optional double x = 1

• optional double y = 2

• optional double heading = 3

• optional double speed = 4

• optional double acceleration = 5

Used in: AgentConfig

• DISTANCE = 0

• TIME = 1

Used in: AgentConfig

• VEHICLE = 0

• BICYCLE = 1

• PEDESTRIAN = 2

• UNKNOWN_UNMOVABLE = 3

• UNKNOWN_MOVABLE = 4

• BIG_TRUCK = 5

Used in: Condition

• optional bool use_score = 1

Used in: Condition

• optional double min_duration = 1

• optional double max_duration = 2

Used in: Condition

• optional string name = 1

  向心加速度限制

• optional double max_centripetal_acceleration = 2

• optional bool use_score = 3

• optional double single_deduction = 4

Used in: Condition

(message has no fields)

Used in: Condition

• repeated Condition checkpoint = 1

  Each checkpoint sub-condition needs to be true at least once.

Next-id: 29

Used in: CheckpointCondition, LogicalCondition, Metric

• oneof condition

  • LogicalCondition logical_condition = 1

  • SpeedCondition speed_condition = 2

  • AccelerationCondition acceleration_condition = 3

  • JerkCondition jerk_condition = 4

  • ObjectOverlapCondition object_overlap_condition = 5

  • RegionOverlapCondition region_overlap_condition = 6

  • RegionOverlapLWCondition region_overlap_lw_condition = 7

  • SpinCondition spin_condition = 8

  • OnRoadCondition on_road_condition = 9

  • RunRedLightCondition run_red_light_condition = 10

  • ChangeLaneAtJunctionCondition change_lane_at_junction_condition = 11

  • RoutingCondition routing_condition = 12

  • CrosswalkYieldCondition crosswalk_yield_condition = 13

  • AbnormalStopCondition abnormal_stop_condition = 14

  • BrakeTapCondition brake_tap_condition = 15

  • RunStopSignCondition run_stop_sign_condition = 16

  • CheckpointCondition checkpoint_condition = 17

  • DistToEndCondition dist_to_end_condition = 18

  • DistToLaneCenterCondition dist_to_lane_center_condition = 19

  • CrosswalkStopCondition crosswalk_stop_condition = 20

  • RedLightStopCondition red_light_stop_condition = 21

  • SpeedbumpLimitCondition speedbump_limit_condition = 22

  • WorkingZoneAvoidLimitCondition working_zone_avoid_limit_condition = 23

  • LimitedTimeParkingCondition limited_time_parking_condition = 24

  • FollowAndBypassCondition follow_and_bypass_condition = 25

  • ObstacleBypassCondition obstacle_bypass_condition = 26

  • CentripetalAccelerationCondition centripetal_acceleration_condition = 27

  • TimeLimitCondition time_limit_condition = 28

  • AntiCheatingCondition anti_cheating_condition = 29

  • KeyPointCondition key_point_condition = 30

• optional GradePlanning grade_planning = 100

Used in: Condition

• optional double min_distance = 1

• optional double max_distance = 2

• optional bool use_score = 3

• optional double single_deduction = 4

Used in: Condition

(message has no fields)

Used in: Condition

(message has no fields)

Used in: Condition

(message has no fields)

Used in: Scenario

• optional planning.PadMessage.DrivingAction drive_action = 1

• optional double trigger_time = 2

Used in: Condition

• optional hdmap.Polygon test_range = 1

• optional double divide_speed = 2

  3

• optional string obstacle_id = 3

  1372

• optional hdmap.LineSegment end_line = 4

• optional bool use_score = 5

  no single deduction only 100 or 0

Used in: Scenario

(message has no fields)

Used in: Condition

• optional sint32 duration = 1

  any negative integer: grade all the planning points, 0: do not grade any planning point, any positive integer k: grade planning points within k sec.

• optional bool update_obstacles = 2

  Whether to search for a perception obstacle frame that is close enough in time to the planning point.

• optional bool use_planning_as_history = 3

  Whether to evaluate planning points in a certain range.

Used in: Scenario

• repeated Metric metric = 1

• optional bool use_score = 2

  Attention: compatible with the previous pass and fail

• optional bool use_time = 3

  计算的是更具体的达标时间并记录 是否compute time

• optional string compute_time_metric_name = 4

  This metric decide when end,how to compute time!

• optional bool compute_time_as_first_true = 5

  计算时间第一次true的时候记录-比如到达终点 停车采取不同的策略：因为过程中始终有变更，采取最后一次状态的时候记录Timestamp 【过程中】由True到false直接清除之前记录，确保状态变更始终维持最新

Used in: Condition

• optional string name = 1

• optional double min_jerk = 2

• optional double max_jerk = 3

Used in: KeyPointCondition

• optional double x = 1

• optional double y = 2

• optional double z = 3

• optional double radius = 4

这个条件是针对高速足跳变所设计，通过设置道路的检查点，看车辆是否保持合理的运 行轨迹 TODO: 在解析评测配置的处增加根据路线生成检查点的逻辑

Used in: Condition

• optional bool use_score = 1

• optional bool in_order = 2

• optional double radius = 3

• repeated KeyPoint point = 4

  检查点，每个点都经过结果判定才会为真

Used in: Condition

• optional hdmap.Polygon parking_lot = 1

• optional bool use_score = 2

  转变time to 次数 eg: 90s内限时停车，频率10ms刷新一次 9000次

• optional double single_deduction = 3

Used in: Condition

• optional LogicalCondition.OperatorType operator_type = 1

• repeated Condition sub_condition = 2

Used in: LogicalCondition

• UNKNOWN = 0

• NOT = 1

• AND = 2

• OR = 3

• IMPLY = 4

• XOR = 5

Used in: GradingConfig

• optional string name = 1

• optional string description = 2

• optional Condition condition = 3

  Set if combined conditions have been used.

• optional bool is_critical = 4

  True if the metric is critical to the scenario. i.e. the scenario fails as long as the metric fails.

• optional bool require_all_time_pass = 5

  True implies the metric passes if and only if the condition is passing all the time.

• optional bool once_pass_stay_pass = 6

  True implies the metric passes if and only if the condition stays passing once it passes for one time frame.

• optional bool get_deduction_score = 7

  Metric是否获取扣分还是得到的直接是最终分数

Used in: Condition

• optional string source_object_ids = 1

• optional string target_object_ids = 2

• optional double distance = 3

• optional ObjectOverlapCondition.DirectionType direction = 4

  the relative direction from the source object

• repeated string ignore_object_ids = 5

• optional bool use_score = 6

Used in: ObjectOverlapCondition

• EXCLUDE_BACK = 0

• INCLUDE_BACK = 1

Used in: Condition

• optional hdmap.Polygon test_range = 1

• optional string obstacle_id = 2

• optional double min_lateral_distance = 3

• optional double max_speed = 4

• optional bool use_score = 5

• optional double single_deduction = 6

Used in: Condition

• optional bool use_road_boundary = 1

  True if evaluate based on road boundary rather than lane boundary.

• optional bool use_score = 2

Used in: Condition

• optional double min_distance = 1

• optional double max_distance = 2

• optional bool use_score = 3

• optional double single_deduction = 4

Used in: Condition

• optional string object_ids = 1

• repeated double region_corner_xy = 2

  Coordinates of region corners. e.g. x1, y1, x2, y2, etc.

• optional bool require_fully_contain = 3

  True if the condition requires the region fully containing the object.

• optional double heading = 4

  Specify if the polygon has certain pre-defined heading.

• optional bool use_score = 5

Used in: Condition

• optional string object_ids = 1

• optional double x = 2

• optional double y = 3

• optional double length = 4

• optional double width = 5

• optional bool require_fully_contain = 6

  True if the condition requires the region fully containing the object.

• optional bool use_score = 7

Used in: Condition

(message has no fields)

Used in: Condition

• optional bool use_score = 1

Used in: Condition

• optional double distance = 1

• optional string name = 1

• optional string description = 2

• optional Scenario.Point start = 3

  Only use in WorldSim.

• optional Scenario.Point end = 4

• optional Scenario.Point parking_point = 5

• repeated string origin_log_file_path = 6

  Only use in LogSim

• optional double log_file_start_time = 7

• optional double log_file_end_time = 8

• optional routing.RoutingRequest routing_request = 9

  This is used if 1) the logsim bag does not contain one. 2) the worldsim has different start pose for routing and ego car.

• optional string map_dir = 10

  map dir, only used in offline env

• optional GradingConfig grade_config = 11

  metric specific to the scenario.

• repeated AgentConfig agent = 12

  agent type

• repeated DriveActionConfig drive_action_config = 13

  a sequence of driving actions

• optional FuzzingConfig fuzzing_config = 14

• optional int32 simulator_time = 15

  Only use in WorldSim. Max time before stop running the scenario.

• optional double start_velocity = 16

  Initial velocity and acceleration of the main vehicle

• optional double start_acceleration = 17

• optional string base_grade_config_file = 18

  file path to its base metric config

• optional double detect_distance = 19

  Traffic light detection distance.

• optional Scenario.DefaultLightBehavior default_light_behavior = 20

• optional double red_time = 21

• optional double green_time = 22

• optional double yellow_time = 23

• repeated Scenario.TL traffic_lights = 24

  The overriden traffic lights behavior

• optional Scenario.Mode mode = 25

• repeated string select_default_metric = 26

• repeated string deselect_default_metric = 27

• optional double backtrack_time = 28

  The backtrack time to start running perfect_control once a disengage is detected.

• optional string vehicle = 29

  Only use in LogSim

• optional bool traffic_flow = 30

  Only use in worldsim for special scenario conf use multi agent server

Used in: Scenario

• ALWAYS_GREEN = 0

• CYCLICAL = 1

  Traffic lights change by red -> green -> yellow cycles.

The scenario should be run in one of the modes.

Used in: Scenario

• WORLDSIM = 0

• LOGSIM = 1

• LOGSIM_CONTROL = 2

• LOGSIM_PERCEPTION = 3

Used in: Scenario

• optional double x = 1

• optional double y = 2

• optional double heading = 3

  TODO: add lane-id and ratio.

Used in: Scenario

• optional string id = 1

• optional TL.Location location = 2

• optional TL.TriggerType trigger_type = 3

• optional double trigger_value = 4

  Trigger Distance or Trigger Time

• optional TL.State initial_state = 5

• repeated TL.State state_group = 6

Used in: TL

• optional double x = 1

• optional double y = 2

• optional double z = 3

Used in: TL

• optional perception.TrafficLight.Color color = 1

• optional bool blink = 2

• optional double keep_time = 3

Used in: TL

• NA = 0

  The traffic light will stay in initial_state.

• DISTANCE = 1

• TIME = 2

Used in: Condition

• optional string name = 1

• optional double min_speed = 2

• optional double max_speed = 3

• optional bool use_score = 4

• optional double single_deduction = 5

Used in: Condition

• optional double speedbump_half_width = 1

  change speedbump from line segment to rectangle which length = line segment length

• optional double max_speed = 2

• optional double deduction_speed_unit = 3

  (adc_speed - max_speed)/deduction_speed_unit 来计算扣分次数

• optional bool use_score = 4

• optional double single_deduction = 5

Used in: Condition

• optional string name = 1

• optional double min_spin = 2

• optional double max_spin = 3

Used in: Condition

• optional double timeout = 1

  time limitation, in seconds

• optional bool use_score = 2

区别：和regionOverlap希望包含这个polygon或者有重叠的情况 施工区域：希望不包含这个polygon，同时含限时+限速 忽略限速和限时，将变成一个判断no overlap的情况 可以理解为：regionOverlap反向

Used in: Condition

• repeated hdmap.Polygon working_zone = 1

  adc should avoid working zone

• optional double max_speed = 2

• optional hdmap.Polygon whole_area = 3

  whole area used for judge if car enter this area if enter, then check if enter working_zone this field required

• optional bool use_score = 4

• optional double single_deduction = 5

  单帧扣分系数，应该与位移及检测帧率成负相关，与总分值成正相关 扣分公式为sum((vx/vl-1)^(vx/vl)*single_deduction) vx 为当前帧速度 vl 即 max_speed, 最大限速 具体的系数公式待定，以下仅举例说明，由于公式不明确，暂时以一个 定值参数的形式从配置传入 eg: 满分为120的情况下，频率100（间隔0.01s），距离600m的情况下 single_deduction = (120 * k) / (600 * 100), k 为常数 k为30则single_deduction为0.06，则通过扣分公式大概可得 平均速度超过60%之后可将分数扣完 k为40则single_deduction为0.08，则通过扣分公式大概可得 平均速度超过43%之后可将分数扣完 调整k使用single_deduction可以让速度超过一定比例后将分数扣完