package apollo.control

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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

• 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 double control_test_duration = 1

  configs from gflags

• optional bool enable_csv_debug = 2

• optional bool enable_speed_station_preview = 3

• optional bool is_control_test_mode = 4

• optional bool use_preview_speed_for_table = 5

• optional bool enable_input_timestamp_check = 6

• optional int32 max_localization_miss_num = 7

• optional int32 max_chassis_miss_num = 8

• optional int32 max_planning_miss_num = 9

• optional double max_acceleration_when_stopped = 10

• optional double steer_angle_rate = 11

• optional bool enable_gain_scheduler = 12

• optional bool set_steer_limit = 13

• optional bool enable_slope_offset = 14

• optional double lock_steer_speed = 15

• optional bool enable_navigation_mode_error_filter = 16

• optional bool enable_navigation_mode_position_update = 17

• optional bool enable_persistent_estop = 18

• optional double control_period = 19

  original config

• optional double max_planning_interval_sec = 20

• optional double max_planning_delay_threshold = 21

• optional canbus.Chassis.DrivingMode driving_mode = 22

  0 - manual; 1 - auto_drive; 2 - speed_only; 3 - steer_only

• optional DrivingAction action = 23

  0: stop, at first should stop, then receive pad msg to start

• optional double soft_estop_brake = 24

• optional int32 max_steering_percentage_allowed = 26

• optional double max_status_interval_sec = 27

• optional double trajectory_period = 30

• optional double chassis_period = 31

• optional double localization_period = 32

• optional double minimum_speed_resolution = 33

• optional double query_relative_time = 35

• optional double minimum_speed_protection = 36

• optional double max_path_remain_when_stopped = 37

Used in: data.VehicleInfo

• optional double control_test_duration = 1

  configs from gflags

• optional bool enable_csv_debug = 2

• optional bool enable_speed_station_preview = 3

• optional bool is_control_test_mode = 4

• optional bool use_preview_speed_for_table = 5

• optional bool enable_input_timestamp_check = 6

• optional int32 max_localization_miss_num = 7

• optional int32 max_chassis_miss_num = 8

• optional int32 max_planning_miss_num = 9

• optional double max_acceleration_when_stopped = 10

• optional double steer_angle_rate = 11

• optional bool enable_gain_scheduler = 12

• optional bool set_steer_limit = 13

• optional bool enable_slope_offset = 14

• optional double lock_steer_speed = 15

• optional bool enable_navigation_mode_error_filter = 16

• optional bool enable_navigation_mode_position_update = 17

• optional bool enable_persistent_estop = 18

• optional double control_period = 19

  original config

• optional double max_planning_interval_sec = 20

• optional double max_planning_delay_threshold = 21

• optional canbus.Chassis.DrivingMode driving_mode = 22

  0 - manual; 1 - auto_drive; 2 - speed_only; 3 - steer_only

• optional DrivingAction action = 23

  0: stop, at first should stop, then receive pad msg to start

• optional double soft_estop_brake = 24

• repeated ControlConf.ControllerType active_controllers = 25

• optional int32 max_steering_percentage_allowed = 26

• optional double max_status_interval_sec = 27

• optional LatControllerConf lat_controller_conf = 28

• optional LonControllerConf lon_controller_conf = 29

• optional double trajectory_period = 30

• optional double chassis_period = 31

• optional double localization_period = 32

• optional double minimum_speed_resolution = 33

• optional MPCControllerConf mpc_controller_conf = 34

• optional double query_relative_time = 35

• optional double minimum_speed_protection = 36

• optional double max_path_remain_when_stopped = 37

Used in: ControlConf

• LAT_CONTROLLER = 0

• LON_CONTROLLER = 1

• MPC_CONTROLLER = 2

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

总之Pad消息的2个作用是: 1、发送消息给Canbus模块，来控制driving_mode，Control模块判断 当前driving_mode的状态来决定是否启动自动驾驶 2、通过RESET来清空estop_的状态

Used in: ControlCommonConf, ControlConf, PadMessage

• STOP = 0

• START = 1

• RESET = 2

Used in: LonControllerConf

• optional int32 cutoff_freq = 1

Used in: LatControllerConf, MPCControllerConf

• repeated GainSchedulerInfo scheduler = 1

Used in: GainScheduler

• optional double speed = 1

  m/s

• optional double ratio = 2

Used in: Debug, Preprocessor

• 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

simple optimal steer control param

Used in: ControlConf

• optional double ts = 1

  sample time (dt) 0.01 now, configurable

• optional int32 preview_window = 2

  preview window n, preview time = preview window * ts

• optional double cf = 3

• optional double cr = 4

  N/rad

• optional int32 mass_fl = 5

• optional int32 mass_fr = 6

• optional int32 mass_rl = 7

• optional int32 mass_rr = 8

• optional double eps = 9

  converge threshold for lqr solver

• repeated double matrix_q = 10

  matrix_q size = 4 + preview_window

• repeated double reverse_matrix_q = 11

  matrix_q size = 4 + preview_window for reverse gear

• optional int32 cutoff_freq = 12

  cutoff frequency

• optional int32 mean_filter_window_size = 13

  window size of mean filter

• optional int32 max_iteration = 14

  for a normal car, it should be in range[16, 18]

  maximum iteration for lqr solve

• optional double max_lateral_acceleration = 15

  limit aggressive steering

• optional GainScheduler lat_err_gain_scheduler = 16

• optional GainScheduler heading_err_gain_scheduler = 17

• optional LeadlagConf reverse_leadlag_conf = 18

• optional bool enable_reverse_leadlag_compensation = 19

• optional bool enable_look_ahead_back_control = 20

• optional double lookahead_station = 21

• optional double lookback_station = 22

• optional MracConf steer_mrac_conf = 23

• optional bool enable_steer_mrac_control = 24

• optional double lookahead_station_high_speed = 25

• optional double lookback_station_high_speed = 26

Used in: ControlCommand

• optional double total_time_ms = 1

• repeated double controller_time_ms = 2

• optional bool total_time_exceeded = 3

Used in: LatControllerConf, LonControllerConf

• optional double innerstate_saturation_level = 1

• optional double alpha = 2

• optional double beta = 3

• optional double tau = 4

Used in: Preprocessor

• optional common.Header header = 1

• optional canbus.Chassis chassis = 2

• optional planning.ADCTrajectory trajectory = 3

• optional localization.LocalizationEstimate localization = 4

• optional PadMessage pad_msg = 5

controller param

Used in: ControlConf

• optional double ts = 1

  longitudinal controller sampling time

• optional double brake_minimum_action = 2

• optional double throttle_minimum_action = 3

• optional double speed_controller_input_limit = 4

• optional double station_error_limit = 5

• optional double preview_window = 6

• optional double standstill_acceleration = 7

• optional PidConf station_pid_conf = 8

• optional PidConf low_speed_pid_conf = 9

• optional PidConf high_speed_pid_conf = 10

• optional double switch_speed = 11

  low/high speed controller switch speed

• optional PidConf reverse_station_pid_conf = 12

• optional PidConf reverse_speed_pid_conf = 13

• optional FilterConf pitch_angle_filter_conf = 14

• optional LeadlagConf reverse_station_leadlag_conf = 15

• optional LeadlagConf reverse_speed_leadlag_conf = 16

• optional calibrationtable.ControlCalibrationTable calibration_table = 17

• optional bool enable_reverse_leadlag_compensation = 18

• optional double switch_speed_window = 19

  low/high speed switch transition-window

model predictive control param

Used in: ControlConf

• optional double ts = 1

  sample time (dt) 0.01 sec, configurable

• optional double cf = 2

  corner stiffness front: N/rad

• optional double cr = 3

  corner stiffness rear: N/rad

• optional int32 mass_fl = 4

  mass forward left

• optional int32 mass_fr = 5

  mass forward right

• optional int32 mass_rl = 6

  mass rear left

• optional int32 mass_rr = 7

  mass rear right

• optional double eps = 8

  converge threshold

• repeated double matrix_q = 9

  output variable (control state) weight matrix (lateral_error, lateral_error_rate, heading_error, heading_error_rate, station_error, speed_error)

• repeated double matrix_r = 10

  manipulated variable weight matrix (steer, acceleration)

• optional int32 cutoff_freq = 11

  cutoff frequency

• optional int32 mean_filter_window_size = 12

  window size of mean filter

• optional int32 max_iteration = 13

  for a normal car, it should be in range[16, 18]

  maximum iteration for lqr solve

• optional double max_lateral_acceleration = 14

  limit aggressive steering

• optional double standstill_acceleration = 15

• optional double brake_minimum_action = 16

• optional double throttle_minimum_action = 17

• optional GainScheduler lat_err_gain_scheduler = 18

• optional GainScheduler heading_err_gain_scheduler = 19

• optional GainScheduler steer_weight_gain_scheduler = 20

• optional GainScheduler feedforwardterm_gain_scheduler = 21

• optional calibrationtable.ControlCalibrationTable calibration_table = 22

• optional bool enable_mpc_feedforward_compensation = 23

• optional double unconstrained_control_diff_limit = 24

Used in: MracDebug

• repeated double state_adaptive_gain = 1

• repeated double input_adaptive_gain = 2

• repeated double nonlinear_adaptive_gain = 3

Used in: LatControllerConf

• optional int32 mrac_model_order = 1

• optional double reference_time_constant = 2

• optional double reference_natural_frequency = 3

• optional double reference_damping_ratio = 4

• repeated double adaption_state_gain = 5

  state gain size must be not higher than the mrac_model_order

• optional double adaption_desired_gain = 6

• optional double adaption_nonlinear_gain = 7

• repeated double adaption_matrix_p = 8

  adaption matrix size must match the model matrix size based on mrac_model_order

• optional double mrac_saturation_level = 9

• repeated double anti_windup_compensation_gain = 10

  compensation gain size must be not higher than the mrac_model_order

• optional double clamping_time_constant = 11

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, LocalView

• optional common.Header header = 1

  control mode, set mode according to low level definition

• optional canbus.Chassis.DrivingMode driving_mode = 2

  send driving mode to drive

• optional DrivingAction action = 3

  action in the driving_mode

Used in: LonControllerConf

• optional bool integrator_enable = 1

• optional double integrator_saturation_level = 2

• optional double kp = 3

• optional double ki = 4

• optional double kd = 5

• optional double kaw = 6

• optional double output_saturation_level = 7

• optional common.Header header = 1

• optional LocalView local_view = 2

• optional common.EngageAdvice engage_advice = 4

• optional InputDebug input_debug = 5

• optional bool received_pad_msg = 6

• optional bool estop = 7

• optional string estop_reason = 8

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

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

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

Used in: ControlCommand

• TURN_NONE = 0

• TURN_LEFT = 1

• TURN_RIGHT = 2