package apollo.planning

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View/edit binary Protocol Buffers messages

next id: 24

Used in: control.LocalView

• optional common.Header header = 1

• optional double total_path_length = 2

  in meters

• optional double total_path_time = 3

  in seconds

• repeated common.TrajectoryPoint trajectory_point = 12

  path data + speed data

• optional EStop estop = 6

• repeated common.PathPoint path_point = 13

  path point without speed info

• optional bool is_replan = 9

  is_replan == true mean replan triggered

• optional string replan_reason = 22

• optional canbus.Chassis.GearPosition gear = 10

  Specify trajectory gear

• optional DecisionResult decision = 14

• optional LatencyStats latency_stats = 15

• optional common.Header routing_header = 16

  the routing used for current planning result

• optional planning_internal.Debug debug = 8

• 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

• repeated hdmap.Id target_lane_id = 23

  lane id along target reference line

• 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

Used in: LearningDataFrame

• optional double timestamp_sec = 1

  localization measurement_time

• optional PlanningTag planning_tag = 2

• optional CommonTrajectoryPointFeature trajectory_point = 3

Used in: TrafficRuleConfig

• optional double backside_lane_width = 1

  a vehicle is considered within current lane if it is behind the ADC and its lateral difference is less than this number.

Used in: PlanningStatus

• optional string current_pnc_junction_overlap_id = 1

• optional string done_pnc_junction_overlap_id = 2

• optional uint32 clear_counter = 3

Used in: PlanningStatus

• optional ChangeLaneStatus.Status status = 1

• optional string path_id = 2

  the id of the route segment that the vehicle is driving on

• optional double timestamp = 3

  the time stamp when the state started.

• optional bool exist_lane_change_start_position = 4

  the starting position only after which lane-change can happen.

• optional common.Point3D lane_change_start_position = 5

• optional double last_succeed_timestamp = 6

  the last time stamp when the lane-change planning succeed.

• optional bool is_current_opt_succeed = 7

  if the current path and speed planning on the lane-change reference-line succeed.

• optional bool is_clear_to_change_lane = 8

  denotes if the surrounding area is clear for ego vehicle to change lane at this moment.

Used in: ChangeLaneStatus

• IN_CHANGE_LANE = 1

  during change lane state

• CHANGE_LANE_FAILED = 2

  change lane failed

• CHANGE_LANE_FINISHED = 3

  change lane finished

Used in: LearningDataFrame

• optional double message_timestamp_sec = 1

• optional float speed_mps = 2

  Features from chassis Vehicle Speed in meters per second.

• optional float throttle_percentage = 3

  Real throttle location in [%], ranging from 0 to 100.

• optional float brake_percentage = 4

  Real brake location in [%], ranging from 0 to 100.

• optional float steering_percentage = 5

  Real steering location in [%], ranging from -100 to 100. steering_angle / max_steering_angle Clockwise: negative CountClockwise: positive

• optional canbus.Chassis.GearPosition gear_location = 6

based on apollo.common.PathPoint

Used in: CommonTrajectoryPointFeature

• optional double x = 1

  coordinates

• optional double y = 2

• optional double z = 3

• optional double theta = 4

  direction on the x-y plane

• optional double s = 5

  accumulated distance from beginning of the path

• optional string lane_id = 6

  The lane ID where the path point is on

based on apollo.commom.TrajectoryPoint

Used in: ADCTrajectoryPoint, TrajectoryPointFeature

• optional CommonPathPointFeature path_point = 1

  path point

• optional double v = 2

  linear velocity

  in [m/s]

• optional double a = 3

  linear acceleration

• optional double relative_time = 4

  relative time from beginning of the trajectory

• optional common.GaussianInfo gaussian_info = 5

  Gaussian probability information

Used in: DiscretePointsSmootherConfig

• optional double weight_cos_included_angle = 1

• optional double weight_anchor_points = 2

• optional double weight_length = 3

• optional int32 print_level = 4

  ipopt settings

• optional int32 max_num_of_iterations = 5

• optional int32 acceptable_num_of_iterations = 6

• optional double tol = 7

• optional double acceptable_tol = 8

• optional bool ipopt_use_automatic_differentiation = 9

Used in: TaskConfig

• optional double stop_distance = 1

  stop distance(m) to the creeping stop fence while creeping

  meter

• optional double speed_limit = 2

  m/s

• optional double max_valid_stop_distance = 3

  max distance(m) to the to the creeping stop fence to be considered as a valid stop for creep

  meter

• optional double min_boundary_t = 4

  min boundary t to ignore obstacles while creeping

  second

• optional double ignore_max_st_min_t = 5

  tolerance min_t & min_s to ignore obstacles which are moving on same direction of ADC while creeping

  second

• optional double ignore_min_st_min_s = 6

  meter

Used in: PlanningStatus

• optional uint32 creep_clear_counter = 1

Used in: TrafficRuleConfig

• optional double stop_distance = 1

  stop distance from stop line of crosswalk

  meter

• optional double max_stop_deceleration = 2

  max deceleration

• optional double min_pass_s_distance = 3

  min s_distance for adc to be considered have passed crosswalk (stop_line_end_s)

  meter

• optional double max_valid_stop_distance = 4

  max distance(m) to the stop line to be considered as a valid stop

  meter

• optional double expand_s_distance = 5

  expand s_distance for pedestrian/bicycle detection

  meter

• optional double stop_strict_l_distance = 6

  strict stop rule within this l_distance

  meter

• optional double stop_loose_l_distance = 7

  loose stop rule beyond this l_distance

  meter

• optional double stop_timeout = 8

  stop timeout for bicycles/pedestrians which are not moving

  second

Used in: PlanningStatus

• optional string crosswalk_id = 1

• repeated StopTime stop_time = 2

  the timestamp when start stopping for the crosswalk

• repeated string finished_crosswalk = 3

Used in: ADCTrajectory

• optional MainDecision main_decision = 1

• optional ObjectDecisions object_decision = 2

• optional common.VehicleSignal vehicle_signal = 3

Used in: TrafficRuleConfig

• optional double stop_distance = 1

  stop distance from destination line

  meter

Used in: PlanningStatus

• optional bool has_passed_destination = 1

Used in: ReferenceLineSmootherConfig

• optional DiscretePointsSmootherConfig.SmoothingMethod smoothing_method = 3

• oneof SmootherConfig

  • CosThetaSmootherConfig cos_theta_smoothing = 4

  • FemPosDeviationSmootherConfig fem_pos_deviation_smoothing = 5

Used in: DiscretePointsSmootherConfig

• NOT_DEFINED = 0

• COS_THETA_SMOOTHING = 1

• FEM_POS_DEVIATION_SMOOTHING = 2

Used in: PlannerOpenSpaceConfig

• optional double weight_steer = 1

  Distance approach weight configs

• optional double weight_a = 2

• optional double weight_steer_rate = 3

• optional double weight_a_rate = 4

• optional double weight_x = 5

• optional double weight_y = 6

• optional double weight_phi = 7

• optional double weight_v = 8

• optional double weight_steer_stitching = 9

• optional double weight_a_stitching = 10

• optional double weight_first_order_time = 11

• optional double weight_second_order_time = 12

• optional double min_safety_distance = 13

• optional double max_speed_forward = 14

• optional double max_speed_reverse = 15

• optional double max_acceleration_forward = 16

• optional double max_acceleration_reverse = 17

• optional double min_time_sample_scaling = 18

• optional double max_time_sample_scaling = 19

• optional bool use_fix_time = 20

• optional IpoptConfig ipopt_config = 21

• optional bool enable_constraint_check = 22

• optional bool enable_hand_derivative = 23

• optional bool enable_derivative_check = 24

  True to enable hand derived derivative inside open space planner

• optional bool enable_initial_final_check = 25

  True to enable derivative check inside open space planner

• optional DistanceApproachMode distance_approach_mode = 26

• optional bool enable_jacobian_ad = 27

• optional bool enable_check_initial_state = 28

• optional double weight_end_state = 29

• optional double weight_slack = 30

Used in: DistanceApproachConfig

• DISTANCE_APPROACH_IPOPT = 0

• DISTANCE_APPROACH_IPOPT_CUDA = 1

• DISTANCE_APPROACH_IPOPT_FIXED_TS = 2

• DISTANCE_APPROACH_IPOPT_FIXED_DUAL = 3

• DISTANCE_APPROACH_IPOPT_RELAX_END = 4

• DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK = 5

Distance approach trajectory smoothing configs

Used in: OpenSpaceTrajectoryOptimizerConfig

• optional double weight_steer = 1

• optional double weight_a = 2

• optional double weight_steer_rate = 3

• optional double weight_a_rate = 4

• optional double weight_x = 5

• optional double weight_y = 6

• optional double weight_phi = 7

• optional double weight_v = 8

• optional double weight_steer_stitching = 9

• optional double weight_a_stitching = 10

• optional double weight_first_order_time = 11

• optional double weight_second_order_time = 12

• optional double min_safety_distance = 13

• optional double max_speed_forward = 14

• optional double max_speed_reverse = 15

• optional double max_acceleration_forward = 16

• optional double max_acceleration_reverse = 17

• optional double min_time_sample_scaling = 18

• optional double max_time_sample_scaling = 19

• optional bool use_fix_time = 20

• optional IpoptSolverConfig ipopt_config = 21

• optional bool enable_constraint_check = 22

• optional bool enable_hand_derivative = 23

• optional bool enable_derivative_check = 24

  True to enable hand derived derivative inside open space planner

• optional bool enable_initial_final_check = 25

  True to enable derivative check inside open space planner

Used in: SpeedHeuristicOptimizerConfig

• optional double unit_t = 1

• optional int32 dense_dimension_s = 2

• optional double dense_unit_s = 3

• optional double sparse_unit_s = 4

• optional double speed_weight = 10

• optional double accel_weight = 11

• optional double jerk_weight = 12

• optional double obstacle_weight = 13

• optional double reference_weight = 14

• optional double go_down_buffer = 15

• optional double go_up_buffer = 16

• optional double default_obstacle_cost = 20

  obstacle cost config

• optional double default_speed_cost = 31

  speed cost config

• optional double exceed_speed_penalty = 32

• optional double low_speed_penalty = 33

• optional double reference_speed_penalty = 34

• optional double keep_clear_low_speed_penalty = 35

• optional double accel_penalty = 40

  accel cost config

• optional double decel_penalty = 41

• optional double positive_jerk_coeff = 50

  jerk cost config

• optional double negative_jerk_coeff = 51

• optional double max_acceleration = 60

  other constraint

• optional double max_deceleration = 61

• optional double safe_time_buffer = 70

  buffer

• optional double safe_distance = 71

• optional double spatial_potential_penalty = 80

  spatial potential cost config for minimal time traversal

• optional bool is_lane_changing = 81

Used in: PadMessage

• NONE = 100

• FOLLOW = 0

• CHANGE_LEFT = 1

• CHANGE_RIGHT = 2

• PULL_OVER = 3

• STOP = 4

• RESUME_CRUISE = 5

Dual variable configs for warm starting distance approach trajectory smoothing

Used in: OpenSpaceTrajectoryOptimizerConfig

• optional double weight_d = 1

• optional IpoptSolverConfig ipopt_config = 2

• optional DualVariableMode qp_format = 3

• optional double min_safety_distance = 4

• optional bool debug_osqp = 5

• optional double beta = 6

Used in: DualVariableConfig

• DUAL_VARIABLE_IPOPT = 0

• DUAL_VARIABLE_IPOPTQP = 1

• DUAL_VARIABLE_OSQP = 2

• DUAL_VARIABLE_DEBUG = 3

Used in: PlannerOpenSpaceConfig

• optional double weight_d = 1

  Dual variable Warm Start

• optional IpoptConfig ipopt_config = 2

• optional DualWarmUpMode qp_format = 3

• optional double min_safety_distance = 4

• optional bool debug_osqp = 5

• optional double beta = 6

• optional OSQPConfig osqp_config = 7

Used in: DualVariableWarmStartConfig

• IPOPT = 0

• IPOPTQP = 1

• OSQP = 2

• DEBUG = 3

• SLACKQP = 4

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)

Used in: PlanningStatus

• optional common.PointENU stop_fence_point = 1

Used in: DiscretePointsSmootherConfig, IterativeAnchoringConfig

• optional double weight_fem_pos_deviation = 2

• optional double weight_ref_deviation = 3

• optional double weight_path_length = 4

• optional bool apply_curvature_constraint = 5

• optional double weight_curvature_constraint_slack_var = 6

• optional double curvature_constraint = 7

• optional bool use_sqp = 8

• optional double sqp_ftol = 9

• optional double sqp_ctol = 10

• optional int32 sqp_pen_max_iter = 11

• optional int32 sqp_sub_max_iter = 12

• optional int32 max_iter = 100

  osqp settings

• optional double time_limit = 101

  time_limit set to be 0.0 meaning no time limit

• optional bool verbose = 102

• optional bool scaled_termination = 103

• optional bool warm_start = 104

• optional int32 print_level = 200

  ipopt settings

• optional int32 max_num_of_iterations = 201

• optional int32 acceptable_num_of_iterations = 202

• optional double tol = 203

• optional double acceptable_tol = 204

Hybrid a star as warm start for later smoothing

Used in: OpenSpaceTrajectoryOptimizerConfig

• optional double xy_grid_resolution = 1

• optional double phi_grid_resolution = 2

• optional uint64 next_node_num = 3

• optional double step_size = 4

• optional double traj_forward_penalty = 5

• optional double traj_back_penalty = 6

• optional double traj_gear_switch_penalty = 7

• optional double traj_steer_penalty = 8

• optional double traj_steer_change_penalty = 9

• optional double grid_a_star_xy_resolution = 15

• optional double node_radius = 16

Used in: DistanceApproachConfig, DualVariableWarmStartConfig

• optional int32 ipopt_print_level = 1

  Ipopt configs

• optional int32 mumps_mem_percent = 2

• optional double mumps_pivtol = 3

• optional int32 ipopt_max_iter = 4

• optional double ipopt_tol = 5

• optional double ipopt_acceptable_constr_viol_tol = 6

• optional double ipopt_min_hessian_perturbation = 7

• optional double ipopt_jacobian_regularization_value = 8

• optional string ipopt_print_timing_statistics = 9

• optional string ipopt_alpha_for_y = 10

• optional string ipopt_recalc_y = 11

• optional double ipopt_mu_init = 12

  ipopt barrier parameter, default 0.1

• SOLVE_SUCCEEDED = 0

• SOLVED_TO_ACCEPTABLE_LEVEL = 1

• INFEASIBLE_PROBLEM_DETECTED = 2

• SEARCH_DIRECTION_BECOMES_TOO_SMALL = 3

• DIVERGIN_ITERATES = 4

• USER_REQUESTED_STOP = 5

• FEASIBLE_POINT_FOUND = 6

• MAXIMUM_ITERATIONS_EXCEEDED = -1

• RESTORATION_FAILED = -2

• ERROR_IN_STEP_COMPUTATION = -3

• NOT_ENOUGH_DEGREES_OF_FREEDOM = -10

• INVALID_PROGRAM_DEFINITION = -11

• INVALID_OPTION = -12

• INVALID_NUMBER_DETECTED = -13

• UNRECOVERABLE_EXCEPTION = -100

• NONIPOPT_EXCEPTION_THROWN = -101

• INSUFFICIENT_MEMORY = -102

• INTERNAL_ERROR = 199

Ipopt configs

Used in: DistanceApproachTrajectorySmootherConfig, DualVariableConfig

• optional int32 ipopt_print_level = 1

• optional int32 mumps_mem_percent = 2

• optional double mumps_pivtol = 3

• optional int32 ipopt_max_iter = 4

• optional double ipopt_tol = 5

• optional double ipopt_acceptable_constr_viol_tol = 6

• optional double ipopt_min_hessian_perturbation = 7

• optional double ipopt_jacobian_regularization_value = 8

• optional string ipopt_print_timing_statistics = 9

• optional string ipopt_alpha_for_y = 10

• optional string ipopt_recalc_y = 11

• optional double ipopt_mu_init = 12

  ipopt barrier parameter, default 0.1

Used in: PlannerOpenSpaceConfig

• optional double interpolated_delta_s = 1

  Ipopt configs

• optional int32 reanchoring_trails_num = 2

• optional double reanchoring_pos_stddev = 3

• optional double reanchoring_length_stddev = 4

• optional bool estimate_bound = 5

• optional double default_bound = 6

• optional double vehicle_shortest_dimension = 7

• optional FemPosDeviationSmootherConfig fem_pos_deviation_smoother_config = 8

• optional double collision_decrease_ratio = 9

• optional double max_forward_v = 10

  TODO(QiL, Jinyun): Merge following with overall config for open space

• optional double max_reverse_v = 11

• optional double max_forward_acc = 12

• optional double max_reverse_acc = 13

• optional double max_acc_jerk = 14

• optional double delta_t = 15

• optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 16

Used in: TrafficRuleConfig

• optional bool enable_keep_clear_zone = 1

  min s_distance to be considered have passed keep_clear (stop_line_end_s)

• optional bool enable_junction = 2

• optional double min_pass_s_distance = 3

  meter

• optional double align_with_traffic_sign_tolerance = 4

  tolerance distance to align pnc_junction boundary with stop_line of traffic sign(s)

  meter

Used in: TaskConfig

• optional bool enable_lane_change_urgency_check = 1

• optional bool enable_prioritize_change_lane = 2

  True to enable prioritize change_lane reference line

• optional bool enable_remove_change_lane = 3

  True to enable remove change_lane reference line");

• optional bool reckless_change_lane = 4

  always allow the vehicle change lane. The vehicle may continue changing lane

• optional double change_lane_success_freeze_time = 5

  not allowed to change lane this amount of time if just finished

  second

• optional double change_lane_fail_freeze_time = 6

  not allowed to change lane this amount of time if just failed

  second

Used in: ADCTrajectory

• optional double total_time_ms = 1

• repeated TaskStats task_stats = 2

• optional double init_frame_time_ms = 3

• repeated LearningDataFrame learning_data_frame = 1

Used in: LearningData, PlanningLearningData

• optional double message_timestamp_sec = 1

  localization message publishing time in seconds.

• optional uint32 frame_num = 2

• optional string map_name = 3

• optional PlanningTag planning_tag = 4

• optional ChassisFeature chassis = 5

  Features from chassis

• optional LocalizationFeature localization = 6

  Features from localization

• repeated ObstacleFeature obstacle = 7

  Features from perception obstacles

• optional RoutingFeature routing = 8

  Features from routing

• optional TrafficLightDetectionFeature traffic_light_detection = 9

  Features from traffic_light_detection

• repeated ADCTrajectoryPoint adc_trajectory_point = 10

  ADC past trajectory

• optional LearningOutput output = 11

  Learning ouputs

Used in: TaskConfig

• optional LearningModelInferenceTaskConfig.ModelType model_type = 1

• optional string cpu_model_file = 2

• optional string gpu_model_file = 3

• optional bool use_cuda = 4

• optional double trajectory_delta_t = 5

  delta_t depends on the model output, not a configurable value here

  second

• optional bool allow_empty_learning_based_data = 6

• optional bool allow_empty_output_trajectory = 7

Used in: LearningModelInferenceTaskConfig

• CNN = 1

• CNN_LSTM = 2

Used in: TaskConfig

• optional double min_adc_future_trajectory_time_length = 1

  second

Used in: LearningDataFrame

• repeated TrajectoryPointFeature adc_future_trajectory_point = 1

Used in: LearningDataFrame

• optional double message_timestamp_sec = 1

• optional common.PointENU position = 2

  Position of the vehicle reference point (VRP) in the map reference frame. The VRP is the center of rear axle.

• optional double heading = 3

  Heading The heading is zero when the car is facing East and positive when facing North.

• optional common.Point3D linear_velocity = 4

  Linear velocity of the VRP in the map reference frame. East/north/up in meters per second.

• optional common.Point3D linear_acceleration = 5

  Linear acceleration of the VRP in the map reference frame. East/north/up in meters per second.

• optional common.Point3D angular_velocity = 6

  Angular velocity of the vehicle in the map reference frame. Around east/north/up axes in radians per second.

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

Used in: NaviPathDeciderConfig

• repeated ShiftConfig lateral_shift = 1

Used in: PlannerNaviConfig

• optional double min_nudge_distance = 1

• optional double max_nudge_distance = 2

• optional double max_allow_nudge_speed = 3

• optional double safe_distance = 4

• optional double nudge_allow_tolerance = 5

• optional uint32 cycles_number = 6

• optional double judge_dis_coeff = 7

• optional double basis_dis_value = 8

• optional double lateral_velocity_value = 9

• optional double speed_decider_detect_range = 10

• optional uint32 max_keep_nudge_cycles = 11

Used in: PlannerNaviConfig

• optional double min_path_length = 1

• optional uint32 min_look_forward_time = 2

• optional double max_keep_lane_distance = 3

• optional double max_keep_lane_shift_y = 4

• optional double min_keep_lane_offset = 5

• optional double keep_lane_shift_compensation = 6

• optional MoveDestLaneConfigTable move_dest_lane_config_talbe = 7

• optional double move_dest_lane_compensation = 8

• optional double max_kappa_threshold = 9

• optional double kappa_move_dest_lane_compensation = 10

• optional uint32 start_plan_point_from = 11

Used in: PlannerNaviConfig

• optional double preferred_accel = 1

• optional double preferred_decel = 2

• optional double preferred_jerk = 3

• optional double max_accel = 4

• optional double max_decel = 5

• optional double obstacle_buffer = 6

• optional double safe_distance_base = 7

• optional double safe_distance_ratio = 8

• optional double following_accel_ratio = 9

• optional double soft_centric_accel_limit = 10

• optional double hard_centric_accel_limit = 11

• optional double hard_speed_limit = 12

• optional double hard_accel_limit = 13

• optional bool enable_safe_path = 14

• optional bool enable_planning_start_point = 15

• optional bool enable_accel_auto_compensation = 16

• optional double kappa_preview = 17

• optional double kappa_threshold = 18

Used in: PlanningConfig

• repeated PlannerType planner_type = 1

  supported planners

• optional PlannerNaviConfig planner_navi_config = 4

Dual variable configs for OSQP

Used in: DualVariableWarmStartConfig

• optional double alpha = 1

• optional double eps_abs = 2

• optional double eps_rel = 3

• optional int32 max_iter = 4

• optional bool polish = 5

• optional bool osqp_debug_log = 6

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

Used in: LearningDataFrame

• optional int32 id = 1

  obstacle ID.

• optional double length = 2

  obstacle length.

• optional double width = 3

  obstacle width.

• optional double height = 4

  obstacle height.

• optional perception.PerceptionObstacle.Type type = 5

  obstacle type

• optional ObstacleTrajectoryFeature obstacle_trajectory = 6

• optional PredictionObstacleFeature obstacle_prediction = 7

Used in: ObstacleFeature

• repeated PerceptionObstacleFeature perception_obstacle_history = 1

• repeated TrajectoryPointFeature evaluated_trajectory_point = 2

Used in: TaskConfig

• optional double open_space_prediction_time_period = 1

  prediction time horizon for prediction obstacles

• optional double open_space_fallback_collision_distance = 2

  fallback collision check distance

• optional double open_space_fallback_stop_distance = 3

  fallback stop trajectory safety gap to obstacles

• optional double open_space_fallback_collision_time_buffer = 4

  fallback collision time buffer (s)

Used in: TaskConfig

• optional OpenSpacePreStopDeciderConfig.StopType stop_type = 1

• optional double rightaway_stop_distance = 2

  meter

• optional double stop_distance_to_target = 3

  second

roi scenario definitions

Used in: OpenSpacePreStopDeciderConfig

• NOT_DEFINED = 0

• PARKING = 1

• PULL_OVER = 2

• NARROW_STREET_U_TURN = 3

Used in: TaskConfig

• optional OpenSpaceRoiDeciderConfig.RoiType roi_type = 1

• optional double roi_longitudinal_range_start = 2

  longitudinal range of parking roi start

• optional double roi_longitudinal_range_end = 3

  longitudinal range of parking roi end

• optional double parking_start_range = 4

  parking spot range detection threshold

• optional bool parking_inwards = 5

  Parking orientation for reverse parking

• optional bool enable_perception_obstacles = 6

  wrap previous gflags

• optional double parking_depth_buffer = 7

  buffer distance from vehicle's edge to parking spot end line

• optional double roi_line_segment_min_angle = 8

  min angle difference to stitch a new segment in roi representation

• optional double roi_line_segment_length = 9

• optional double roi_line_segment_length_from_map = 10

  roi line segment length when getting road boundary from map

• optional double perception_obstacle_filtering_distance = 11

  relative distance threshold to filter out ignored obstacle

• optional double perception_obstacle_buffer = 12

  buffer distance for perception obstacle

• optional double curb_heading_tangent_change_upper_limit = 13

  tolerance limit for road_bound_width abnormal changes

• optional double end_pose_s_distance = 14

  end pose s distance to current vehicle

roi scenario definitions

Used in: OpenSpaceRoiDeciderConfig

• NOT_DEFINED = 0

• PARKING = 1

• PULL_OVER = 2

• PARK_AND_GO = 3

• NARROW_STREET_U_TURN = 4

Used in: PlanningStatus

• repeated string partitioned_trajectories_index_history = 1

• optional bool position_init = 2

Used in: OpenSpaceTrajectoryProviderConfig

• optional HybridAStarConfig hybrid_a_star_config = 1

  Hybrid a star warm start configs

• optional DualVariableConfig dual_variable_warm_start_config = 2

  Dual variable configs

• optional DistanceApproachTrajectorySmootherConfig distance_approach_trajectory_smoother_config = 3

  Distance approach trajectory smoothing configs

• optional float delta_t = 4

• optional double is_near_destination_threshold = 5

• optional PlannerOpenSpaceConfig planner_open_space_config = 6

  (TODO:(QiL) tmp message during refactoring, deprecate when all tuning done.

Used in: TaskConfig

• optional double gear_shift_max_t = 1

  Gear shift trajectory parameter

• optional double gear_shift_unit_t = 2

• optional double gear_shift_period_duration = 3

• optional uint64 interpolated_pieces_num = 4

• optional uint64 initial_gear_check_horizon = 5

• optional double heading_search_range = 6

  @brief heading search range is the range to filter out too large angle difference between vehicle heading and pathpoint heading

• optional double heading_track_range = 7

  @brief heading_track_range is the range to filter out too large angle difference between vehicle heading and vehicle to pathpoint vector

• optional double distance_search_range = 8

• optional double heading_offset_to_midpoint = 9

  @brief IOU, intersection over union

• optional double lateral_offset_to_midpoint = 10

• optional double longitudinal_offset_to_midpoint = 11

• optional double vehicle_box_iou_threshold_to_midpoint = 12

• optional double linear_velocity_threshold_on_ego = 13

Used in: TaskConfig

• optional OpenSpaceTrajectoryOptimizerConfig open_space_trajectory_optimizer_config = 1

  TODO(Jinyun) Move PlannerOpenSpaceConfig to OpenSpaceTrajectoryOptimizerConfig

Used in: PlanningTag

• optional string id = 1

• optional double distance = 2

• optional common.Header header = 1

• optional DrivingAction action = 2

  driving action

Used in: PlanningStatus

• optional common.PointENU adc_init_position = 1

• optional double adc_init_heading = 2

• optional bool in_check_stage = 3

• optional common.PointENU adc_adjust_end_pose = 4

Used in: TaskConfig

(message has no fields)

Used in: TaskConfig

• optional bool is_lane_borrowing = 1

• optional bool is_pull_over = 2

• optional double pull_over_destination_to_adc_buffer = 3

  not search pull-over position if the destination is within this distance from ADC

• optional double pull_over_destination_to_pathend_buffer = 4

  not search pull-over position if the destination is within this distance to path-end

• optional double pull_over_road_edge_buffer = 5

  disquality a pull-over position if the available path boundary's edge is not within this distance from the road edge

• optional double pull_over_approach_lon_distance_adjust_factor = 6

• optional double adc_buffer_coeff = 7

• optional bool is_extend_lane_bounds_to_include_adc = 8

Used in: TaskConfig

• optional double static_obstacle_buffer = 1

  buffer for static obstacles (meter)

Used in: PlanningStatus

• optional int32 front_static_obstacle_cycle_counter = 1

• optional int32 able_to_use_self_lane_counter = 2

• optional bool is_in_path_lane_borrow_scenario = 3

• optional string front_static_obstacle_id = 4

• repeated PathDeciderStatus.LaneBorrowDirection decided_side_pass_direction = 5

Used in: PathDeciderStatus

• LEFT_BORROW = 1

  borrow left neighbor lane

• RIGHT_BORROW = 2

  borrow right neighbor lane

Used in: TaskConfig

• optional bool allow_lane_borrowing = 1

Used in: TaskConfig

• optional uint32 min_path_reference_length = 1

• optional double weight_x_ref_path_reference = 2

  learning model s weight

Used in: TaskConfig

• optional bool reuse_path = 1

based on apollo.perception.PerceptionObstacle

Used in: ObstacleTrajectoryFeature

• optional double timestamp_sec = 1

  GPS time in seconds

• optional common.Point3D position = 2

  obstacle position in the OBJECT coordinate system

• optional double theta = 3

  heading in RELATIVE coordinate to ADC

• optional common.Point3D velocity = 4

  obstacle velocity in RELATIVE coordinate to ADC

  obstacle velocity

• optional common.Point3D acceleration = 5

  obstacle acceleration in RELATIVE coordinate to ADC

• repeated common.Point3D polygon_point = 6

  obstacle corner points in RELATIVE coordinate to ADC

Used in: TaskConfig

• optional double acc_weight = 1

  Driving comfort weights

• optional double jerk_weight = 2

• optional double lat_acc_weight = 3

• optional double s_potential_weight = 4

  Minimal traversal time weight

• optional double ref_v_weight = 5

  Preferred cruising speed weight

• optional double ref_s_weight = 6

  Optional reference speed profile weight

• optional double end_s_weight = 7

  Task specific end point weight

• optional double end_v_weight = 8

• optional double end_a_weight = 9

• optional double soft_s_bound_weight = 10

  soft safety boundary constraint violation weight

• optional bool use_warm_start = 100

  Solver settings

Used in: TaskConfig

• optional PiecewiseJerkPathWeights default_path_config = 1

• optional PiecewiseJerkPathWeights lane_change_path_config = 2

• optional double path_reference_l_weight = 3

Used in: PiecewiseJerkPathOptimizerConfig

• optional double l_weight = 1

• optional double dl_weight = 2

• optional double ddl_weight = 3

• optional double dddl_weight = 4

Used in: IterativeAnchoringConfig, TaskConfig, WarmStartConfig

• optional double acc_weight = 1

• optional double jerk_weight = 2

• optional double kappa_penalty_weight = 3

• optional double ref_s_weight = 4

• optional double ref_v_weight = 5

Used in: NavigationPlanningConfig

• repeated TaskConfig.TaskType task = 1

• optional NaviPathDeciderConfig navi_path_decider_config = 2

• optional NaviSpeedDeciderConfig navi_speed_decider_config = 3

• optional NaviObstacleDeciderConfig navi_obstacle_decider_config = 4

Used in: OpenSpaceTrajectoryOptimizerConfig

• optional ROIConfig roi_config = 1

  Open Space ROIConfig

• optional WarmStartConfig warm_start_config = 2

  Hybrid A Star Warm Start

• optional DualVariableWarmStartConfig dual_variable_warm_start_config = 3

  Dual Variable Warm Start

• optional DistanceApproachConfig distance_approach_config = 4

  Distance Approach Configs

• optional IterativeAnchoringConfig iterative_anchoring_smoother_config = 5

  Iterative Anchoring Configs

• optional TrajectoryPartitionConfig trajectory_partition_config = 6

  Trajectory PartitionConfig Configs

• optional float delta_t = 7

• optional double is_near_destination_threshold = 8

• optional bool enable_check_parallel_trajectory = 9

• optional bool enable_linear_interpolation = 10

• optional double is_near_destination_theta_threshold = 11

Used in: StandardPlanningConfig

(message has no fields)

Used in: NavigationPlanningConfig, RtkPlanningConfig, StandardPlanningConfig

• RTK = 0

• PUBLIC_ROAD = 1

  public road planner

• NAVI = 2

  navigation planner

• LATTICE = 3

  lattice planner

• optional TopicConfig topic_config = 1

• optional PlanningConfig.PlanningLearningMode learning_mode = 2

• oneof planning_config

  • RtkPlanningConfig rtk_planning_config = 3

  • StandardPlanningConfig standard_planning_config = 4

  • NavigationPlanningConfig navigation_planning_config = 5

• repeated TaskConfig default_task_config = 6

  default task config, it will be used if there is no scenario-specific task config.

Used in: PlanningConfig

• NO_LEARNING = 0

• E2E = 1

• HYBRID = 2

• RL_TEST = 3

• E2E_TEST = 4

• HYBRID_TEST = 5

• optional common.Header header = 1

• optional LearningDataFrame learning_data_frame = 2

• optional double resolution = 1

  resolution(m / pixel) of local map img and base map img

• optional int32 height = 100

  [height, width] of a local map img centering around ego vehicle

• optional int32 width = 101

• optional int32 ego_idx_x = 102

  ego vehicle rear center location in the local map img with origin point at top left corner

• optional int32 ego_idx_y = 103

• optional double max_rand_delta_phi = 104

  ego vehicle is normally heading upward in the local map img, but a randomized change of heading could be used

• optional double max_ego_future_horizon = 105

  ego vehicle max future trajectory time horizon

• optional double max_ego_past_horizon = 106

  ego vehicle max past trajectory time horizon

• optional double max_obs_future_horizon = 107

  ego obstacle max prediction trajectory time horizon

• optional double max_obs_past_horizon = 108

  ego obstacle max past trajectory time horizon

• optional int32 base_map_padding = 200

  padding(pixel) around base map of region map

• optional double city_driving_max_speed = 201

  max_speed_limit in base speed limit map

• optional StatsGroup total_path_length = 1

• optional StatsGroup total_path_time = 2

• optional StatsGroup v = 3

  linear velocity

• optional StatsGroup a = 4

  acceleration

• optional StatsGroup kappa = 5

• optional StatsGroup dkappa = 6

note: please keep this one as minimal as possible. do NOT pollute it.

• optional BareIntersectionStatus bare_intersection = 1

• optional ChangeLaneStatus change_lane = 2

• optional CreepDeciderStatus creep_decider = 3

• optional CrosswalkStatus crosswalk = 4

• optional DestinationStatus destination = 5

• optional EmergencyStopStatus emergency_stop = 6

• optional OpenSpaceStatus open_space = 7

• optional ParkAndGoStatus park_and_go = 8

• optional PathDeciderStatus path_decider = 9

• optional PullOverStatus pull_over = 10

• optional ReroutingStatus rerouting = 11

• optional ScenarioStatus scenario = 12

• optional SpeedDeciderStatus speed_decider = 13

• optional StopSignStatus stop_sign = 14

• optional TrafficLightStatus traffic_light = 15

• optional YieldSignStatus yield_sign = 16

Used in: ADCTrajectoryPoint, LearningDataFrame

• optional hdmap.Lane.LaneTurn lane_turn = 1

• optional OverlapFeature clear_area = 2

• optional OverlapFeature crosswalk = 3

• optional OverlapFeature pnc_junction = 4

• optional OverlapFeature signal = 5

• optional OverlapFeature stop_sign = 6

• optional OverlapFeature yield_sign = 7

• optional StopPoint stop_point = 1

• optional double cruise_speed = 2

based on apollo.prediction.PredictionObstacle

Used in: ObstacleFeature

• optional double timestamp_sec = 1

  GPS time in seconds

• optional double predicted_period = 2

• optional prediction.ObstacleIntent intent = 3

• optional prediction.ObstaclePriority priority = 4

• optional bool is_static = 5

• repeated PredictionTrajectoryFeature trajectory = 6

  can have multiple trajectories per obstacle

based on apollo.prediction.Trajectory

Used in: PredictionObstacleFeature

• optional double probability = 1

  probability of this trajectory

• repeated TrajectoryPointFeature trajectory_point = 2

Used in: PlanningStatus

• optional PullOverStatus.PullOverType pull_over_type = 1

• optional bool plan_pull_over_path = 2

• optional common.PointENU position = 3

• optional double theta = 4

• optional double length_front = 5

• optional double length_back = 6

• optional double width_left = 7

• optional double width_right = 8

Used in: PullOverStatus

• PULL_OVER = 1

  pull-over upon destination arrival

• EMERGENCY_PULL_OVER = 2

  emergency pull-over

Used in: QuadraticProgrammingProblem

• optional int32 row_size = 1

• optional int32 col_size = 2

• repeated double element = 3

  element with element(col_size * r + c)

Used in: ReferenceLineSmootherConfig

• optional uint32 spline_order = 1

• optional double max_spline_length = 2

• optional double regularization_weight = 3

• optional double second_derivative_weight = 4

• optional double third_derivative_weight = 5

Used in: QuadraticProgrammingProblemSet

• optional int32 param_size = 1

  specified parameter size

• optional QPMatrix quadratic_matrix = 2

  Q matrix

• repeated double bias = 3

  c

• optional QPMatrix equality_matrix = 4

  A matrix

• repeated double equality_value = 5

  b vector

• optional QPMatrix inequality_matrix = 6

  C matrix

• repeated double inequality_value = 7

  d vector

• repeated double input_marker = 8

  marker for the specified matrix

• repeated double optimal_param = 9

  optimal result

• repeated QuadraticProgrammingProblem problem = 1

  QPProblem

Used in: PlannerOpenSpaceConfig

• optional double roi_longitudinal_range_start = 1

  longitudinal range of parking roi backward

• optional double roi_longitudinal_range_end = 2

  longitudinal range of parking roi forward

• optional double parking_start_range = 3

  parking spot range detection threshold

• optional bool parking_inwards = 4

  Parking orientation for reverse parking

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: TrafficRuleConfig

• optional double stop_distance = 1

  stop distance from reference line end

  meter

• optional double min_reference_line_remain_length = 2

• optional double max_constraint_interval = 1

  The output resolution for discrete point smoother reference line is directly decided by max_constraint_interval

• optional double longitudinal_boundary_bound = 2

• optional double max_lateral_boundary_bound = 3

• optional double min_lateral_boundary_bound = 4

• optional uint32 num_of_total_points = 5

  The output resolution for qp smoother reference line.

• optional double curb_shift = 6

• optional double lateral_buffer = 7

• optional double resolution = 8

  The output resolution for spiral smoother reference line.

• oneof SmootherConfig

  • QpSplineSmootherConfig qp_spline = 20

  • SpiralSmootherConfig spiral = 21

  • DiscretePointsSmootherConfig discrete_points = 22

Used in: TrafficRuleConfig

• optional double cooldown_time = 1

  should not rerouting more frequent than this number

  seconds

• optional double prepare_rerouting_time = 2

  seconds

Used in: PlanningStatus

• optional double last_rerouting_time = 1

• optional bool need_rerouting = 2

• optional routing.RoutingRequest routing_request = 3

Used in: LearningDataFrame

• optional RoutingResponseFeature routing_response = 1

• repeated string local_routing_lane_id = 2

  local routing close to ADC

• optional RoutingResponseFeature local_routing = 3

based on apollo.routing.RoutingResponse

Used in: RoutingFeature

• repeated routing.RoadSegment road = 1

• optional routing.Measurement measurement = 2

Used in: PlanningConfig

• optional PlannerType planner_type = 1

Used in: TaskConfig

• optional double max_adc_stop_speed = 1

• optional double max_valid_stop_distance = 2

• optional double search_beam_length = 3

• optional double search_beam_radius_intensity = 4

• optional double search_range = 5

• optional double is_block_angle_threshold = 6

• optional double approach_distance_for_lane_change = 10

• optional double urgent_distance_for_lane_change = 11

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: TaskConfig

• optional double total_time = 1

• repeated STDrivableBoundaryInstance st_boundary = 1

Used in: STDrivableBoundary

• optional double t = 1

• optional double s_lower = 2

• optional double s_upper = 3

• optional double v_obs_lower = 4

• optional double v_obs_upper = 5

Used in: ScenarioConfig

• optional double start_bare_intersection_scenario_distance = 1

  meter

• optional bool enable_explicit_stop = 2

  explicit stop while waiting

• optional double min_pass_s_distance = 3

  meter

• optional double approach_cruise_speed = 4

  m/s (15 mph)

• optional double stop_distance = 5

  meter

• optional float stop_timeout_sec = 6

  sec

• optional float creep_timeout_sec = 7

  sec

scenario configs

• optional ScenarioConfig.ScenarioType scenario_type = 1

• oneof scenario_config

  • ScenarioLaneFollowConfig lane_follow_config = 2

  • ScenarioBareIntersectionUnprotectedConfig bare_intersection_unprotected_config = 3

  • ScenarioEmergencyPullOverConfig emergency_pull_over_config = 4

  • ScenarioEmergencyStopConfig emergency_stop_config = 5

  • ScenarioLearningModelSampleConfig learning_model_sample_config = 6

  • ScenarioNarrowStreetUTurnConfig narrow_street_u_turn_config = 7

  • ScenarioParkAndGoConfig park_and_go_config = 8

  • ScenarioPullOverConfig pull_over_config = 9

  • ScenarioStopSignUnprotectedConfig stop_sign_unprotected_config = 10

  • ScenarioTrafficLightProtectedConfig traffic_light_protected_config = 11

  • ScenarioTrafficLightUnprotectedLeftTurnConfig traffic_light_unprotected_left_turn_config = 12

  • ScenarioTrafficLightUnprotectedRightTurnConfig traffic_light_unprotected_right_turn_config = 13

  • ScenarioValetParkingConfig valet_parking_config = 14

  • ScenarioYieldSignConfig yield_sign_config = 15

• repeated ScenarioConfig.StageType stage_type = 16

  a list of stages that are used at runtime. The first one is default stage.

• repeated ScenarioConfig.StageConfig stage_config = 17

  an unordered list of stage configs.

Used in: ScenarioConfig, ScenarioStatus, planning_internal.ScenarioDebug

• LANE_FOLLOW = 0

  default scenario

• BARE_INTERSECTION_UNPROTECTED = 2

  intersection involved

• STOP_SIGN_PROTECTED = 3

• STOP_SIGN_UNPROTECTED = 4

• TRAFFIC_LIGHT_PROTECTED = 5

• TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN = 6

• TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN = 7

• YIELD_SIGN = 8

• PULL_OVER = 9

  parking

• VALET_PARKING = 10

• EMERGENCY_PULL_OVER = 11

• EMERGENCY_STOP = 12

• NARROW_STREET_U_TURN = 13

  misc

• PARK_AND_GO = 14

• LEARNING_MODEL_SAMPLE = 15

  learning model sample

Used in: ScenarioConfig

• optional StageType stage_type = 1

• optional bool enabled = 2

• repeated TaskConfig.TaskType task_type = 3

  an ordered list of tasks that are used at runtime. the order determines the runtime order of the tasks.

• repeated TaskConfig task_config = 4

  an unordered task configurations

StageType is a superset of stages from all scenarios. It is created to keep different scenarios have uniform config interface

Used in: ScenarioConfig, StageConfig, ScenarioStatus, planning_internal.ScenarioDebug

• NO_STAGE = 0

• LANE_FOLLOW_DEFAULT_STAGE = 1

• BARE_INTERSECTION_UNPROTECTED_APPROACH = 200

  bare_intersection_unprotected scenario

• BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE = 201

• STOP_SIGN_UNPROTECTED_PRE_STOP = 300

  stop_sign_unprotected scenario

• STOP_SIGN_UNPROTECTED_STOP = 301

• STOP_SIGN_UNPROTECTED_CREEP = 302

• STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE = 303

• TRAFFIC_LIGHT_PROTECTED_APPROACH = 400

  traffic_light_protected scenario

• TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE = 401

• TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_APPROACH = 410

  traffic_light_unprotected_left_turn scenario

• TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP = 411

• TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE = 412

• TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP = 420

  traffic_light_unprotected_right_turn scenario

• TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP = 421

• TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE = 422

• PULL_OVER_APPROACH = 500

  pull_over scenario

• PULL_OVER_RETRY_APPROACH_PARKING = 501

• PULL_OVER_RETRY_PARKING = 502

• EMERGENCY_PULL_OVER_SLOW_DOWN = 600

  emergency_pull_over scenario

• EMERGENCY_PULL_OVER_APPROACH = 601

• EMERGENCY_PULL_OVER_STANDBY = 602

• EMERGENCY_STOP_APPROACH = 610

  emergency_pull_over scenario

• EMERGENCY_STOP_STANDBY = 611

• VALET_PARKING_APPROACHING_PARKING_SPOT = 700

  valet parking scenario

• VALET_PARKING_PARKING = 701

• PARK_AND_GO_CHECK = 800

  park_and_go scenario

• PARK_AND_GO_CRUISE = 801

• PARK_AND_GO_ADJUST = 802

• PARK_AND_GO_PRE_CRUISE = 803

• YIELD_SIGN_APPROACH = 900

  yield_sign scenario

• YIELD_SIGN_CREEP = 901

• LEARNING_MODEL_RUN = 1000

  learning_model_sample scenario

Used in: ScenarioConfig

• optional double max_stop_deceleration = 1

• optional double slow_down_deceleration_time = 2

  second

• optional double target_slow_down_speed = 3

  m/s

• optional double stop_distance = 4

  meter

Used in: ScenarioConfig

• optional double max_stop_deceleration = 1

• optional double stop_distance = 2

  meter

Used in: ScenarioConfig

(message has no fields)

Used in: ScenarioConfig

(message has no fields)

Used in: ScenarioConfig

(message has no fields)

Used in: ScenarioConfig

• optional double front_obstacle_buffer = 1

  meter

• optional double heading_buffer = 2

  rad

• optional double min_dist_to_dest = 3

  meter

• optional double max_steering_percentage_when_cruise = 4

Used in: ScenarioConfig

• optional double start_pull_over_scenario_distance = 1

  meter

• optional double pull_over_min_distance_buffer = 2

  meter

• optional double max_distance_stop_search = 3

  keep the same value as pull_over_destination_to_adc_buffer in PathBoundsDeciderConfig

  meter

• optional double max_s_error_to_end_point = 4

• optional double max_l_error_to_end_point = 5

• optional double max_theta_error_to_end_point = 6

• optional double max_distance_error_to_end_point = 7

• optional double pass_destination_threshold = 8

• optional double max_valid_stop_distance = 9

• optional double s_distance_to_stop_for_open_space_parking = 10

Used in: PlanningStatus

• optional ScenarioConfig.ScenarioType scenario_type = 1

• optional ScenarioConfig.StageType stage_type = 2

Used in: ScenarioConfig

• optional double start_stop_sign_scenario_distance = 1

  meter

• optional double watch_vehicle_max_valid_stop_distance = 2

  meter

• optional double max_valid_stop_distance = 3

  meter

• optional float stop_duration_sec = 4

  sec

• optional double min_pass_s_distance = 5

  meter

• optional float stop_timeout_sec = 6

  sec

• optional float creep_timeout_sec = 7

  sec

Used in: ScenarioConfig

• optional double start_traffic_light_scenario_distance = 1

  meter

• optional double max_valid_stop_distance = 2

  meter

• optional double min_pass_s_distance = 3

  meter

Used in: ScenarioConfig

• optional double start_traffic_light_scenario_distance = 1

  meter

• optional double approach_cruise_speed = 2

  m/s (10km/h)

• optional double max_valid_stop_distance = 3

  meter

• optional double min_pass_s_distance = 4

  meter

• optional float creep_timeout_sec = 5

  sec

• optional double max_adc_speed_before_creep = 6

  m/s (20m/h)

Used in: ScenarioConfig

• optional double start_traffic_light_scenario_distance = 1

  meter

• optional bool enable_right_turn_on_red = 2

• optional double max_valid_stop_distance = 3

  meter

• optional double min_pass_s_distance = 4

  meter

• optional float red_light_right_turn_stop_duration_sec = 5

  sec

• optional float creep_timeout_sec = 6

  sec

• optional double max_adc_speed_before_creep = 7

  m/s

Used in: ScenarioConfig

• optional double parking_spot_range_to_start = 1

• optional double max_valid_stop_distance = 2

  meter

Used in: ScenarioConfig

• optional double start_yield_sign_scenario_distance = 1

  meter

• optional double max_valid_stop_distance = 2

  meter

• optional double min_pass_s_distance = 3

  meter

• optional float creep_timeout_sec = 4

  sec

Used in: MoveDestLaneConfigTable

• optional double max_speed = 1

• optional double max_move_dest_lane_shift_y = 3

Used in: TaskConfig

• optional double total_time = 1

• optional double boundary_buffer = 2

• optional double max_centric_acceleration_limit = 3

• optional double minimal_kappa = 4

• optional double point_extension = 5

• optional double lowest_speed = 6

• optional double collision_safety_range = 7

• optional double static_obs_nudge_speed_ratio = 8

• optional double dynamic_obs_nudge_speed_ratio = 9

Used in: PlanningStatus

• repeated StopTime pedestrian_stop_time = 1

Used in: TaskConfig

• optional DpStSpeedOptimizerConfig default_speed_config = 1

• optional DpStSpeedOptimizerConfig lane_change_speed_config = 2

Used in: ReferenceLineSmootherConfig

• optional double max_deviation = 1

  The max deviation of spiral reference line smoother.

• optional double piecewise_length = 2

  The piecewise length of spiral smoother.

• optional uint32 max_iteration = 3

  The iteration num of spiral reference line smoother.");

• optional double opt_tol = 4

  The desired convergence tol for spiral opt;

• optional double opt_acceptable_tol = 5

  The acceptable convergence tol for spiral opt

• optional uint32 opt_acceptable_iteration = 6

  The number of acceptable iters before termination for spiral opt;

• optional double weight_curve_length = 7

  The weight of curve length term in objective function

• optional double weight_kappa = 8

  The weight of kappa term in objective function

• optional double weight_dkappa = 9

  The weight of dkappa term in objective function

Used in: PlanningConfig

• repeated PlannerType planner_type = 1

  supported planners

• optional PlannerPublicRoadConfig planner_public_road_config = 2

Used in: PlanningStats

• optional double max = 1

• optional double min = 2

• optional double sum = 3

• optional double avg = 4

• optional int32 num = 5

Used in: PlanningTarget

• optional double s = 1

• optional StopPoint.Type type = 2

Used in: StopPoint

• HARD = 0

• SOFT = 1

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: TrafficRuleConfig

• optional bool enabled = 1

• optional double stop_distance = 2

  stop distance(m) to the stop line of the stop sign

  meter

Used in: PlanningStatus

• optional string current_stop_sign_overlap_id = 1

• optional string done_stop_sign_overlap_id = 2

• repeated string wait_for_obstacle_id = 3

Used in: CrosswalkStatus, SpeedDeciderStatus

• optional string obstacle_id = 1

• optional double stop_timestamp_sec = 2

  the timestamp when start stopping for the crosswalk

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

Planning's configuration is based on the following architecture * Scenario has one more multiple stages * a stage has one or more tasks are shared among all scenarios and stages.

Used in: PlanningConfig, ScenarioConfig.StageConfig

• optional TaskConfig.TaskType task_type = 1

• oneof task_config

  • CreepDeciderConfig creep_decider_config = 2

    deciders

  • LaneChangeDeciderConfig lane_change_decider_config = 3

  • OpenSpaceFallBackDeciderConfig open_space_fallback_decider_config = 4

  • OpenSpacePreStopDeciderConfig open_space_pre_stop_decider_config = 5

  • OpenSpaceRoiDeciderConfig open_space_roi_decider_config = 6

  • PathAssessmentDeciderConfig path_assessment_decider_config = 7

  • PathBoundsDeciderConfig path_bounds_decider_config = 8

  • PathDeciderConfig path_decider_config = 9

  • PathLaneBorrowDeciderConfig path_lane_borrow_decider_config = 10

  • PathReferenceDeciderConfig path_reference_decider_config = 11

  • PathReuseDeciderConfig path_reuse_decider_config = 12

  • RuleBasedStopDeciderConfig rule_based_stop_decider_config = 13

  • SpeedBoundsDeciderConfig speed_bounds_decider_config = 14

  • STBoundsDeciderConfig st_bounds_decider_config = 15

  • OpenSpaceTrajectoryPartitionConfig open_space_trajectory_partition_config = 16

    optimizers

  • OpenSpaceTrajectoryProviderConfig open_space_trajectory_provider_config = 17

  • PiecewiseJerkNonlinearSpeedOptimizerConfig piecewise_jerk_nonlinear_speed_optimizer_config = 18

  • PiecewiseJerkPathOptimizerConfig piecewise_jerk_path_optimizer_config = 19

  • PiecewiseJerkSpeedOptimizerConfig piecewise_jerk_speed_optimizer_config = 20

  • SpeedHeuristicOptimizerConfig speed_heuristic_optimizer_config = 21

  • LearningModelInferenceTaskConfig learning_model_inference_task_config = 22

    other tasks

  • LearningModelInferenceTrajectoryTaskConfig learning_model_inference_trajectory_task_config = 23

Used in: PlannerNaviConfig, ScenarioConfig.StageConfig, TaskConfig

• CREEP_DECIDER = 1

  deciders

• LANE_CHANGE_DECIDER = 2

• NAVI_OBSTACLE_DECIDER = 3

• NAVI_PATH_DECIDER = 4

• NAVI_SPEED_DECIDER = 5

• OPEN_SPACE_FALLBACK_DECIDER = 6

• OPEN_SPACE_PRE_STOP_DECIDER = 7

• OPEN_SPACE_ROI_DECIDER = 8

• PATH_ASSESSMENT_DECIDER = 9

• PATH_BOUNDS_DECIDER = 10

• PATH_DECIDER = 11

• PATH_LANE_BORROW_DECIDER = 12

• PATH_REFERENCE_DECIDER = 13

• PATH_REUSE_DECIDER = 14

• RSS_DECIDER = 15

• RULE_BASED_STOP_DECIDER = 16

• SPEED_BOUNDS_PRIORI_DECIDER = 17

• SPEED_BOUNDS_FINAL_DECIDER = 18

• SPEED_DECIDER = 19

• ST_BOUNDS_DECIDER = 20

• OPEN_SPACE_TRAJECTORY_PARTITION = 21

  optimizers

• OPEN_SPACE_TRAJECTORY_PROVIDER = 22

• PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER = 23

• PIECEWISE_JERK_PATH_OPTIMIZER = 24

• PIECEWISE_JERK_SPEED_OPTIMIZER = 25

• SPEED_HEURISTIC_OPTIMIZER = 26

• LEARNING_MODEL_INFERENCE_TASK = 27

  other tasks

• LEARNING_MODEL_INFERENCE_TRAJECTORY_TASK = 28

Used in: LatencyStats

• optional string name = 1

• optional double time_ms = 2

Used in: PlanningConfig

• optional string chassis_topic = 1

• optional string hmi_status_topic = 2

• optional string localization_topic = 3

• optional string planning_pad_topic = 4

• optional string planning_trajectory_topic = 5

• optional string prediction_topic = 6

• optional string relative_map_topic = 7

• optional string routing_request_topic = 8

• optional string routing_response_topic = 9

• optional string story_telling_topic = 10

• optional string traffic_light_detection_topic = 11

• optional string planning_learning_data_topic = 12

Used in: TrafficRuleConfig

• optional bool enabled = 1

• optional double stop_distance = 2

  stop distance(m) to the stop line of the traffic light

  meter

• optional double max_stop_deceleration = 3

  max deceleration

Used in: LearningDataFrame

• optional double message_timestamp_sec = 1

• repeated TrafficLightFeature traffic_light = 2

based on apollo.perception.TrafficLight

Used in: TrafficLightDetectionFeature

• optional perception.TrafficLight.Color color = 1

• optional string id = 2

• optional double confidence = 3

• optional double tracking_time = 4

• optional bool blink = 5

• optional double remaining_time = 6

Used in: PlanningStatus

• repeated string current_traffic_light_overlap_id = 1

• repeated string done_traffic_light_overlap_id = 2

Used in: TrafficRuleConfigs

• optional TrafficRuleConfig.RuleId rule_id = 1

• optional bool enabled = 2

• oneof config

  • BacksideVehicleConfig backside_vehicle = 3

  • CrosswalkConfig crosswalk = 4

  • DestinationConfig destination = 5

  • KeepClearConfig keep_clear = 6

  • ReferenceLineEndConfig reference_line_end = 7

  • ReroutingConfig rerouting = 8

  • StopSignConfig stop_sign = 9

  • TrafficLightConfig traffic_light = 10

  • YieldSignConfig yield_sign = 11

Used in: TrafficRuleConfig

• BACKSIDE_VEHICLE = 1

• CROSSWALK = 2

• DESTINATION = 3

• KEEP_CLEAR = 4

• REFERENCE_LINE_END = 5

• REROUTING = 6

• STOP_SIGN = 7

• TRAFFIC_LIGHT = 8

• YIELD_SIGN = 9

• repeated TrafficRuleConfig config = 1

Used in: PlannerOpenSpaceConfig

• optional uint64 interpolated_pieces_num = 1

• optional uint64 initial_gear_check_horizon = 2

• optional double heading_searching_range = 3

• optional double gear_shift_period_duration = 4

• optional double gear_shift_max_t = 5

• optional double gear_shift_unit_t = 6

Used in: LearningOutput, ObstacleTrajectoryFeature, PredictionTrajectoryFeature

• optional double timestamp_sec = 1

• optional CommonTrajectoryPointFeature trajectory_point = 2

Used in: PlannerOpenSpaceConfig

• optional double xy_grid_resolution = 1

  Hybrid a star for warm start

• optional double phi_grid_resolution = 2

• optional uint64 next_node_num = 3

• optional double step_size = 4

• optional double traj_forward_penalty = 5

• optional double traj_back_penalty = 6

• optional double traj_gear_switch_penalty = 7

• optional double traj_steer_penalty = 8

• optional double traj_steer_change_penalty = 9

• optional double grid_a_star_xy_resolution = 15

  Grid a star for heuristic

• optional double node_radius = 16

• optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 17

Used in: TrafficRuleConfig

• optional bool enabled = 1

• optional double stop_distance = 2

  stop distance(m) to the stop line of the yield sign

  meter

• optional double start_watch_distance = 3

  meter

Used in: PlanningStatus

• repeated string current_yield_sign_overlap_id = 1

• repeated string done_yield_sign_overlap_id = 2

• repeated string wait_for_obstacle_id = 3