package apollo.relative_map

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: RelativeMapConfig

• optional double default_left_width = 1

• optional double default_right_width = 2

• optional double default_speed_limit = 3

  default is 65mph

The map message in transmission format.

Used in: planning_internal.PlanningData

• optional common.Header header = 1

• optional hdmap.Map hdmap = 2

  Coordination: FLU x: Forward y: Left z: Up

• map<string, NavigationPath> navigation_path = 3

  key: type string; the lane id in Map value: Navigation path; the reference line of the lane

• optional perception.LaneMarkers lane_marker = 4

  lane marker info from perception

• optional localization.LocalizationEstimate localization = 5

  localization

• optional common.Header header = 1

• repeated NavigationPath navigation_path = 2

Used in: RelativeMapConfig

• optional double min_lane_marker_quality = 1

• optional NavigationLaneConfig.LaneSource lane_source = 2

• optional double max_len_from_navigation_line = 3

  max navigation path length from navigation line

• optional double min_len_for_navigation_lane = 4

  min generated navigation lane length

• optional double max_len_for_navigation_lane = 5

  max generated navigation lane length

• optional double ratio_navigation_lane_len_to_speed = 6

  navigation lane length to adv speed ratio

• optional double max_distance_to_navigation_line = 7

  max distance to navigation line in navigation mode

• optional double min_view_range_to_use_lane_marker = 8

  min view range to use lane_marker

• optional double min_lane_half_width = 9

  min lane half width in meters

• optional double max_lane_half_width = 10

  max lane half width in meters

• optional double lane_marker_weight = 11

  weight based on the lane marking detection result when the navigation line is generated.

Used in: NavigationLaneConfig

• PERCEPTION = 1

• OFFLINE_GENERATED = 2

Used in: MapMsg, NavigationInfo

• optional common.Path path = 1

• optional uint32 path_priority = 2

  highest = 0 which can directly reach destination; change lane indicator

• optional bool enable_navigator_downsample = 1

  When a navigation line is sent, the original data is downsampled to reduce unnecessary memory consumption.

• optional SampleParam sample_param = 2

  Smapling paramters.

• optional MapGenerationParam map_param = 1

• optional NavigationLaneConfig navigation_lane = 2

Used in: NavigatorConfig

• optional double straight_sample_interval = 1

  Sampling interval for a straight line.

• optional double small_kappa_sample_interval = 2

  Sampling interval for a curve segment with a small curvature.

• optional double middle_kappa_sample_interval = 3

  Sampling interval for a curve segment with a middle curvature.

• optional double large_kappa_sample_interval = 4

  Sampling interval for a curve segment with a large curvature.

• optional double small_kappa = 5

  Small curvature threshold.

• optional double middle_kappa = 6

  Middle curvature threshold.

• optional double large_kappa = 7

  Large curvature threshold.