package apollo.v2x

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• rpc PushCarStatus (CarStatus, UpdateStatus)

  v2x_service_car_to_obu.proto:8

  message CarStatus

  v2x_car_status.proto:9

  • optional localization.LocalizationEstimate localization = 1

  • optional canbus.ChassisDetail chassis_detail = 2

  • optional Junction junction = 3

  • optional Id rsu_id = 4

  message UpdateStatus

  v2x_service_car_to_obu.proto:11

  • required bool updated = 1

• rpc SendObuAlarm (ObuAlarm, StatusResponse)

  v2x_service_obu_to_car.proto:20

  v2x obu monitor

  message ObuAlarm

  v2x_monitor.proto:16

  • required double mode_num = 1

  • required ErrorCode error_num = 2

  • required string error_msg = 3

• rpc SendPerceptionObstacles (V2XObstacles, StatusResponse)

  v2x_service_obu_to_car.proto:12

  for onboard unit send perception obstacles (from rsu) results to car end

  message V2XObstacles

  v2x_obstacles.proto:46

  • repeated V2XObstacle v2x_obstacle = 1

    An array of obstacles

  • optional MiniAreaMap area_map = 2

    Mini area map

  • optional double traffic_flow = 3

    Traffic flow

  • optional common.Header header = 4

    Header

  • optional common.ErrorCode error_code = 5

    perception error code

• rpc SendV2xRSI (obu.ObuRsi, StatusResponse)

  v2x_service_obu_to_car.proto:18

  rsi message

• rpc SendV2xTrafficLight (obu.ObuTrafficLight, StatusResponse)

  v2x_service_obu_to_car.proto:15

  for onboard unit send v2x traffic_lights (from rsu) results to car end

Used in: V2XInformation

• optional double average_speed = 1

• optional double vehicle_density = 2

Used in: Lane

• optional Connection.Type allow_driving_behavior = 1

• optional int32 phase_id = 2

Used in: Connection

• STRAIGHT = 0

• LEFT = 1

• RIGHT = 2

• U_TURN = 3

Used in: ObuAlarm

• LTEV = 500

• NET = 501

• CPU = 502

• MEM = 503

• GPS = 504

• MAP = 510

• SPAT = 511

• OBUID = 999

Used in: CarStatus, Junction

• optional bytes id = 1

Used in: Map

• optional int32 id = 1

• optional Position2D position = 2

• repeated Road roads = 3

Used in: Spat

• optional int32 intersection_id = 1

• repeated Phase Phases = 2

• optional int32 moy = 3

• optional int32 time_stamp_dsecond = 4

• optional common.Header header = 1

• repeated RoadTrafficLight road_traffic_light = 2

• optional int32 intersection_id = 3

• optional double confidence = 4

Used in: CarStatus

• optional Id id = 1

• optional common.Polygon polygon = 2

• repeated Id crosswalk_id = 3

  crosswalk in junction

• repeated Id overlap_id = 4

• optional int32 num_road_segments = 5

  The number of road segments (arms) that are involved. e.g 3-way junction indicates a T junction (two arms form one road) or a Y junction.

• repeated Id lane_id = 6

  lanes in the junction

• optional Junction.Type type = 7

• repeated Junction.EdgeType edge_type = 8

Used in: Junction

• PHYSICAL = 0

• VIRTUAL = 1

Used in: Junction

• UNKNOWN = 0

• IN_ROAD = 1

• CROSS_ROAD = 2

Used in: Road

• optional int32 lane_id = 1

• repeated Position2D position_offset = 2

• repeated Connection connections = 3

Used in: PolicyData

• optional double time_stamp = 1

• optional int32 msg_cnt = 2

• repeated Intersection intersections = 3

Used in: V2XObstacles

• optional bytes rscu_id = 1

  RSCU id.

• optional Point feature_position = 2

  the centre of intersection or sstraight area

• optional Point start_position = 3

  the centre of intersection or sstraight area

• optional Point end_position = 4

  the centre of intersection or sstraight area

Used in: IntersectionState

• optional int32 id = 1

• optional Phase.Color color = 2

• optional int32 color_remaining_time_s = 3

Used in: Phase

• UNKNOWN = 0

• RED = 1

• YELLOW = 2

• GREEN = 3

• BLACK = 4

• FLASH_GREEN = 5

Used in: MiniAreaMap, V2XInformation

• optional double x = 1

  in meters.

• optional double y = 2

  in meters.

• optional double z = 3

  height in meters.

• optional Map map = 1

• optional Spat spat = 2

Used in: Intersection, Lane, Road

• optional double x = 1

• optional double y = 2

Used in: Intersection

• optional int32 upstream_node_id = 1

• optional Position2D points = 2

• repeated Lane lanes = 3

Used in: IntersectionTrafficLightData

• optional double gps_x_m = 1

  Feature points of road in the map reference frame.

• optional double gps_y_m = 2

• repeated SingleTrafficLight single_traffic_light = 3

• optional common.Direction road_attribute = 4

• optional common.Header header = 1

• repeated RsiPoint points = 2

• optional double speed = 3

• optional double low_speed = 4

• optional double high_speed = 5

• optional string description = 6

• optional int32 rsi_type = 7

• optional double radius = 8

• optional int32 priority = 9

Used in: RsiMsg

• optional double x = 1

  in meters.

• optional double y = 2

  in meters.

Used in: RoadTrafficLight

• optional SingleTrafficLight.Color color = 1

• repeated SingleTrafficLight.Type traffic_light_type = 2

• optional string id = 3

  Traffic light string-ID in the map data.

• optional int32 color_remaining_time_s = 4

• optional bool right_turn_light = 5

• optional SingleTrafficLight.Color next_color = 6

  v2x next trrafic light color

• optional double next_remaining_time_s = 7

  v2x next traffic light remaining time

Used in: SingleTrafficLight, obu.SingleTrafficLight

• UNKNOWN = 0

• RED = 1

• YELLOW = 2

• GREEN = 3

• BLACK = 4

• FLASH_GREEN = 5

Used in: SingleTrafficLight

• STRAIGHT = 0

• LEFT = 1

• RIGHT = 2

• U_TURN = 3

Used in: PolicyData

• optional double time_stamp = 1

• optional int32 msg_cnt = 2

• repeated IntersectionState intersections = 3

The response message containing the status.

Used as response type in: ObuToCar.SendObuAlarm, ObuToCar.SendPerceptionObstacles, ObuToCar.SendV2xRSI, ObuToCar.SendV2xTrafficLight

• required bool status = 1

• optional string info = 2

• optional int64 error_code = 3

Used in: V2XObstacle

• repeated V2XInformation.V2XType v2x_type = 1

  use case type

• optional Point traffic_event_start = 3

  congestion or others initial position.

• optional Point traffic_event_start_error = 4

  congestion or others initial position error.

• optional Point traffic_event_end = 5

  congestion or others end position.

• optional Point traffic_event_end_error = 6

  congestion or others end position error.

• optional AbnormalInformation abnormal_info = 7

  abnormal info

Used in: V2XInformation

• NONE = 0

• ZOMBIES_CAR = 1

• BLIND_ZONE = 2

Used in: V2XObstacles

• optional perception.PerceptionObstacle perception_obstacle = 1

  obstacle.

• optional V2XInformation v2x_info = 2

  v2x use case info