Apollo 10.0
自动驾驶开放平台
result_simple_left_0.pb.txt
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1header {
2 timestamp_sec: 1509646355.83
3 module_name: "control"
4 sequence_num: 16836
5 status {
6 error_code: OK
7 }
8}
9throttle: 23.0579705793
10brake: 0.0
11steering_rate: 100.0
12steering_target: -5.60538083622
13gear_location: GEAR_DRIVE
14debug {
15 simple_lon_debug {
16 station_reference: 26.0000433907
17 station_error: 26.0000432223
18 station_error_limited: 2.0
19 preview_station_error: 26.0000432223
20 speed_reference: 10.0
21 speed_error: -0.147222518914
22 speed_controller_input_limited: 0.252777481086
23 preview_speed_reference: 10.0
24 preview_speed_error: -0.147222518914
25 preview_acceleration_reference: 0.0
26 acceleration_cmd_closeloop: 0.300185869624
27 acceleration_cmd: 0.164637646341
28 acceleration_lookup: 0.164637646341
29 speed_lookup: 10.1472225189
30 calibration_value: 23.0579705793
31 throttle_cmd: 23.0579705793
32 brake_cmd: 0.0
33 is_full_stop: false
34 }
35 simple_lat_debug {
36 lateral_error: 0.212681273788
37 ref_heading: -0.0443516789643
38 heading: 0.0
39 heading_error: 0.0443516789643
40 heading_error_rate: -0.165015248367
41 lateral_error_rate: 0.449898824495
42 curvature: 0.0
43 steer_angle: -4.97642639608
44 steer_angle_feedforward: 0.0
45 steer_angle_lateral_contribution: -1.38262142461
46 steer_angle_lateral_rate_contribution: -0.196738774931
47 steer_angle_heading_contribution: -4.4413473475
48 steer_angle_heading_rate_contribution: 1.04428115096
49 steer_angle_feedback: -4.97642639608
50 steering_position: -9.042552948
51 ref_speed: 10.1472225189
52 steer_angle_limited: -5.60538083622
53 }
54 input_debug {
55 localization_header {
56 timestamp_sec: 1509646355.82
57 module_name: "localization"
58 sequence_num: 191364
59 }
60 canbus_header {
61 timestamp_sec: 1509646355.82
62 module_name: "chassis"
63 sequence_num: 190753
64 }
65 trajectory_header {
66 timestamp_sec: 1509646355.81
67 module_name: "planning"
68 }
69 }
70}
71latency_stats {
72 total_time_ms: 4.85587120056
73 controller_time_ms: 4.79340553284
74 controller_time_ms: 0.0205039978027
75}