auto_tuning_model_input.proto

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syntax = "proto2";
 
package apollo.planning.autotuning;
// general features before extracting specific model input features for
// auto-tuning
 
message PathPointwiseFeature {
  message ObstacleFeature {
    optional double lateral_distance = 1;
  }
  message BoundRelatedFeature {
    optional double bound_distance = 1;
    enum CrossableLevel {
      CROSS_FREE = 0;
      CROSS_ABLE = 1;
      CROSS_FORBIDDEN = 2;
    }
    optional CrossableLevel crossable_level = 2;
  }
  optional double l = 1;
  optional double dl = 2;
  optional double ddl = 3;
  optional double kappa = 4;
  repeated ObstacleFeature obstacle_info = 5;
  optional BoundRelatedFeature left_bound_feature = 6;
  optional BoundRelatedFeature right_bound_feature = 7;
}
 
message SpeedPointwiseFeature {
  message ObstacleFeature {
    optional double longitudinal_distance = 1;
    optional double obstacle_speed = 2;
    optional double lateral_distance = 3 [default = 10.0];
    optional double probability = 4;
    optional double relative_v = 5;
  }
  optional double s = 1 [default = 0.0];
  optional double t = 2 [default = 0.0];
  optional double v = 3 [default = 0.0];
  optional double speed_limit = 4 [default = 0.0];
  optional double acc = 5 [default = 0.0];
  optional double jerk = 6 [default = 0.0];
  repeated ObstacleFeature follow_obs_feature = 7;
  repeated ObstacleFeature overtake_obs_feature = 8;
  repeated ObstacleFeature nudge_obs_feature = 9;
  repeated ObstacleFeature stop_obs_feature = 10;
  optional int32 collision_times = 11 [default = 0];
  repeated ObstacleFeature virtual_obs_feature = 12;
  optional double lateral_acc = 13 [default = 0.0];
  optional double path_curvature_abs = 14 [default = 0.0];
  repeated ObstacleFeature sidepass_front_obs_feature = 15;
  repeated ObstacleFeature sidepass_rear_obs_feature = 16;
}
 
message TrajectoryPointwiseFeature {
  optional PathPointwiseFeature path_input_feature = 1;
  optional SpeedPointwiseFeature speed_input_feature = 2;
}
 
message TrajectoryFeature {
  repeated TrajectoryPointwiseFeature point_feature = 1;
}