auto_tuning_raw_feature.proto

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syntax = "proto2";
 
package apollo.planning.autotuning;
 
import "modules/common_msgs/basic_msgs/pnc_point.proto";
 
message PathPointRawFeature {
  optional apollo.common.PathPoint cartesian_coord = 1;
  optional apollo.common.FrenetFramePoint frenet_coord = 2;
}
 
message SpeedPointRawFeature {
  message ObjectDecisionFeature {
    // obstacle id
    optional int32 id = 1;
    // relative to eog, s_obs - s_host [m]
    optional double relative_s = 2;
    // relative to ego, l_obs - l_host [m]
    optional double relative_l = 3;
    // relative to ego, v_obs - v_host [m/s]
    optional double relative_v = 4;
    // speed [m / s]
    optional double speed = 5;
  }
 
  optional double s = 1;            // [m]
  optional double t = 2;            // [s]
  optional double v = 3;            // [m/s]
  optional double a = 4;            // [m/s^2]
  optional double j = 5;            // [m/s^3]
  optional double speed_limit = 6;  // speed limit with curvature adj [m/s]
 
  repeated ObjectDecisionFeature follow = 10;
  repeated ObjectDecisionFeature overtake = 11;
  repeated ObjectDecisionFeature virtual_decision = 13;
  repeated ObjectDecisionFeature stop = 14;
  repeated ObjectDecisionFeature collision = 15;
  repeated ObjectDecisionFeature nudge = 12;
  repeated ObjectDecisionFeature sidepass_front = 16;
  repeated ObjectDecisionFeature sidepass_rear = 17;
  repeated ObjectDecisionFeature keep_clear = 18;
}
 
// caputuring the obstacle raw distance information from surrounding environment
// based on ST graph
message ObstacleSTRawData {
  message STPointPair {
    optional double s_lower = 1;
    optional double s_upper = 2;
    optional double t = 3;
    optional double l = 4 [default = 10.0];  // filled when nudging
  }
 
  message ObstacleSTData {
    optional int32 id = 1;
    optional double speed = 2;
    optional bool is_virtual = 3;
    optional double probability = 4;
    repeated STPointPair polygon = 8;
    repeated STPointPair distribution = 9;
  }
 
  repeated ObstacleSTData obstacle_st_data = 1;
  repeated ObstacleSTData obstacle_st_nudge = 2;
  repeated ObstacleSTData obstacle_st_sidepass = 3;
}
 
message TrajectoryPointRawFeature {
  optional PathPointRawFeature path_feature = 1;
  optional SpeedPointRawFeature speed_feature = 2;
}
 
message TrajectoryRawFeature {
  repeated TrajectoryPointRawFeature point_feature = 1;
  optional ObstacleSTRawData st_raw_data = 2;
}