Apollo 10.0
自动驾驶开放平台
canbus_test.pb.txt
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1header {
2 timestamp_sec: 1513033650.54
3 module_name: "control"
4 sequence_num: 178878
5 status {
6 error_code: OK
7 }
8}
9throttle: 23.8095697712
10brake: 0.0
11steering_rate: 100.0
12steering_target: 7.55487427919
13gear_location: GEAR_DRIVE
14debug {
15 simple_lon_debug {
16 station_reference: 0.154246755312
17 station_error: 0.632305000871
18 station_error_limited: 0.632305000871
19 preview_station_error: 0.893405943447
20 speed_reference: 1.18553607993
21 speed_error: 0.157600082616
22 speed_controller_input_limited: 0.28406108279
23 preview_speed_reference: 1.42547355316
24 preview_speed_error: 0.397537555845
25 preview_acceleration_reference: 1.19982684084
26 acceleration_cmd_closeloop: 0.442030541395
27 acceleration_cmd: 1.64185738224
28 acceleration_lookup: 1.64185738224
29 speed_lookup: 1.02777779102
30 calibration_value: 23.8095697712
31 throttle_cmd: 23.8095697712
32 brake_cmd: 0.0
33 is_full_stop: false
34 slope_offset_compensation: 0.195283022971
35 }
36 simple_lat_debug {
37 lateral_error: -0.00518842086323
38 ref_heading: -0.896039053718
39 heading: -0.915010645916
40 heading_error: -0.0189715921978
41 heading_error_rate: -0.00872926895407
42 lateral_error_rate: -0.0194974114832
43 curvature: 0.013555785763
44 steer_angle: 7.55630053366
45 steer_angle_feedforward: 5.53780353662
46 steer_angle_lateral_contribution: 0.0539856161446
47 steer_angle_lateral_rate_contribution: 0.00139438744939
48 steer_angle_heading_contribution: 1.95693281362
49 steer_angle_heading_rate_contribution: 0.00618417981993
50 steer_angle_feedback: 2.01849699704
51 steering_position: 7.14893627167
52 ref_speed: 1.02777779102
53 steer_angle_limited: 7.55487427919
54 }
55 input_debug {
56 localization_header {
57 timestamp_sec: 1513033650.52
58 module_name: "localization"
59 sequence_num: 179018
60 }
61 canbus_header {
62 timestamp_sec: 1513033650.53
63 module_name: "chassis"
64 sequence_num: 179429
65 }
66 trajectory_header {
67 timestamp_sec: 1513033650.47
68 module_name: "planning"
69 sequence_num: 17648
70 }
71 }
72}
73signal {
74 turn_signal: TURN_LEFT
75}
76latency_stats {
77 total_time_ms: 3.67212295532
78 controller_time_ms: 3.27324867249
79 controller_time_ms: 0.0133514404297
80}