data_collection_table.pb.txt

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frame_threshold: 20
total_frames: 6000
scenario {
  key: "Go Straight"
  value {
    feature {
      name: "Forward"
      range {
        criterion {
          field: "gear_location"
          comparison_operator: EQUAL
          value: 1
        }
      }
    }
    feature {
      name: "Steering Angle"
      range {
        name: "Straight"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: -1
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: 1
        }
      }
    }
    feature {
      name: "Speed"
      range {
        name: "Speed 0 ~ 10mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 0.2
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 10
        }
      }
      range {
        name: "Speed 10 ~ 20mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 10
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Speed >= 20mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
      }
    }
    feature {
      name: "Accelerator (Decelerator)"
      range {
        name: "Throttle deadzone ~ 25%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Throttle 25% ~ 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 30
        }
      }
      range {
        name: "Throttle >= 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 30
        }
      }
      range {
        name: "Brake deadzone ~ 20%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "brake_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Brake 20% ~ 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Brake >= 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
      }
    }
  }
}
scenario {
  key: "Branch Left/Right"
  value {
    feature {
      name: "Forward"
      range {
        criterion {
          field: "gear_location"
          comparison_operator: EQUAL
          value: 1
        }
      }
    }
    feature {
      name: "Steering Angle"
      range {
        name: "Branch Left"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 1
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: 30
        }
      }
      range {
        name: "Branch Right"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: -30
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: -1
        }
      }
    }
    feature {
      name: "Speed"
      range {
        name: "Speed 0 ~ 10mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 0.2
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 10
        }
      }
      range {
        name: "Speed 10 ~ 20mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 10
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Speed >= 20mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
      }
    }
    feature {
      name: "Accelerator (Decelerator)"
      range {
        name: "Throttle deadzone ~ 25%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Throttle 25% ~ 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 30
        }
      }
      range {
        name: "Throttle >= 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 30
        }
      }
      range {
        name: "Brake deadzone ~ 20%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "brake_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Brake 20% ~ 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Brake >= 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
      }
    }
  }
}
scenario {
  key: "Turn Left/Right"
  value {
    feature {
      name: "Forward"
      range {
        criterion {
          field: "gear_location"
          comparison_operator: EQUAL
          value: 1
        }
      }
    }
    feature {
      name: "Steering Angle"
      range {
        name: "Turn Left"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 30
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: 60
        }
      }
      range {
        name: "Turn Right"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: -60
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: -30
        }
      }
    }
    feature {
      name: "Speed"
      range {
        name: "Speed 0 ~ 10mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 0.2
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 10
        }
      }
      range {
        name: "Speed 10 ~ 20mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 10
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
    }
    feature {
      name: "Accelerator (Decelerator)"
      range {
        name: "Throttle deadzone ~ 25%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Throttle 25% ~ 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 30
        }
      }
      range {
        name: "Throttle >= 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 30
        }
      }
      range {
        name: "Brake deadzone ~ 20%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "brake_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Brake 20% ~ 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Brake >= 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
      }
    }
  }
}
scenario {
  key: "Sharp Left/Right"
  value {
    feature {
      name: "Forward"
      range {
        criterion {
          field: "gear_location"
          comparison_operator: EQUAL
          value: 1
        }
      }
    }
    feature {
      name: "Steering Angle"
      range {
        name: "Sharp Left"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 60
        }
      }
      range {
        name: "Sharp Right"
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: -60
        }
      }
    }
    feature {
      name: "Speed"
      range {
        name: "Speed 0 ~ 10mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 0.2
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 10
        }
      }
      range {
        name: "Speed 10 ~ 20mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 10
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
    }
    feature {
      name: "Accelerator (Decelerator)"
      range {
        name: "Throttle deadzone ~ 25%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Throttle 25% ~ 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 30
        }
      }
      range {
        name: "Throttle >= 30%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 30
        }
      }
      range {
        name: "Brake deadzone ~ 20%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "brake_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Brake 20% ~ 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Brake >= 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
      }
    }
  }
}
scenario {
  key: "Reverse: Go Straight or Branch Left/Right"
  value {
    feature {
      name: "Reverse"
      range {
        criterion {
          field: "gear_location"
          comparison_operator: EQUAL
          value: 2
        }
      }
    }
    feature {
      name: "Steering Angle"
      range {
        name: "Go Straight"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: -1
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: 1
        }
      }
      range {
        name: "Branch Left"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 1
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: 30
        }
      }
      range {
        name: "Branch Right"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: -30
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: -1
        }
      }
    }
    feature {
      name: "Speed"
      range {
        name: "Speed 0 ~ 2mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 0.2
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 2
        }
      }
    }
    feature {
      name: "Accelerator (Decelerator)"
      range {
        name: "Throttle < deadzone, Brake < deadzone"
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          vehicle_config: "brake_deadzone"
        }
      }
      range {
        name: "Throttle deadzone ~ 20%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Throttle >= 20%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
      }
      range {
        name: "Brake deadzone ~ 20%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "brake_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Brake 20% ~ 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Brake >= 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
      }
    }
  }
}
scenario {
  key: "Reverse: Turn Left/Right"
  value {
    feature {
      name: "Reverse"
      range {
        criterion {
          field: "gear_location"
          comparison_operator: EQUAL
          value: 2
        }
      }
    }
    feature {
      name: "Steering Angle"
      range {
        name: "Turn Left"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 30
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: 60
        }
      }
      range {
        name: "Turn Right"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: -60
        }
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: -30
        }
      }
      range {
        name: "Sharp Left"
        criterion {
          field: "steering_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 60
        }
      }
      range {
        name: "Sharp Right"
        criterion {
          field: "steering_percentage"
          comparison_operator: LESS_THAN
          value: -60
        }
      }
    }
    feature {
      name: "Speed"
      range {
        name: "Speed 0 ~ 2mps"
        criterion {
          field: "speed_mps"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 0.2
        }
        criterion {
          field: "speed_mps"
          comparison_operator: LESS_THAN
          value: 2
        }
      }
    }
    feature {
      name: "Accelerator (Decelerator)"
      range {
        name: "Throttle < deadzone, Brake < deadzone"
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          vehicle_config: "brake_deadzone"
        }
      }
      range {
        name: "Throttle deadzone ~ 20%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "throttle_deadzone"
        }
        criterion {
          field: "throttle_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Throttle >= 20%"
        criterion {
          field: "throttle_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
      }
      range {
        name: "Brake deadzone ~ 20%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          vehicle_config: "brake_deadzone"
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 20
        }
      }
      range {
        name: "Brake 20% ~ 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 20
        }
        criterion {
          field: "brake_percentage"
          comparison_operator: LESS_THAN
          value: 25
        }
      }
      range {
        name: "Brake >= 25%"
        criterion {
          field: "brake_percentage"
          comparison_operator: GREATER_THAN_OR_EQUAL
          value: 25
        }
      }
    }
  }
}