Apollo 11.0
自动驾驶开放平台
prediction_conf.pb.txt
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1topic_conf {
2 adccontainer_topic_name: "/apollo/prediction/adccontainer"
3 container_topic_name: "/apollo/prediction/container"
4 evaluator_topic_name: "/apollo/prediction/evaluator"
5 localization_topic: "/apollo/localization/pose"
6 perception_obstacle_topic: "/apollo/perception/obstacles"
7 perception_obstacles_topic_name: "/apollo/prediction/perception_obstacles"
8 planning_trajectory_topic: "/apollo/planning"
9 prediction_topic: "/apollo/prediction"
10 storytelling_topic: "/apollo/storytelling"
11}
12evaluator_model_conf {
13 model {
14 evaluator_type: SEMANTIC_LSTM_EVALUATOR
15 obstacle_type: PEDESTRIAN
16 backend: GPU
17 priority: 10
18 type: "SemanticLstmPedestrianGpuTorch"
19 }
20 model {
21 evaluator_type: SEMANTIC_LSTM_EVALUATOR
22 obstacle_type: VEHICLE
23 backend: GPU
24 priority: 10
25 type: "SemanticLstmVehicleGpuTorch"
26 }
27 model {
28 evaluator_type: SEMANTIC_LSTM_EVALUATOR
29 obstacle_type: PEDESTRIAN
30 backend: CPU
31 priority: 10
32 type: "SemanticLstmPedestrianCpuTorch"
33 }
34 model {
35 evaluator_type: SEMANTIC_LSTM_EVALUATOR
36 obstacle_type: VEHICLE
37 backend: CPU
38 priority: 10
39 type: "SemanticLstmVehicleCpuTorch"
40 }
41 model {
42 evaluator_type: MULTI_AGENT_EVALUATOR
43 obstacle_type: PEDESTRIAN
44 backend: GPU
45 priority: 10
46 type: "MultiAgentPedestrianGpuTorch"
47 }
48 model {
49 evaluator_type: MULTI_AGENT_EVALUATOR
50 obstacle_type: PEDESTRIAN
51 backend: CPU
52 priority: 10
53 type: "MultiAgentPedestrianCpuTorch"
54 }
55 model {
56 evaluator_type: MULTI_AGENT_EVALUATOR
57 obstacle_type: VEHICLE
58 backend: GPU
59 priority: 10
60 type: "MultiAgentVehicleGpuTorch"
61 }
62 model {
63 evaluator_type: MULTI_AGENT_EVALUATOR
64 obstacle_type: VEHICLE
65 backend: CPU
66 priority: 10
67 type: "MultiAgentVehicleCpuTorch"
68 }
69}
70obstacle_conf {
71 obstacle_type: VEHICLE
72 obstacle_status: ON_LANE
73 priority_type: CAUTION
74 evaluator_type: VECTORNET_EVALUATOR
75 predictor_type: EXTRAPOLATION_PREDICTOR
76}
77obstacle_conf {
78 obstacle_type: VEHICLE
79 obstacle_status: ON_LANE
80 priority_type: NORMAL
81 evaluator_type: CRUISE_MLP_EVALUATOR
82 predictor_type: MOVE_SEQUENCE_PREDICTOR
83}
84obstacle_conf {
85 obstacle_type: VEHICLE
86 obstacle_status: IN_JUNCTION
87 priority_type: CAUTION
88 evaluator_type: VECTORNET_EVALUATOR
89 predictor_type: EXTRAPOLATION_PREDICTOR
90}
91obstacle_conf {
92 obstacle_type: VEHICLE
93 obstacle_status: IN_JUNCTION
94 priority_type: NORMAL
95 evaluator_type: JUNCTION_MLP_EVALUATOR
96 predictor_type: LANE_SEQUENCE_PREDICTOR
97}
98obstacle_conf {
99 obstacle_type: VEHICLE
100 obstacle_status: OFF_LANE
101 predictor_type: FREE_MOVE_PREDICTOR
102}
103obstacle_conf {
104 obstacle_type: PEDESTRIAN
105 obstacle_status: MOVING
106 evaluator_type: SEMANTIC_LSTM_EVALUATOR
107 predictor_type: FREE_MOVE_PREDICTOR
108}
109obstacle_conf {
110 obstacle_type: BICYCLE
111 obstacle_status: ON_LANE
112 evaluator_type: CYCLIST_KEEP_LANE_EVALUATOR
113 predictor_type: LANE_SEQUENCE_PREDICTOR
114}
115obstacle_conf {
116 obstacle_type: BICYCLE
117 obstacle_status: OFF_LANE
118 predictor_type: FREE_MOVE_PREDICTOR
119}
120obstacle_conf {
121 obstacle_type: UNKNOWN
122 obstacle_status: ON_LANE
123 evaluator_type: MLP_EVALUATOR
124 predictor_type: LANE_SEQUENCE_PREDICTOR
125}
126obstacle_conf {
127 obstacle_type: UNKNOWN
128 obstacle_status: OFF_LANE
129 predictor_type: FREE_MOVE_PREDICTOR
130}
131obstacle_conf {
132 obstacle_type: VEHICLE
133 interactive_tag: INTERACTION
134 evaluator_type: JOINTLY_PREDICTION_PLANNING_EVALUATOR
135 predictor_type: EXTRAPOLATION_PREDICTOR
136}