33 optional
double station_reference = 1;
34 optional
double station_error = 2;
35 optional
double station_error_limited = 3;
36 optional
double preview_station_error = 4;
37 optional
double speed_reference = 5;
38 optional
double speed_error = 6;
39 optional
double speed_controller_input_limited = 7;
40 optional
double preview_speed_reference = 8;
41 optional
double preview_speed_error = 9;
42 optional
double preview_acceleration_reference = 10;
43 optional
double acceleration_cmd_closeloop = 11;
44 optional
double acceleration_cmd = 12;
45 optional
double acceleration_lookup = 13;
46 optional
double speed_lookup = 14;
47 optional
double calibration_value = 15;
48 optional
double throttle_cmd = 16;
49 optional
double brake_cmd = 17;
50 optional
bool is_full_stop = 18;
51 optional
double slope_offset_compensation = 19;
52 optional
double current_station = 20;
53 optional
double path_remain = 21;
54 optional int32 pid_saturation_status = 22;
55 optional int32 leadlag_saturation_status = 23;
56 optional
double speed_offset = 24;
57 optional
double current_speed = 25;
58 optional
double acceleration_reference = 26;
59 optional
double current_acceleration = 27;
60 optional
double acceleration_error = 28;
61 optional
double jerk_reference = 29;
62 optional
double current_jerk = 30;
63 optional
double jerk_error = 31;
67 optional
double acceleration_lookup_limit = 35;
68 optional
double vehicle_pitch = 36;
69 optional
bool is_epb_brake = 37;
70 optional
double current_steer_interval = 38;
71 optional
bool is_wait_steer = 39;
72 optional
bool is_stop_reason_by_destination = 40;
73 optional
bool is_stop_reason_by_prdestrian = 41;
74 optional
bool is_full_stop_soft = 42;
75 optional
string control_task_name = 43;
76 optional
double path_remain_add = 44;
77 optional
double max_path_remain_when_stopped = 45;
78 optional
bool form_go_to_full_stop = 46;
79 optional
bool begin_end_brake = 47;
80 optional
double hillup_fullstop_brake_rate = 48;
81 optional
double vehicle_speed = 49;
82 optional
double vehicle_speed_filter = 50;
83 optional
double throttle_cmd_filter = 51;
87 optional
double lateral_error = 1;
88 optional
double ref_heading = 2;
89 optional
double heading = 3;
90 optional
double heading_error = 4;
91 optional
double heading_error_rate = 5;
92 optional
double lateral_error_rate = 6;
93 optional
double curvature = 7;
94 optional
double steer_angle = 8;
95 optional
double steer_angle_feedforward = 9;
96 optional
double steer_angle_lateral_contribution = 10;
97 optional
double steer_angle_lateral_rate_contribution = 11;
98 optional
double steer_angle_heading_contribution = 12;
99 optional
double steer_angle_heading_rate_contribution = 13;
100 optional
double steer_angle_feedback = 14;
101 optional
double steering_position = 15;
102 optional
double ref_speed = 16;
103 optional
double steer_angle_limited = 17;
106 optional
double lateral_acceleration = 18;
108 optional
double lateral_jerk = 19;
110 optional
double ref_heading_rate = 20;
111 optional
double heading_rate = 21;
115 optional
double ref_heading_acceleration = 22;
116 optional
double heading_acceleration = 23;
117 optional
double heading_error_acceleration = 24;
121 optional
double ref_heading_jerk = 25;
122 optional
double heading_jerk = 26;
123 optional
double heading_error_jerk = 27;
127 optional
double lateral_error_feedback = 28;
128 optional
double heading_error_feedback = 29;
134 optional
double steer_angle_feedback_augment = 31;
138 optional
bool steer_mrac_enable_status = 33;
141 optional
double lateral_centripetal_acceleration = 34;
142 optional
string control_task_name = 35;
148 optional
double efai_rate = 37;
149 optional
double ed_rate = 38;
152 optional
double heading_error_by_ref = 39;
153 optional
double heading_error_by_auto_compensation = 40;
156 optional
bool is_lock_steer = 42;
160 optional
double lookahead_station = 44;
161 optional
double lookback_station = 45;
162 optional
double lookahead_time = 46;
163 optional
double lookahead_station_s_diff = 47;
166 optional
double lookahead_time_new = 50;
167 optional
double lookahead_station_s_diff_new = 51;
168 optional
double lateral_error_feedback_new = 52;
169 optional
double heading_error_feedback_new = 53;
170 optional
bool enable_look_ahead_back_control = 54;
175 optional
bool is_in_large_curvature = 56;
182 optional
double lateral_error_target_lr = 61;
183 optional
double heading_error_target_lr = 62;
184 optional
double curvature_target_lr = 63;
186 optional
double lateral_error_target_com = 64;
187 optional
double heading_error_target_com = 65;
188 optional
double curvature_target_com = 66;
190 optional
double lateral_error_match_com = 67;
191 optional
double heading_error_match_com = 68;
192 optional
double curvature_match_com = 69;
194 optional
double lateral_error_match_local = 70;
195 optional
double heading_error_match_local = 71;
196 optional
double curvature_match_local = 72;
198 optional
double lateral_error_absolute_local = 73;
199 optional
double heading_error_absolute_local = 74;
200 optional
double curvature_absolute_local = 75;
202 optional int32 now_reverse_stage = 76;
203 optional int32 current_choose_point = 77;
204 repeated
double continous_lateral_errors = 78;
205 repeated
double continous_heading_errors = 79;
207 optional
double com_length = 80;
208 optional
double lr = 81;
211 optional
double lookback_time_new = 83;
212 optional
double lookback_station_s_diff_new = 84;
213 optional
double lookahead_curvature = 85;
214 optional
double lookahead_curvature_new = 86;
215 optional
double lookback_curvature_new = 87;
217 optional
double lateral_error_lqr_input = 88;
218 optional
double heading_error_lqr_input = 89;
219 optional
double lqr_iteration_num = 90;
220 optional
double lqr_result_diff = 91;
221 optional
double com_change = 92;
222 optional int32 current_sign = 93;
223 optional int32 current_min_error_point = 94;
237 optional
double lateral_error = 1;
238 optional
double ref_heading = 2;
239 optional
double heading = 3;
240 optional
double heading_error = 4;
241 optional
double heading_error_rate = 5;
242 optional
double lateral_error_rate = 6;
243 optional
double curvature = 7;
244 optional
double steer_angle = 8;
245 optional
double steer_angle_feedforward = 9;
246 optional
double steer_angle_lateral_contribution = 10;
247 optional
double steer_angle_lateral_rate_contribution = 11;
248 optional
double steer_angle_heading_contribution = 12;
249 optional
double steer_angle_heading_rate_contribution = 13;
250 optional
double steer_angle_feedback = 14;
251 optional
double steering_position = 15;
252 optional
double ref_speed = 16;
253 optional
double steer_angle_limited = 17;
254 optional
double station_reference = 18;
255 optional
double station_error = 19;
256 optional
double speed_reference = 20;
257 optional
double speed_error = 21;
258 optional
double acceleration_reference = 22;
259 optional
bool is_full_stop = 23;
260 optional
double station_feedback = 24;
261 optional
double speed_feedback = 25;
262 optional
double acceleration_cmd_closeloop = 26;
263 optional
double acceleration_cmd = 27;
264 optional
double acceleration_lookup = 28;
265 optional
double speed_lookup = 29;
266 optional
double calibration_value = 30;
267 optional
double steer_unconstrained_control_diff = 31;
268 optional
double steer_angle_feedforward_compensation = 32;
269 repeated
double matrix_q_updated = 33;
270 repeated
double matrix_r_updated = 34;
273 optional
double lateral_acceleration = 35;
275 optional
double lateral_jerk = 36;
277 optional
double ref_heading_rate = 37;
278 optional
double heading_rate = 38;
282 optional
double ref_heading_acceleration = 39;
283 optional
double heading_acceleration = 40;
284 optional
double heading_error_acceleration = 41;
288 optional
double ref_heading_jerk = 42;
289 optional
double heading_jerk = 43;
290 optional
double heading_error_jerk = 44;
292 optional
double acceleration_feedback = 45;
293 optional
double acceleration_error = 46;
294 optional
double jerk_reference = 47;
295 optional
double jerk_feedback = 48;
296 optional
double jerk_error = 49;
300 optional
double lateral_error_feedback = 50;
301 optional
double heading_error_feedback = 51;
303 optional
double steer_angle_feedback_augment = 52;
307 optional
double preview_station_error = 56;
308 optional
double preview_speed_reference = 57;
309 optional
double preview_speed_error = 58;
310 optional
double preview_acceleration_reference = 59;
311 optional
double vehicle_pitch = 60;
312 optional
double slope_offset_compensation = 61;
313 optional
double path_remain = 62;
314 optional
double acceleration_lookup_offset = 63;
315 optional
double acceleration_vrf = 64;
316 optional
string control_task_name = 65;
321 optional uint32 lateral_error_check_e_count = 2;
322 optional uint32 lateral_error_check_w_count = 3;
324 optional uint32 heading_error_check_e_count = 5;
325 optional uint32 heading_error_check_w_count = 6;
327 optional uint32 station_error_check_e_count = 8;
328 optional uint32 station_error_check_w_count = 9;
330 optional uint32 speed_error_check_e_count = 11;
331 optional uint32 speed_error_check_w_count = 12;
332 optional
double lateral_error_e = 13;
333 optional
double lateral_error_w = 14;
334 optional
double heading_error_e = 15;
335 optional
double heading_error_w = 16;
339 optional int32 hill_start_window = 1;
340 optional int32 preview_length = 2;
341 optional
double quit_hill_start_speed = 3;
342 optional
double normal_start_tartget_acc = 4;
343 optional
bool in_hill_start_condition = 5;
344 optional
bool in_normal_start_condition = 6;
345 optional
double hill_start_acc_gain_rate = 7;
346 optional
double normal_start_acc_gain_rate = 8;
347 optional
bool on_obstacle = 9;
348 optional
bool from_else_to_auto = 10;
349 optional
bool previous_is_auto = 11;
350 optional
double anti_cmd_brake = 12;
351 optional
double anti_cmd_throttle = 13;
352 optional
bool uphill_too_fast = 14;
353 optional
bool only_use_brk_downhill = 15;
354 optional
bool erase_brk_in_go = 16;
355 optional
bool erase_brk_in_end = 17;
356 optional
double hill_start_first_acc = 18;
357 optional
double slope_start_acc = 19;
358 optional
double slope_offset_compensation = 20;