Apollo 10.0
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control_debug.proto
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1syntax = "proto2";
2
3package apollo.control;
4
12
14 optional apollo.common.Header header = 1;
15 optional SimpleLongitudinalPlusDebug simple_lon_debug = 2;
16 optional SimpleLateralPlusDebug simple_lat_debug = 3;
17 optional SimpleMPCPlusDebug simple_mpc_debug = 4;
18 optional SimpleAntiSlopeDebug simple_anti_slope_debug = 5;
19 optional CleaningSafetyCheckDebug cleaning_safety_check_debug = 6;
20 optional ControlComponentDebug control_component_debug = 7;
21 optional apollo.common.Header debug_header = 8;
22}
23
25 optional double vehicle_pitch = 1;
26 optional bool is_auto = 2;
27 optional bool from_else_to_auto = 3;
28 optional double process_control_time_diff = 4;
29 optional bool process_control_exceeded = 5;
30}
31
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;
64 optional apollo.common.TrajectoryPoint current_matched_point = 32;
65 optional apollo.common.TrajectoryPoint current_reference_point = 33;
66 optional apollo.common.TrajectoryPoint preview_reference_point = 34;
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;
84}
85
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;
104
105 // time derivative of lateral error rate, in m/s^2
106 optional double lateral_acceleration = 18;
107 // second time derivative of lateral error rate, in m/s^3
108 optional double lateral_jerk = 19;
109
110 optional double ref_heading_rate = 20;
111 optional double heading_rate = 21;
112
113 // heading_acceleration, as known as yaw acceleration, is the time derivative
114 // of heading rate, in rad/s^2
115 optional double ref_heading_acceleration = 22;
116 optional double heading_acceleration = 23;
117 optional double heading_error_acceleration = 24;
118
119 // heading_jerk, as known as yaw jerk, is the second time derivative of
120 // heading rate, in rad/s^3
121 optional double ref_heading_jerk = 25;
122 optional double heading_jerk = 26;
123 optional double heading_error_jerk = 27;
124
125 // modified lateral_error and heading_error with look-ahead or look-back
126 // station, as the feedback term for control usage
127 optional double lateral_error_feedback = 28;
128 optional double heading_error_feedback = 29;
129
130 // current planning target point
131 optional apollo.common.TrajectoryPoint current_target_point = 30;
132
133 // Augmented feedback control term in addition to LQR control
134 optional double steer_angle_feedback_augment = 31;
135
136 // Mrac control status and feedback states for steer control
137 optional MracDebug steer_mrac_debug = 32;
138 optional bool steer_mrac_enable_status = 33;
139
140 // lat acc in ENU, in m/s^2
141 optional double lateral_centripetal_acceleration = 34;
142 optional string control_task_name = 35;
143
144 // lat control check
145 optional ControlCheckDebug lat_control_check_debug = 36;
146
147 // openspace rate
148 optional double efai_rate = 37;
149 optional double ed_rate = 38;
150
151 // heading error debug
152 optional double heading_error_by_ref = 39;
153 optional double heading_error_by_auto_compensation = 40;
154 optional AHCValue ahc_value = 41;
155
156 optional bool is_lock_steer = 42;
157
158 // look ahead back control debug
159 optional apollo.common.TrajectoryPoint lookahead_point = 43;
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;
164 optional apollo.common.TrajectoryPoint lookahead_point_new = 48;
165 optional apollo.common.TrajectoryPoint lookback_point_new = 49;
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;
171
172 // lat localization com position
173 optional apollo.common.PointENU lat_com_position = 55;
174
175 optional bool is_in_large_curvature = 56;
176
177 optional apollo.common.TrajectoryPoint target_point_lr = 57;
178 optional apollo.common.TrajectoryPoint matched_point_com = 58;
179 optional apollo.common.TrajectoryPoint matched_point_local = 59;
180 optional apollo.common.TrajectoryPoint absolute_point_local = 60;
181
182 optional double lateral_error_target_lr = 61;
183 optional double heading_error_target_lr = 62;
184 optional double curvature_target_lr = 63;
185
186 optional double lateral_error_target_com = 64;
187 optional double heading_error_target_com = 65;
188 optional double curvature_target_com = 66;
189
190 optional double lateral_error_match_com = 67;
191 optional double heading_error_match_com = 68;
192 optional double curvature_match_com = 69;
193
194 optional double lateral_error_match_local = 70;
195 optional double heading_error_match_local = 71;
196 optional double curvature_match_local = 72;
197
198 optional double lateral_error_absolute_local = 73;
199 optional double heading_error_absolute_local = 74;
200 optional double curvature_absolute_local = 75;
201
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;
206
207 optional double com_length = 80;
208 optional double lr = 81;
209 // lat localization lr position
210 optional apollo.common.PointENU lat_lr_position = 82;
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;
216
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;
224}
225
226message AHCValue {
227 optional double ahc_sum = 1;
228 optional double ahc_mean = 2;
229 optional double ahc_peak = 3;
230 optional double ahc_compensating_value = 4;
231 optional double ahc_compensated_value = 5;
232 optional bool ahc_is_compensating = 6;
233 optional double compensation_output_value = 7;
234}
235
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; // matrix_q_updated_ size = 6
270 repeated double matrix_r_updated = 34; // matrix_r_updated_ size = 2
271
272 // time derivative of lateral error rate, in m/s^2
273 optional double lateral_acceleration = 35;
274 // second time derivative of lateral error rate, in m/s^3
275 optional double lateral_jerk = 36;
276
277 optional double ref_heading_rate = 37;
278 optional double heading_rate = 38;
279
280 // heading_acceleration, as known as yaw acceleration, is the time derivative
281 // of heading rate, in rad/s^2
282 optional double ref_heading_acceleration = 39;
283 optional double heading_acceleration = 40;
284 optional double heading_error_acceleration = 41;
285
286 // heading_jerk, as known as yaw jerk, is the second time derivative of
287 // heading rate, in rad/s^3
288 optional double ref_heading_jerk = 42;
289 optional double heading_jerk = 43;
290 optional double heading_error_jerk = 44;
291
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;
297
298 // modified lateral_error and heading_error with look-ahead or look-back
299 // station, as the feedback term for control usage
300 optional double lateral_error_feedback = 50;
301 optional double heading_error_feedback = 51;
302 // Augmented feedback control term in addition to MPC control
303 optional double steer_angle_feedback_augment = 52;
304 optional apollo.common.TrajectoryPoint current_matched_point = 53;
305 optional apollo.common.TrajectoryPoint current_reference_point = 54;
306 optional apollo.common.TrajectoryPoint preview_reference_point = 55;
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;
317}
318
320 optional ControlCheckStatus lateral_error_check_result = 1;
321 optional uint32 lateral_error_check_e_count = 2;
322 optional uint32 lateral_error_check_w_count = 3;
323 optional ControlCheckStatus heading_error_check_result = 4;
324 optional uint32 heading_error_check_e_count = 5;
325 optional uint32 heading_error_check_w_count = 6;
326 optional ControlCheckStatus station_error_check_result = 7;
327 optional uint32 station_error_check_e_count = 8;
328 optional uint32 station_error_check_w_count = 9;
329 optional ControlCheckStatus speed_error_check_result = 10;
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;
336}
337
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;
359}
360
362 optional string control_task_name = 1;
363 optional bool is_need_post_command = 2;
364 optional ControlCheckDebug cleaning_control_check_debug = 3;
365 optional apollo.common.TrajectoryPoint current_predicted_end_point = 4;
366 repeated apollo.common.TrajectoryPoint predicted_trajectory_point = 5;
367 optional bool is_predicted_collsion = 6;
368 optional apollo.perception.PerceptionEdgeInfo edge_info = 7;
369 optional double post_process_throttle_cmd = 8;
370 optional double post_process_brake_cmd = 9;
371 optional bool is_in_large_curvature = 10;
372}
apollo::common
class register implement
Definition arena_queue.h:37