crosswalk.proto

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syntax = "proto2";
 
package apollo.planning;
 
// CrosswalkConfig
 
message CrosswalkConfig {
  // Safty stop distance from stop line of crosswalk.
  optional double stop_distance = 1 [default = 1.0];  // meter
  // If it is safe for obstacle collision and the stop deceleration calculted
  // to stop in front of crosswalk stop line is too big(>
  // max_stop_deceleration), ignore the deceleration to keep comfortable driving
  // feeling.
  optional double max_stop_deceleration = 2 [default = 4.0];
  // If the front edge of ego-vehicle has passed the crosswalk stop line over
  // "min_pass_s_distance", it can be considered as passed the crosswalk.
  optional double min_pass_s_distance = 3 [default = 1.0];  // meter
  // expand crosswalk by "expand_s_distance" for pedestrian/bicycle detection.
  optional double expand_s_distance = 5 [default = 2.0];  // meter
  // If obstacle is not far enough(lateral distance < "stop_strict_l_distance"),
  // it should be taken care and ego-vehicle may stop in front of it.
  optional double stop_strict_l_distance = 6 [default = 4.0];  // meter
  // If obstacle is far enough(lateral distance > "stop_loose_l_distance"), it
  // can be ignored and ego-vehicle has no need to stop in front of it.
  optional double stop_loose_l_distance = 7 [default = 5.0];  // meter
  // ego-vehicle can move on and ignore the bicycles/pedestrians if
  // bicycles/pedestrians remain static longer than "stop_timeout".
  optional double stop_timeout = 8 [default = 10.0];  // second
 
  optional double start_watch_timer_distance = 9 [default=40.0];
}