lane_graph.proto

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syntax = "proto2";
 
package apollo.prediction;
 
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_lane.proto";
 
message LanePoint {
  optional apollo.common.Point3D position = 1;
  optional double heading = 2 [default = 0.0];
  optional double width = 3 [default = 0.0];
  // relative s to focus obstacle
  optional double relative_s = 4 [default = 0.0];
  // relative l to focus obstacle
  optional double relative_l = 5 [default = 0.0];
  // lane point heading relative to focused obstacle heading
  optional double angle_diff = 6 [default = 0.0];
  optional double kappa = 7 [default = 0.0];
 
  enum ScenarioType {
    URBAN_ROAD = 0;
    JUNCTION = 1;
    HIGHWAY = 2;
  }
 
  optional ScenarioType scenario_type = 8;
  optional double speed_limit = 9;
}
 
message LaneSegment {
  optional string lane_id = 1;
  // s offset of the first lane point
  optional double start_s = 2 [default = 0.0];
  // s offset of the last lane point
  optional double end_s = 3 [default = 0.0];
  optional uint32 lane_turn_type = 4 [default = 0];
  repeated LanePoint lane_point = 5;
  // If this lane-segment is the one that's closest to ADC,
  // then adc_s gives the s of the ADC.
  optional double adc_s = 7 [default = 0.0];
  optional int32 adc_lane_point_idx = 8 [default = 0];
  optional double total_length = 6 [default = 0.0];
}
 
message NearbyObstacle {
  optional int32 id = 1;
  optional double s = 2;  // relative to focus obstacle
  optional double l = 3;  // relative to focus obstacle
}
 
message StopSign {
  optional string stop_sign_id = 1;
  optional string lane_id = 2;
  optional double lane_s = 3;           // the s value within the lane
  optional double lane_sequence_s = 4;  // the s value along lane sequence
}
 
// next id = 24
message LaneSequence {
  optional int32 lane_sequence_id = 1;
  repeated LaneSegment lane_segment = 2;
  // The index of the lane-segment that is closest to ADC:
  optional int32 adc_lane_segment_idx = 23 [default = 0];
  repeated apollo.common.PathPoint path_point = 8;
  optional apollo.hdmap.Lane.LaneType lane_type = 22;
  optional double lane_s = 17;
  optional double lane_l = 18;
  optional bool vehicle_on_lane = 10;
 
  // nearby obstacles on this lane sequence
  repeated NearbyObstacle nearby_obstacle = 3;
  optional StopSign stop_sign = 20;
  optional int32 right_of_way = 21;  // right_of_way score
 
  message Features {
    repeated double mlp_features = 1;
  }
  optional Features features = 4;
  optional int32 label = 5 [default = 0];
  optional double probability = 6 [default = 0.0];
  optional double acceleration = 7 [default = 0.0];
  optional double time_to_lane_center = 16;
  optional double time_to_lane_edge = 19;
  enum BehaviorType {
    NOT_GOTO_LANE = 1;
    CONSTANT_SPEED = 2;
    SMALL_ACCELERATION = 3;
    LARGE_ACCELERATION = 4;
    SMALL_DECELERATION = 5;
    LARGE_DECELERATION = 6;
  }
  optional BehaviorType behavior_type = 9;
  // lane points on this lane sequence
  repeated LanePoint curr_lane_point = 11;
  // lane points on the left neighbor lane sequence
  repeated LanePoint left_neighbor_point = 12;
  // lane points on the right neighbor lane sequence
  repeated LanePoint right_neighbor_point = 13;
  // nearby obstacles on the left neighbor lane sequence
  repeated NearbyObstacle left_nearby_obstacle = 14;
  // nearby obstacles on the right neighbor lane sequence
  repeated NearbyObstacle right_nearby_obstacle = 15;
}
 
message LaneGraph {
  repeated LaneSequence lane_sequence = 1;
}
 
message LaneObstacle {
  optional int32 obstacle_id = 1;
  optional string lane_id = 2;
  optional double lane_s = 3;
  optional double lane_l = 4;
}