lon_based_pid_controller_conf.proto

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syntax = "proto2";
 
import "modules/control/control_component/proto/leadlag_conf.proto";
import "modules/control/control_component/proto/pid_conf.proto";
 
package apollo.control;
 
message FilterConf {
  optional int32 cutoff_freq = 1;
}
 
message LonBasedPidControllerConf{
  optional double ts = 1;  // longitudinal controller sampling time
  optional double brake_minimum_action = 2;
  optional double throttle_minimum_action = 3;
  optional double speed_controller_input_limit = 4;
  optional double station_error_limit = 5;
  optional double preview_window = 6;
  optional double standstill_acceleration = 7;
 
  optional PidConf station_pid_conf = 8;
  optional PidConf low_speed_pid_conf = 9;
  optional PidConf high_speed_pid_conf = 10;
  optional double switch_speed = 11;  // low/high speed controller switch speed
  optional PidConf reverse_station_pid_conf = 12;
  optional PidConf reverse_speed_pid_conf = 13;
  optional FilterConf pitch_angle_filter_conf = 14;
  optional LeadlagConf reverse_station_leadlag_conf = 15;
  optional LeadlagConf reverse_speed_leadlag_conf = 16;
 
  optional bool enable_reverse_leadlag_compensation = 18 [default = false];
 
  // low/high speed switch transition-window
  optional double switch_speed_window = 19 [default = 0.0];
 
  // from gflags and control_conf.proto
  optional bool enable_speed_station_preview = 20 [default = false];
  optional bool enable_slope_offset = 21 [default = false];
  optional double max_path_remain_when_stopped = 22 [default = 0.3];
  optional bool use_acceleration_lookup_limit = 23 [default = false];
  optional bool use_preview_reference_check = 24 [default = false];
  optional double steer_cmd_interval = 25 [default = 0.0];
  optional bool use_steering_check = 26 [default = false];
  optional double pedestrian_stop_time = 27 [default = 10.0];
  optional double standstill_narmal_acceleration = 28 [default = 0.0];
  optional double full_stop_long_time = 29 [default = 0.0];
 
  // pid parameter in pit
  optional PidConf pit_station_pid_conf = 30;
  optional PidConf pit_speed_pid_conf = 31;
  optional double pit_replan_check_time = 32 [default = 14.0];
  optional int32 pit_replan_check_count = 33 [default = 3];
 
  optional int32 epb_change_count = 34 [default = 2];
 
  optional double stop_gain_acceleration = 35;
 
  optional bool use_vehicle_epb = 36 [default = false];
 
  optional double full_stop_path_remain_gain = 37;
 
  optional int32 use_opposite_slope_compensation = 38 [default = 1];
 
  optional double speed_itfc_full_stop_speed = 39 [default = 0.09];
 
  optional double speed_itfc_path_remain_min = 40 [default = 0.10];
 
  optional double speed_itfc_dcc_emergency = 41 [default = -1.5];
 
  optional double speed_itfc_speed_cmd = 42 [default = 0.10];
 
  optional double speed_itfc_path_remain_max = 43 [default = 0.60];
 
  optional double speed_itfc_acc_thres = 44 [default = 0.0];
 
  optional bool use_speed_itfc = 45 [default = false];
}