lon_based_pid_plus_controller_conf.proto

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syntax = "proto2";
 
import "modules/control/control_component/proto/leadlag_conf.proto";
import "modules/control/control_task_base_extend/proto/pid_plus_conf.proto";
 
package apollo.control;
 
message PlusFilterConf {
  optional int32 cutoff_freq = 1;
}
 
message LonBasedPidPlusControllerConf{
  // longitudinal controller sampling time
  optional double ts = 1 [default = 0.01];
  // min brake cmd
  optional double brake_minimum_action = 2 [default = 0.0];
  // min throttle cmd
  optional double throttle_minimum_action = 3 [default = 0.0];
  // speed pid controller input max
  optional double speed_controller_input_limit = 4 [default = 2.5];
  // station pid controller input max
  optional double station_error_limit = 5 [default = 2.5];
  // preview time window
  optional double preview_window = 6 [default = 20.0];
  // dec when full stop
  optional double standstill_acceleration = 7 [default = -3.0];
  // dec when full stop soft
  optional double standstill_narmal_acceleration = 8 [default = -1.0];
  // dec when full stop exceed path remian distance
  optional double stop_gain_acceleration = 9 [default = -1.0];
 
  // station pid config
  optional PidPlusConf station_pid_conf = 10;
  // speed pid config
  optional PidPlusConf speed_pid_conf = 11;
 
  // pitch angle filter config
  optional PlusFilterConf pitch_angle_filter_conf = 12;
 
  // station leadlag config
  optional LeadlagConf station_leadlag_conf = 13;
  // speed leadlag config
  optional LeadlagConf speed_leadlag_conf = 14;
  // swith to enable reverse leadlag control
  optional bool enable_reverse_leadlag_compensation = 15 [default = false];
 
  // switch to enable speed station preview
  optional bool enable_speed_station_preview = 16 [default = false];
  // switch to enable acc slope offset compensation
  optional bool enable_slope_offset = 17 [default = false];
  // switch to enable acceleration lookup max
  optional bool use_acceleration_lookup_limit = 18 [default = false];
  // switch to enable preview reference check
  optional bool use_preview_reference_check = 19 [default = false];
 
  // max interval between steer cmd and chassis steering percentage
  optional double steer_cmd_interval = 20 [default = 100.0];
  // switch to enable steering check
  optional bool use_steering_check = 21 [default = false];
 
  // wait time when pedestrian stop to decide to epb brake
  optional double pedestrian_stop_time = 22 [default = 10.0];
  // wait time when in destination to decide to epb brake
  optional double full_stop_long_time = 23 [default = 300.0];
 
  // check time in overtake pit
  optional double pit_replan_check_time = 24 [default = 14.0];
  // check count in overtake pit
  optional int32 pit_replan_check_count = 25 [default = 3];
 
  // epb signal time count
  optional int32 epb_change_count = 26 [default = 2];
  // switch to enable vehicle epb, not use instead of gflag
  optional bool use_vehicle_epb = 27 [deprecated = true];
 
  optional double speed_threshold_in_backslip = 28 [deprecated = true];
  optional double backslip_check_min_pitch = 29 [deprecated = true];
  optional double speed_threshold_out_backslip = 30 [deprecated = true];
  optional double min_dec_hold_on_slope = 31 [deprecated = true];
 
  repeated double pitch_segment = 32 [deprecated = true];
  repeated double dec_prepare_change_rate = 33 [deprecated = true];
 
  optional double min_dec_rate_in_stop_ctrl = 34 [deprecated = true];
  optional double dec_ctrl_rate_antislip = 35 [deprecated = true];
  optional double speed_diff_threshold_enter_stop = 36 [deprecated = true];
  optional double max_dec_rate_in_stop_ctrl = 37 [deprecated = true];
  optional double speed_threshold_enter_stop = 38 [deprecated = true];
  optional double dec_addition_speed_error = 39 [deprecated = true];
  optional double dec_addition_station_error = 40 [deprecated = true];
  optional double dec_addition_hold_on_slope = 41 [deprecated = true];
  optional bool use_new_fullstop = 42 [deprecated = true];
  
  // when car goes into fullstop,the path remain will be added to avoid unfullstop
  optional double full_stop_path_remain_gain = 43;
  // switch to enable opposite slope angle
  optional int32 use_opposite_slope_compensation = 44 [default = 1];
  // switch to enable overtake pit
  optional bool use_check_pit = 45 [default = false];
  // simulate epb brake cmd
  optional double epb_brake = 46 [default = 60.0];
  optional double emergency_quit_fullstop_minspeed = 47 [deprecated = true];
 
  //if the dcc is smaller than this,the car will not enter fullstop function
  optional double emergency_quit_fullstop_mindec = 48 [default = -3.0];
  // path distance from current vehicle position to planning destination
  optional double path_remain = 49 [default = 0.2];
  
  // the car will not enter fullstop when speed is over release_end_brake_speed
  optional double release_end_brake_speed = 50 [default = 2.0];
  // the brake cmd will rise in the fullstop_window
  optional int32 fullstop_window = 51 [default = 200];
  // if the path remain is over fullstop_pathremain, the fullstop function will not be used
  optional double fullstop_pathremain = 52 [default = 2.0];
  // the brake cmd will be added aditionally when station error is less than 0
  optional double full_stop_station_err_rate = 53 [default = 1.0];
  // the fullstop max brake will change due to the pitch
  optional double full_stop_pitch_brake_param = 54 [default = 150];
  // max brake cmd in full stop
  optional double full_stop_max_brake = 55 [default = 20.0];
  // the fullstop window will change due to the pitch
  optional double full_stop_pitch_window_param = 56 [default = 300];
  // the brake cmd will change no more than this rate every control ts when in fullstop condition
  optional double max_brk_downhill_change_rate = 57 [default = 0.4];
  // the path remain will change due to the pitch
  optional double pitch_path_remain_param = 58 [default = 9.0];
  // if the pitch is over pitch_path_remain_param_min, the path remain will not change
  optional double pitch_path_remain_param_min = 59 [default = -3.0];
  // the path remain will not change when the speed is lower than downhill_full_stop_min_speed
  optional double downhill_full_stop_min_speed = 60 [default = 0.4];
  
  // wether to use speed interface
  optional bool use_speed_itfc = 61 [default = false];
  // when in speed itfc ,the car will not enter fullstop if speed is over speed_itfc_full_stop_speed
  optional double speed_itfc_full_stop_speed = 62 [default = 0.09];
  // when in speed itfc ,the car will not enter fullstop when the path remain is less than speed_itfc_path_remain_min
  optional double speed_itfc_path_remain_min = 63 [default = 0.10];
  // if the preview dcc is lower than speed_itfc_dcc_emergency, the car will not enter fullstop
  optional double speed_itfc_dcc_emergency = 64 [default = -1.5];
  // when in fullstop the speed cmd will change to speed_itfc_speed_cmd
  optional double speed_itfc_speed_cmd = 65 [default = 0.10];
  // the car will not enter fullstop when the path remain is over speed_itfc_path_remain_max
  optional double speed_itfc_path_remain_max = 66 [default = 0.60];
  // when in speed itfc ,the car will not enter fullstop when the acc is over speed_itfc_acc_thres
  optional double speed_itfc_acc_thres = 67 [default = 0.0];
  // if the speed ref is over speed_itfc_stop_speed, the speed cmd will be set to speed_itfc_speed_cmd
  optional double speed_itfc_stop_speed = 68 [default = 0.05];
 
  // open space speed control path remain
  optional double speed_path_remain = 69 [default = 0.11];
  // wether to use open space speed control
  optional bool use_parking_speed_control = 70 [default = false];
  // if current speed is lower than speed_control_min_speed, the car is considered to be stopped
  optional double speed_control_min_speed = 71 [default = 0.05];
  // the standard speed of openspace speed control
  optional double openspace_r_std_v = 72 [default = 0.25];
  // when current speed is over openspace_r_std_v+openspace_r_err, throttle cmd will decrease
  optional double openspace_r_err = 73 [default = 0.03];
  // the throttle will change by openspace_cmd_change in every control ts
  optional double openspace_cmd_change = 74 [default = 0.02];
  // if the pitch is lower than speed_control_pitch_thres,the car will enter antislip
  optional double speed_control_pitch_thres = 75 [default = -1.0];
  // the car will stand still if throttle cmd is lower than pitch_start_throttle
  optional double pitch_start_throttle = 76 [default = 8.0];
  // the car will stand still whin the openspace_start_num
  optional int32 openspace_start_num = 78 [default = 60];
  // when current speed is over openspace_r_std_v+openspace_r_err_big, brake cmd will rise
  optional double openspace_r_err_big = 79 [default = 0.04];
  // the brake will change by openspace_brk_change in every control ts
  optional double openspace_brk_change = 80 [default = 0.1];
  // the max brake cmd
  optional double openspace_max_brk = 81 [default = 10.0];
  optional double battery_threshold = 82;
  // the min throttle that can let the car move
  optional double openspace_start_throttle = 83 [default = 20.0];
  // the throttle that will keep the car moving
  optional double openspace_maintain_throttle = 84 [default = 13.0];
  // wether to use openspace_maintain_throttle
  optional bool use_maintain_throttle = 85 [default = false];
}