map_lane.proto

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syntax = "proto2";
 
package apollo.hdmap;
 
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
 
message LaneBoundaryType {
  enum Type {
    UNKNOWN = 0;
    DOTTED_YELLOW = 1;
    DOTTED_WHITE = 2;
    SOLID_YELLOW = 3;
    SOLID_WHITE = 4;
    DOUBLE_YELLOW = 5;
    CURB = 6;
  };
  // Offset relative to the starting point of boundary
  optional double s = 1;
  // support multiple types
  repeated Type types = 2;
}
 
message LaneBoundary {
  optional Curve curve = 1;
 
  optional double length = 2;
  // indicate whether the lane boundary exists in real world
  optional bool virtual = 3;
  // in ascending order of s
  repeated LaneBoundaryType boundary_type = 4;
}
 
// Association between central point to closest boundary.
message LaneSampleAssociation {
  optional double s = 1;
  optional double width = 2;
}
 
// A lane is part of a roadway, that is designated for use by a single line of
// vehicles.
// Most public roads (include highways) have more than two lanes.
message Lane {
  optional Id id = 1;
 
  // Central lane as reference trajectory, not necessary to be the geometry
  // central.
  optional Curve central_curve = 2;
 
  // Lane boundary curve.
  optional LaneBoundary left_boundary = 3;
  optional LaneBoundary right_boundary = 4;
 
  // in meters.
  optional double length = 5;
 
  // Speed limit of the lane, in meters per second.
  optional double speed_limit = 6;
 
  repeated Id overlap_id = 7;
 
  // All lanes can be driving into (or from).
  repeated Id predecessor_id = 8;
  repeated Id successor_id = 9;
 
  // Neighbor lanes on the same direction.
  repeated Id left_neighbor_forward_lane_id = 10;
  repeated Id right_neighbor_forward_lane_id = 11;
 
  enum LaneType {
    NONE = 1;
    CITY_DRIVING = 2;
    BIKING = 3;
    SIDEWALK = 4;
    PARKING = 5;
    SHOULDER = 6;
    SHARED = 7;
  };
  optional LaneType type = 12;
 
  enum LaneTurn {
    NO_TURN = 1;
    LEFT_TURN = 2;
    RIGHT_TURN = 3;
    U_TURN = 4;
  };
  optional LaneTurn turn = 13;
 
  repeated Id left_neighbor_reverse_lane_id = 14;
  repeated Id right_neighbor_reverse_lane_id = 15;
 
  optional Id junction_id = 16;
 
  // Association between central point to closest boundary.
  repeated LaneSampleAssociation left_sample = 17;
  repeated LaneSampleAssociation right_sample = 18;
 
  enum LaneDirection {
    FORWARD = 1;
    BACKWARD = 2;
    BIDIRECTION = 3;
  }
  optional LaneDirection direction = 19;
 
  // Association between central point to closest road boundary.
  repeated LaneSampleAssociation left_road_sample = 20;
  repeated LaneSampleAssociation right_road_sample = 21;
 
  repeated Id self_reverse_lane_id = 22;
}