open_space_roi_decider.proto

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syntax = "proto2";
 
package apollo.planning;
 
// OpenSpaceRoiDeciderConfig
 
message OpenSpaceRoiDeciderConfig {
  // roi scenario definitions
  enum RoiType {
    NOT_DEFINED = 0;
    PARKING = 1;
    PULL_OVER = 2;
    PARK_AND_GO = 3;
    NARROW_STREET_U_TURN = 4;
    DEAD_END = 5;
  }
  optional RoiType roi_type = 1;
  // longitudinal range of parking roi start
  optional double roi_longitudinal_range_start = 2 [default = 10.0];
  // longitudinal range of parking roi end
  optional double roi_longitudinal_range_end = 3 [default = 10.0];
  // parking spot range detection threshold
  optional double parking_start_range = 4 [default = 7.0];
  // Parking orientation for reverse parking
  optional bool parking_inwards = 5 [default = false];
  // enable the open space planner to take perception obstacles into consideration
  optional bool enable_perception_obstacles = 6;
  // buffer distance from vehicle's edge to parking spot end line
  optional double parking_depth_buffer = 7 [default = 0.1];
  // min angle difference to stitch a new segment in roi representation
  optional double roi_line_segment_min_angle = 8 [default = 0.3];
  optional double roi_line_segment_length = 9 [default = 1.0];
  // roi line segment length when getting road boundary from map
  optional double roi_line_segment_length_from_map = 10 [default = 10.0];
  // relative distance threshold to filter out ignored obstacle
  optional double perception_obstacle_filtering_distance = 11
      [default = 1000.0];
  // buffer distance for perception obstacle
  optional double perception_obstacle_buffer = 12;
  // tolerance limit for road_bound_width abnormal changes
  optional double curb_heading_tangent_change_upper_limit = 13 [default = 1.0];
  // end pose s distance to current vehicle
  optional double end_pose_s_distance = 14 [default = 10.0];
  // end pose x to parallel parking
  optional double parallel_park_end_x_buffer = 15 [default = 0.2];
  // extend right spot width size
  optional double extend_right_x_buffer = 16 [default = 0.0];
  // extend left spot width size
  optional double extend_left_x_buffer = 17 [default = 0.0];
  // get road boundary from HD map
  optional bool use_road_boundary_from_map = 18 [default = false];
  // expand polygon of obstacle 
  optional bool expand_polygon_of_obstacle_by_distance = 19 [default = false];
}