planning_semantic_map_config.proto

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syntax = "proto2";
 
package apollo.planning;
 
message PlanningSemanticMapConfig {
  //  resolution(m / pixel) of local map img and base map img
  optional double resolution = 1;
 
  // [height, width] of a local map img centering around ego vehicle
  optional int32 height = 100;
  optional int32 width = 101;
  //  ego vehicle rear center location in the local map img with origin point at
  //  top left corner
  optional int32 ego_idx_x = 102;
  optional int32 ego_idx_y = 103;
  //  ego vehicle is normally heading upward in the local map img, but a
  //  randomized change of heading could be used
  optional double max_rand_delta_phi = 104;
  //  ego vehicle max future trajectory time horizon
  optional double max_ego_future_horizon = 105;
  //  ego vehicle max past trajectory time horizon
  optional double max_ego_past_horizon = 106;
  //  ego obstacle max prediction trajectory time horizon
  optional double max_obs_future_horizon = 107;
  //  ego obstacle max past trajectory time horizon
  optional double max_obs_past_horizon = 108;
 
  //  padding(pixel) around base map of region map
  optional int32 base_map_padding = 200;
  //  max_speed_limit in base speed limit map
  optional double city_driving_max_speed = 201;
}