Apollo 10.0
自动驾驶开放平台
prediction_obstacle.proto
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1syntax = "proto2";
2
3package apollo.prediction;
4
10
11// estimated obstacle intent
13 enum Type {
14 UNKNOWN = 0;
15 STOP = 1;
16 STATIONARY = 2;
17 MOVING = 3;
18 CHANGE_LANE = 4;
19 LOW_ACCELERATION = 5;
20 HIGH_ACCELERATION = 6;
21 LOW_DECELERATION = 7;
22 HIGH_DECELERATION = 8;
23 }
24 optional Type type = 1 [default = UNKNOWN];
25}
26
27// self driving car intent
28message Intent {
29 enum Type {
30 UNKNOWN = 0;
31 STOP = 1;
32 CRUISE = 2;
33 CHANGE_LANE = 3;
34 }
35 optional Type type = 1 [default = UNKNOWN];
36}
37
39 optional apollo.perception.PerceptionObstacle perception_obstacle = 1;
40 optional double timestamp = 2; // GPS time in seconds
41 // the length of the time for this prediction (e.g. 10s)
42 optional double predicted_period = 3;
43 // can have multiple trajectories per obstacle
44 repeated Trajectory trajectory = 4;
45
46 // estimated obstacle intent
47 optional ObstacleIntent intent = 5;
48
49 optional ObstaclePriority priority = 6;
50
51 optional ObstacleInteractiveTag interactive_tag = 9;
52
53 optional bool is_static = 7 [default = false];
54
55 // Feature history latest -> earliest sequence
56 repeated Feature feature = 8;
57}
58
60 // timestamp is included in header
61 optional apollo.common.Header header = 1;
62
63 // make prediction for multiple obstacles
64 repeated PredictionObstacle prediction_obstacle = 2;
65
66 // perception error code
67 optional apollo.common.ErrorCode perception_error_code = 3;
68
69 // start timestamp
70 optional double start_timestamp = 4;
71
72 // end timestamp
73 optional double end_timestamp = 5;
74
75 // self driving car intent
76 optional Intent intent = 6;
77
78 // Scenario
79 optional Scenario scenario = 7;
80
81 // waste
82 repeated apollo.perception.PerceptionWaste perception_waste = 8;
83}
apollo::common
class register implement
Definition arena_queue.h:37