Apollo
10.0
自动驾驶开放平台
prediction_obstacle.proto
浏览该文件的文档.
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syntax
=
"proto2"
;
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package
apollo.prediction;
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import
"
modules/common_msgs/basic_msgs/error_code.proto
";
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import
"
modules/common_msgs/basic_msgs/header.proto
";
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import
"
modules/common_msgs/perception_msgs/perception_obstacle.proto
";
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import
"
modules/common_msgs/prediction_msgs/scenario.proto
";
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import
"
modules/common_msgs/prediction_msgs/feature.proto
";
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// estimated obstacle intent
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message
ObstacleIntent
{
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enum
Type
{
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UNKNOWN = 0;
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STOP = 1;
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STATIONARY = 2;
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MOVING = 3;
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CHANGE_LANE = 4;
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LOW_ACCELERATION = 5;
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HIGH_ACCELERATION = 6;
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LOW_DECELERATION = 7;
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HIGH_DECELERATION = 8;
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}
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optional
Type
type = 1 [
default
= UNKNOWN];
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}
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// self driving car intent
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message
Intent
{
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enum
Type
{
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UNKNOWN = 0;
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STOP = 1;
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CRUISE = 2;
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CHANGE_LANE = 3;
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}
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optional
Type
type = 1 [
default
= UNKNOWN];
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}
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message
PredictionObstacle
{
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optional
apollo
.
perception
.
PerceptionObstacle
perception_obstacle = 1;
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optional
double
timestamp = 2;
// GPS time in seconds
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// the length of the time for this prediction (e.g. 10s)
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optional
double
predicted_period = 3;
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// can have multiple trajectories per obstacle
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repeated
Trajectory
trajectory = 4;
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// estimated obstacle intent
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optional
ObstacleIntent
intent = 5;
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optional
ObstaclePriority
priority = 6;
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optional
ObstacleInteractiveTag
interactive_tag = 9;
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optional
bool
is_static = 7 [
default
=
false
];
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// Feature history latest -> earliest sequence
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repeated
Feature
feature = 8;
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}
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message
PredictionObstacles
{
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// timestamp is included in header
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optional
apollo
.
common
.
Header
header = 1;
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// make prediction for multiple obstacles
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repeated
PredictionObstacle
prediction_obstacle = 2;
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// perception error code
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optional
apollo
.
common
.ErrorCode perception_error_code = 3;
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// start timestamp
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optional
double
start_timestamp = 4;
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// end timestamp
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optional
double
end_timestamp = 5;
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// self driving car intent
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optional
Intent
intent = 6;
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// Scenario
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optional
Scenario
scenario = 7;
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// waste
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repeated
apollo
.
perception
.
PerceptionWaste
perception_waste = 8;
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}
scenario.proto
error_code.proto
feature.proto
header.proto
apollo::common
apollo::common
apollo::perception
apollo::perception
Definition
perception_barrier_gate.proto:3
apollo
class register implement
Definition
arena_queue.h:37
perception_obstacle.proto
syntax
syntax
Definition
prediction_obstacle.proto:1
apollo::common::Header
Definition
header.proto:7
apollo::perception::PerceptionObstacle
Definition
perception_obstacle.proto:64
apollo::perception::PerceptionWaste
Definition
perception_obstacle.proto:203
apollo::prediction::Feature
Definition
feature.proto:82
apollo::prediction::Intent
Definition
prediction_obstacle.proto:28
apollo::prediction::Intent::Type
Type
Definition
prediction_obstacle.proto:29
apollo::prediction::ObstacleIntent
Definition
prediction_obstacle.proto:12
apollo::prediction::ObstacleIntent::Type
Type
Definition
prediction_obstacle.proto:13
apollo::prediction::ObstacleInteractiveTag
Definition
feature.proto:69
apollo::prediction::ObstaclePriority
Definition
feature.proto:60
apollo::prediction::PredictionObstacle
Definition
prediction_obstacle.proto:38
apollo::prediction::PredictionObstacles
Definition
prediction_obstacle.proto:59
apollo::prediction::Scenario
Definition
scenario.proto:5
apollo::prediction::Trajectory
Definition
feature.proto:76
modules
common_msgs
prediction_msgs
prediction_obstacle.proto