Apollo 10.0
自动驾驶开放平台
racobit_radar.proto
浏览该文件的文档.
1syntax = "proto2";
2
3package apollo.drivers;
4
6
8 optional int32 near = 1 [default = 0];
9 optional int32 far = 2 [default = 0];
10 optional int32 meas_counter = 3 [default = -1];
11 optional int32 interface_version = 4;
12}
13
15 optional int32 nof_objects = 1 [default = 0];
16 optional int32 meas_counter = 2 [default = -1];
17 optional int32 interface_version = 3;
18}
19
22 OUTPUT_TYPE_NONE = 0;
23 OUTPUT_TYPE_OBJECTS = 1;
24 OUTPUT_TYPE_CLUSTERS = 2;
25 OUTPUT_TYPE_ERROR = 3;
26 }
27
29 RCS_THRESHOLD_STANDARD = 0;
30 RCS_THRESHOLD_HIGH_SENSITIVITY = 1;
31 RCS_THRESHOLD_ERROR = 2;
32 }
33
34 optional uint32 max_distance = 1;
35 optional uint32 radar_power = 2;
36 optional OutputType output_type = 3;
37 optional RcsThreshold rcs_threshold = 4;
38 optional bool send_quality = 5;
39 optional bool send_ext_info = 6;
40}
41
43 // x axis ^
44 // | longitude_dist
45 // |
46 // |
47 // |
48 // lateral_dist |
49 // y axis |
50 // <----------------
51 // ooooooooooooo //radar front surface
52
53 optional apollo.common.Header header = 1;
54 optional bool clusterortrack = 2; // 0 = track, 1 = cluster
55 optional int32 obstacle_id = 3; // obstacle Id
56 // longitude distance to the radar; (+) = forward; unit = m
57 optional double longitude_dist = 4;
58 // lateral distance to the radar; (+) = left; unit = m
59 optional double lateral_dist = 5;
60 // longitude velocity to the radar; (+) = farword; unit = m/s
61 optional double longitude_vel = 6;
62 // lateral velocity to the radar; (+) = left; unit = m/s
63 optional double lateral_vel = 7;
64 // obstacle Radar Cross-Section; unit = dBsm
65 optional double rcs = 8;
66 // 0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate
67 // 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
68 optional int32 dynprop = 9;
69 // longitude distance standard deviation to the radar; (+) = forward; unit = m
70 optional double longitude_dist_rms = 10;
71 // lateral distance standard deviationto the radar; (+) = left; unit = m
72 optional double lateral_dist_rms = 11;
73 // longitude velocity standard deviation to the radar; (+) = farword; unit =
74 // m/s
75 optional double longitude_vel_rms = 12;
76 // lateral velocity standard deviation to the radar; (+) = left; unit = m/s
77 optional double lateral_vel_rms = 13;
78 // obstacle probability of existence
79 optional double probexist = 14;
80
81 // The following is only valid for the track object message
82 // 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
83 // from merge
84 optional int32 meas_state = 15;
85 // longitude acceleration to the radar; (+) = farword; unit = m/s2
86 optional double longitude_accel = 16;
87 // lateral acceleration to the radar; (+) = left; unit = m/s2
88 optional double lateral_accel = 17;
89 // oritation angle to the radar; (+) = conterclockwise; unit = degree
90 optional double oritation_angle = 18;
91 // longitude acceleration standard deviation to the radar; (+) = farword; unit
92 // = m/s2
93 optional double longitude_accel_rms = 19;
94 // lateral acceleration standard deviation to the radar; (+) = left; unit =
95 // m/s2
96 optional double lateral_accel_rms = 20;
97 // oritation angle standard deviation to the radar; (+) = conterclockwise;
98 // unit = degree
99 optional double oritation_angle_rms = 21;
100 optional double length = 22; // obstacle length; unit = m
101 optional double width = 23; // obstacle width; unit = m
102 // 0: point; 1: car; 2: truck; 3: pedestrian; 4: motocycle; 5: bicycle; 6:
103 // wide; 7: unknown
104 optional int32 obstacle_class = 24;
105}
106
108 optional apollo.common.Header header = 1;
109 repeated RacobitRadarObs contiobs = 2; // conti radar obstacle array
110 optional RacobitRadarState_201 radar_state = 3;
111 optional RacobitClusterListStatus_600 cluster_list_status = 4;
112 optional RacobitObjectListStatus_60A object_list_status = 5;
113}
apollo::common
class register implement
Definition arena_queue.h:37