relative_map_config.proto

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syntax = "proto2";
 
package apollo.relative_map;
 
message MapGenerationParam {
  optional double default_left_width = 1 [default = 1.75];
  optional double default_right_width = 2 [default = 1.75];
  optional double default_speed_limit = 3
      [default = 29.0576];  // default is 65mph
}
 
message NavigationLaneConfig {
  optional double min_lane_marker_quality = 1 [default = 0.5];
  enum LaneSource {
    PERCEPTION = 1;
    OFFLINE_GENERATED = 2;
  }
  optional LaneSource lane_source = 2;
 
  // max navigation path length from navigation line
  optional double max_len_from_navigation_line = 3 [default = 250.0];
  // min generated navigation lane length
  optional double min_len_for_navigation_lane = 4 [default = 150.0];
  // max generated navigation lane length
  optional double max_len_for_navigation_lane = 5 [default = 250.0];
  // navigation lane length to adv speed ratio
  optional double ratio_navigation_lane_len_to_speed = 6 [default = 8.0];
  // max distance to navigation line in navigation mode
  optional double max_distance_to_navigation_line = 7 [default = 15.0];
  // min view range to use lane_marker
  optional double min_view_range_to_use_lane_marker = 8 [default = 0.5];
  // min lane half width in meters
  optional double min_lane_half_width = 9 [default = 1.5];
  // max lane half width in meters
  optional double max_lane_half_width = 10 [default = 2.0];
  // weight based on the lane marking detection result when the navigation line
  // is generated.
  optional double lane_marker_weight = 11 [default = 0.1];
}
 
message RelativeMapConfig {
  optional MapGenerationParam map_param = 1;
  optional NavigationLaneConfig navigation_lane = 2;
}