Apollo 10.0
自动驾驶开放平台
result_stop_overshoot_0.pb.txt
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1header {
2}
3throttle: 0
4brake: 21.097875173121142
5steering_rate: 100
6steering_target: -0.04477780151593274
7gear_location: GEAR_DRIVE
8debug {
9 input_debug {
10 localization_header {
11 timestamp_sec: 1178408221.7
12 module_name: "localization"
13 sequence_num: 717699
14 }
15 canbus_header {
16 timestamp_sec: 1494373003.7010145
17 module_name: "chassis"
18 sequence_num: 718141
19 }
20 trajectory_header {
21 timestamp_sec: 1494373003.683531
22 module_name: "planning"
23 sequence_num: 1
24 }
25 }
26 simple_mpc_debug {
27 lateral_error: 1.2680373029720233
28 ref_heading: -1.81618315245
29 heading: -1.8481479021129825
30 heading_error: -0.031964749662982683
31 heading_error_rate: 0.0025642062766740824
32 lateral_error_rate: -0.0031959307112255381
33 curvature: -0.00118652218167
34 steer_angle: -0.04477780151593274
35 steer_angle_feedforward: -0.65837352449246256
36 steer_angle_feedback: -0.04166918860526074
37 steering_position: 1.021276593208313
38 station_reference: 32.38002780204
39 station_error: 32.200656484188684
40 speed_reference: 3.669444561
41 speed_error: 3.5698170837185437
42 acceleration_reference: -0.0417450219111
43 is_full_stop: false
44 station_feedback: 0.17937131785131138
45 speed_feedback: 0.10000000149011612
46 acceleration_cmd_closeloop: 0
47 acceleration_cmd: -0.0417450219111
48 calibration_value: -21.097875173121142
49 matrix_q_updated: 0.05
50 matrix_q_updated: 0
51 matrix_q_updated: 1
52 matrix_q_updated: 0
53 matrix_r_updated: 1
54 matrix_r_updated: 1
55 }
56}
57latency_stats {
58 controller_time_ms: 3.6137104034423828
59}
60engage_advice {
61 advice: READY_TO_ENGAGE
62}