speed_bounds_decider.proto

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syntax = "proto2";
 
package apollo.planning;
 
// SpeedBoundsDeciderConfig
 
message SpeedBoundsDeciderConfig {
  optional double total_time = 1 [default = 7.0];
  optional double boundary_buffer = 2 [default = 0.1];
  optional double max_centric_acceleration_limit = 3 [default = 2.0];
  optional double minimal_kappa = 4 [default = 0.00001];
  optional double point_extension = 5 [default = 1.0];
  optional double lowest_speed = 6 [default = 2.5];
  optional double collision_safety_range = 7 [default = 1.0];
  optional double static_obs_nudge_speed_ratio = 8;
  optional double dynamic_obs_nudge_speed_ratio = 9;
  // True to slow down when nudge obstacles.
  optional bool enable_nudge_slowdown = 10 [default = true];
  // minimum l-distance to nudge when changing lane (meters)
  optional double lane_change_obstacle_nudge_l_buffer = 11 [default = 0.3];
  // (unit: meter) max possible trajectory length
  optional double max_trajectory_len = 12 [default = 1000.0];
}