speed_decider.proto

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syntax = "proto2";
 
package apollo.planning;
 
// SpeedDeciderConfig
 
message SpeedDeciderConfig {
  // obstacle min lateral distance to follow
  optional double follow_min_obs_lateral_distance = 1 [default = 2.5];
  // min follow time in st region before considering a valid follow, this is 
  // to differentiate a moving obstacle cross adc's current lane and move to a
  // different direction
  optional double follow_min_time_sec = 2 [default = 2.0];
  optional bool is_stop_for_pedestrain = 3 [default = false];
  optional double keep_clear_last_point_speed = 4 [default = 0.8];
  optional double overtake_time_buffer = 5 [default = 3.0];
  optional double overtake_min_distance = 6 [default = 10.0];
  optional double yield_distance_buffer = 7 [default = 5.0];
  optional double stop_follow_distance = 8 [default = 2.0];
  optional FollowDistanceSchedulerInfo follow_distance_scheduler = 9;
}
 
message FollowDistanceSchedulerInfo {
  repeated FollowDistance follow_distance = 1;
}
 
message FollowDistance {
  optional double speed = 1;  // m/s
  optional double slope = 2; //
}