stop_sign_unprotected.proto

浏览该文件的文档.

syntax = "proto2";
 
package apollo.planning;
 
import "modules/planning/planning_interface_base/scenario_base/proto/creep_stage.proto";
 
message ScenarioStopSignUnprotectedConfig {
  // Only when the distance of vehicle and start point of the stop sign is 
  // smaller than this value, "StopSignUnprotectedScenario" can be enter
  optional double start_stop_sign_scenario_distance = 1
      [default = 5.0];  // meter
  // If the obstacle vehicle is in front of stop sign and within the distance of
  // this value, it should be watched carefully before self-ego cruise cross the
  // stop sign overlap
  optional double watch_vehicle_max_valid_stop_distance = 2
      [default = 5.0];                                          // meter
  // Distance to check if vehicle reaches the pre-stop point of openspace in 
  // "PullOverStageRetryApproachParking" stage
  optional double max_valid_stop_distance = 3 [default = 3.5];  // meter
  // Only when the vehicle has stopped more than this value, 
  // "StopSignUnprotectedStageStop" can be finished
  optional float stop_duration_sec = 4 [default = 1.0];         // sec
  // If vehicle stops more than this value, "StopSignUnprotectedStageStop" can
  // be finished right now
  optional float stop_timeout_sec = 5 [default = 8.0];          // sec
  // Only when the vehicle has creeped more than this value, 
  // "StopSignUnprotectedStageCreep" can be finished
  optional float creep_timeout_sec = 6 [default = 10.0];        // sec
  optional CreepStageConfig creep_stage_config = 7;
}