traffic_light_unprotected_left_turn.proto

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syntax = "proto2";
 
package apollo.planning;
 
import "modules/planning/planning_interface_base/scenario_base/proto/creep_stage.proto";
 
message ScenarioTrafficLightUnprotectedLeftTurnConfig {
  // Switch to "TrafficLightUnprotectedLeftTurnScenario" when ego-vehicle is
  // within the distance of "start_traffic_light_scenario_distance" to the
  // traffic overlap.
  optional double start_traffic_light_scenario_distance = 1
      [default = 5.0];  // meter
  // The cruise speed for apprach stage to slow down ego-vehicle.
  optional double approach_cruise_speed = 2 [default = 2.78];  // m/s (10km/h)
  // ego-vehicle must stop at the distance of "max_valid_stop_distance" to
  // the traffic light overlap when the signal color is not green.
  optional double max_valid_stop_distance = 3 [default = 3.5];  // meter
  // Condition for exiting creep stage. If ego-vehicle has passed the creep zone
  // or the creeping time > "creep_timeout_sec", the creep can be considered as
  // finished.
  optional float creep_timeout_sec = 4 [default = 10.0];  // sec
  // If the speed of ego-vehicle > "max_adc_speed_before_creep" at the end of
  // stop stage(first stage of this scenario), the creep stage(ego-vehicle moves
  // with slow speed) can be skipped.
  optional double max_adc_speed_before_creep = 5
      [default = 5.56];  // m/s (20m/h)
  // Configuration for creep stage.
  optional CreepStageConfig creep_stage_config = 6;
}