v2x_obstacles.proto

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syntax = "proto2";
 
package apollo.v2x;
 
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
 
message Point {
  optional double x = 1;  // in meters.
  optional double y = 2;  // in meters.
  optional double z = 3;  // height in meters.
}
 
message MiniAreaMap {
  optional bytes rscu_id = 1;  // RSCU id.
  optional Point feature_position = 2; // the centre of intersection or sstraight area
  optional Point start_position = 3; // the centre of intersection or sstraight area
  optional Point end_position = 4; // the centre of intersection or sstraight area
}
 
message AbnormalInformation {
  optional double average_speed = 1;
  optional double vehicle_density = 2;
}
 
message V2XInformation {
  enum V2XType {
      NONE = 0;
      ZOMBIES_CAR = 1;
      BLIND_ZONE = 2;
  };
  repeated V2XType v2x_type = 1;  // use case type
  optional Point traffic_event_start = 3;  // congestion  or others initial position.
  optional Point traffic_event_start_error = 4; // congestion or others initial position error.
  optional Point traffic_event_end = 5;  // congestion or others end position.
  optional Point traffic_event_end_error = 6; // congestion or others end position error.
  optional AbnormalInformation abnormal_info = 7; // abnormal info
}
 
message V2XObstacle {
  optional apollo.perception.PerceptionObstacle perception_obstacle = 1;  // obstacle.
  optional V2XInformation v2x_info = 2; // v2x use case info
}
 
message V2XObstacles {
  repeated V2XObstacle v2x_obstacle = 1;  // An array of obstacles
  optional MiniAreaMap area_map = 2; // Mini area map
  optional double traffic_flow = 3; // Traffic flow
  optional apollo.common.Header header = 4;  // Header
  optional apollo.common.ErrorCode error_code = 5 [default = OK]; // perception error code
}