Apollo 10.0
自动驾驶开放平台
vehicle_config.proto
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1syntax = "proto2";
2
3package apollo.common;
4
8
9message Transform {
10 optional bytes source_frame = 1; // Also known as "frame_id."
11
12 optional bytes target_frame = 2; // Also known as "child_frame_id."
13
14 // Position of target in the source frame.
15 optional Point3D translation = 3;
16
17 // Activate rotation from the source frame to the target frame.
18 optional Quaternion rotation = 4;
19}
20
21message Extrinsics {
22 repeated Transform tansforms = 1;
23}
24
25// Vehicle parameters shared among several modules.
26// By default, all are measured with the SI units (meters, meters per second,
27// etc.).
28
31 GEM = 1;
32 LEXUS = 2;
34 GE3 = 4;
35 WEY = 5;
37 CH = 7;
38 DKIT = 8;
39 NEOLIX = 9;
40}
41
42message LatencyParam {
43 // latency parameters, in second (s)
44 optional double dead_time = 1;
45 optional double rise_time = 2;
46 optional double peak_time = 3;
47 optional double settling_time = 4;
48}
49
50message VehicleParam {
51 optional VehicleBrand brand = 1;
52 // Car center point is car reference point, i.e., center of rear axle.
53 optional VehicleID vehicle_id = 2;
54 optional double front_edge_to_center = 3 [default = nan];
55 optional double back_edge_to_center = 4 [default = nan];
56 optional double left_edge_to_center = 5 [default = nan];
57 optional double right_edge_to_center = 6 [default = nan];
58
59 optional double length = 7 [default = nan];
60 optional double width = 8 [default = nan];
61 optional double height = 9 [default = nan];
62
63 optional double min_turn_radius = 10 [default = nan];
64 optional double max_acceleration = 11 [default = nan];
65 optional double max_deceleration = 12 [default = nan];
66
67 // The following items are used to compute trajectory constraints in
68 // planning/control/canbus,
69 // vehicle max steer angle
70 optional double max_steer_angle = 13 [default = nan];
71 // vehicle max steer rate; how fast can the steering wheel turn.
72 optional double max_steer_angle_rate = 14 [default = nan];
73 // vehicle min steer rate;
74 optional double min_steer_angle_rate = 15 [default = nan];
75 // ratio between the turn of steering wheel and the turn of wheels
76 optional double steer_ratio = 16 [default = nan];
77 // the distance between the front and back wheels
78 optional double wheel_base = 17 [default = nan];
79 // Tire effective rolling radius (vertical distance between the wheel center
80 // and the ground).
81 optional double wheel_rolling_radius = 18 [default = nan];
82
83 // minimum differentiable vehicle speed, in m/s
84 optional float max_abs_speed_when_stopped = 19 [default = nan];
85
86 // minimum value get from chassis.brake, in percentage
87 optional double brake_deadzone = 20 [default = nan];
88 // minimum value get from chassis.throttle, in percentage
89 optional double throttle_deadzone = 21 [default = nan];
90
91 // vehicle latency parameters
92 optional LatencyParam steering_latency_param = 22;
93 optional LatencyParam throttle_latency_param = 23;
94 optional LatencyParam brake_latency_param = 24;
95}
96
98 optional apollo.common.Header header = 1;
99 optional VehicleParam vehicle_param = 2;
100 optional Extrinsics extrinsics = 3;
101}
apollo::common
class register implement
Definition arena_queue.h:37