Skip to content
体验新版
项目
组织
正在加载...
登录
切换导航
打开侧边栏
Pinoxchio
apollo
提交
8715be9d
A
apollo
项目概览
Pinoxchio
/
apollo
与 Fork 源项目一致
从无法访问的项目Fork
通知
2
Star
0
Fork
0
代码
文件
提交
分支
Tags
贡献者
分支图
Diff
Issue
0
列表
看板
标记
里程碑
合并请求
0
Wiki
0
Wiki
分析
仓库
DevOps
项目成员
Pages
A
apollo
项目概览
项目概览
详情
发布
仓库
仓库
文件
提交
分支
标签
贡献者
分支图
比较
Issue
0
Issue
0
列表
看板
标记
里程碑
合并请求
0
合并请求
0
Pages
分析
分析
仓库分析
DevOps
Wiki
0
Wiki
成员
成员
收起侧边栏
关闭侧边栏
动态
分支图
创建新Issue
提交
Issue看板
体验新版 GitCode,发现更多精彩内容 >>
提交
8715be9d
编写于
11月 11, 2019
作者:
J
jmtao
提交者:
Jiaming Tao
11月 11, 2019
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
planning: update proto for emergency_stop scenario
上级
c3566980
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
80 addition
and
50 deletion
+80
-50
modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
...eamview/frontend/proto_bundle/sim_world_proto_bundle.json
+44
-25
modules/planning/proto/planning_config.proto
modules/planning/proto/planning_config.proto
+36
-25
未找到文件。
modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
浏览文件 @
8715be9d
...
...
@@ -6640,6 +6640,17 @@
}
}
},
"ScenarioEmergencyStopConfig"
:
{
"fields"
:
{
"maxStopDeceleration"
:
{
"type"
:
"double"
,
"id"
:
1
,
"options"
:
{
"default"
:
6
}
}
}
},
"ScenarioValetParkingConfig"
:
{
"fields"
:
{
"parkingSpotRangeToStart"
:
{
...
...
@@ -6725,6 +6736,7 @@
"laneFollowConfig"
,
"bareIntersectionUnprotectedConfig"
,
"emergencyPullOverConfig"
,
"emergencyStopConfig"
,
"narrowStreetUTurnConfig"
,
"stopSignUnprotectedConfig"
,
"trafficLightProtectedConfig"
,
...
...
@@ -6754,46 +6766,50 @@
"type"
:
"ScenarioEmergencyPullOverConfig"
,
"id"
:
5
},
"emergencyStopConfig"
:
{
"type"
:
"ScenarioEmergencyStopConfig"
,
"id"
:
6
},
"narrowStreetUTurnConfig"
:
{
"type"
:
"ScenarioNarrowStreetUTurnConfig"
,
"id"
:
6
"id"
:
7
},
"stopSignUnprotectedConfig"
:
{
"type"
:
"ScenarioStopSignUnprotectedConfig"
,
"id"
:
7
"id"
:
8
},
"trafficLightProtectedConfig"
:
{
"type"
:
"ScenarioTrafficLightProtectedConfig"
,
"id"
:
8
"id"
:
9
},
"trafficLightUnprotectedRightTurnConfig"
:
{
"type"
:
"ScenarioTrafficLightUnprotectedRightTurnConfig"
,
"id"
:
9
"id"
:
10
},
"trafficLightUnprotectedLeftTurnConfig"
:
{
"type"
:
"ScenarioTrafficLightUnprotectedLeftTurnConfig"
,
"id"
:
1
0
"id"
:
1
1
},
"parkAndGoConfig"
:
{
"type"
:
"ScenarioParkAndGoConfig"
,
"id"
:
1
1
"id"
:
1
2
},
"pullOverConfig"
:
{
"type"
:
"ScenarioPullOverConfig"
,
"id"
:
1
2
"id"
:
1
3
},
"valetParkingConfig"
:
{
"type"
:
"ScenarioValetParkingConfig"
,
"id"
:
1
3
"id"
:
1
4
},
"yieldSignConfig"
:
{
"type"
:
"ScenarioYieldSignConfig"
,
"id"
:
1
4
"id"
:
1
5
},
"stageType"
:
{
"rule"
:
"repeated"
,
"type"
:
"StageType"
,
"id"
:
1
5
,
"id"
:
1
6
,
"options"
:
{
"packed"
:
false
}
...
...
@@ -6801,7 +6817,7 @@
"stageConfig"
:
{
"rule"
:
"repeated"
,
"type"
:
"StageConfig"
,
"id"
:
1
6
"id"
:
1
7
}
},
"nested"
:
{
...
...
@@ -6817,10 +6833,11 @@
"TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN"
:
8
,
"YIELD_SIGN"
:
9
,
"PULL_OVER"
:
10
,
"EMERGENCY_PULL_OVER"
:
11
,
"VALET_PARKING"
:
12
,
"NARROW_STREET_U_TURN"
:
13
,
"PARK_AND_GO"
:
14
"VALET_PARKING"
:
11
,
"EMERGENCY_PULL_OVER"
:
12
,
"EMERGENCY_STOP"
:
13
,
"NARROW_STREET_U_TURN"
:
14
,
"PARK_AND_GO"
:
15
}
},
"StageType"
:
{
...
...
@@ -6844,16 +6861,18 @@
"PULL_OVER_APPROACH"
:
500
,
"PULL_OVER_RETRY_APPROACH_PARKING"
:
501
,
"PULL_OVER_RETRY_PARKING"
:
502
,
"EMERGENCY_PULL_OVER_SLOW_DOWN"
:
510
,
"EMERGENCY_PULL_OVER_APPROACH"
:
511
,
"EMERGENCY_PULL_OVER_STANDBY"
:
512
,
"VALET_PARKING_APPROACHING_PARKING_SPOT"
:
520
,
"VALET_PARKING_PARKING"
:
521
,
"PARK_AND_GO_CHECK"
:
600
,
"PARK_AND_GO_CRUISE"
:
601
,
"PARK_AND_GO_ADJUST"
:
602
,
"YIELD_SIGN_APPROACH"
:
700
,
"YIELD_SIGN_CREEP"
:
701
"EMERGENCY_PULL_OVER_SLOW_DOWN"
:
600
,
"EMERGENCY_PULL_OVER_APPROACH"
:
601
,
"EMERGENCY_PULL_OVER_STANDBY"
:
602
,
"EMERGENCY_STOP_APPROACH"
:
610
,
"EMERGENCY_STOP_STANDBY"
:
611
,
"VALET_PARKING_APPROACHING_PARKING_SPOT"
:
700
,
"VALET_PARKING_PARKING"
:
701
,
"PARK_AND_GO_CHECK"
:
800
,
"PARK_AND_GO_CRUISE"
:
801
,
"PARK_AND_GO_ADJUST"
:
802
,
"YIELD_SIGN_APPROACH"
:
900
,
"YIELD_SIGN_CREEP"
:
901
}
},
"StageConfig"
:
{
...
...
modules/planning/proto/planning_config.proto
浏览文件 @
8715be9d
...
...
@@ -166,6 +166,10 @@ message ScenarioEmergencyPullOverConfig {
optional
double
stop_distance
=
4
[
default
=
1.5
];
// meter
}
message
ScenarioEmergencyStopConfig
{
optional
double
max_stop_deceleration
=
1
[
default
=
6.0
];
}
message
ScenarioValetParkingConfig
{
optional
double
parking_spot_range_to_start
=
1
[
default
=
20.0
];
optional
double
max_valid_stop_distance
=
2
[
default
=
1.0
];
// meter
...
...
@@ -205,12 +209,14 @@ message ScenarioConfig {
// parking
PULL_OVER
=
10
;
EMERGENCY_PULL_OVER
=
11
;
VALET_PARKING
=
12
;
VALET_PARKING
=
11
;
EMERGENCY_PULL_OVER
=
12
;
EMERGENCY_STOP
=
13
;
// misc
NARROW_STREET_U_TURN
=
1
3
;
PARK_AND_GO
=
1
4
;
NARROW_STREET_U_TURN
=
1
4
;
PARK_AND_GO
=
1
5
;
}
// StageType is a superset of stages from all scenarios.
...
...
@@ -250,21 +256,25 @@ message ScenarioConfig {
PULL_OVER_RETRY_PARKING
=
502
;
// emergency_pull_over scenario
EMERGENCY_PULL_OVER_SLOW_DOWN
=
510
;
EMERGENCY_PULL_OVER_APPROACH
=
511
;
EMERGENCY_PULL_OVER_STANDBY
=
512
;
EMERGENCY_PULL_OVER_SLOW_DOWN
=
600
;
EMERGENCY_PULL_OVER_APPROACH
=
601
;
EMERGENCY_PULL_OVER_STANDBY
=
602
;
// emergency_pull_over scenario
EMERGENCY_STOP_APPROACH
=
610
;
EMERGENCY_STOP_STANDBY
=
611
;
// valet parking scenario
VALET_PARKING_APPROACHING_PARKING_SPOT
=
52
0
;
VALET_PARKING_PARKING
=
52
1
;
VALET_PARKING_APPROACHING_PARKING_SPOT
=
70
0
;
VALET_PARKING_PARKING
=
70
1
;
// park_and_go scenario
PARK_AND_GO_CHECK
=
6
00
;
PARK_AND_GO_CRUISE
=
6
01
;
PARK_AND_GO_ADJUST
=
6
02
;
PARK_AND_GO_CHECK
=
8
00
;
PARK_AND_GO_CRUISE
=
8
01
;
PARK_AND_GO_ADJUST
=
8
02
;
YIELD_SIGN_APPROACH
=
7
00
;
YIELD_SIGN_CREEP
=
7
01
;
YIELD_SIGN_APPROACH
=
9
00
;
YIELD_SIGN_CREEP
=
9
01
;
};
message
StageConfig
{
...
...
@@ -283,22 +293,23 @@ message ScenarioConfig {
ScenarioBareIntersectionUnprotectedConfig
bare_intersection_unprotected_config
=
4
;
ScenarioEmergencyPullOverConfig
emergency_pull_over_config
=
5
;
ScenarioNarrowStreetUTurnConfig
narrow_street_u_turn_config
=
6
;
ScenarioStopSignUnprotectedConfig
stop_sign_unprotected_config
=
7
;
ScenarioTrafficLightProtectedConfig
traffic_light_protected_config
=
8
;
ScenarioEmergencyStopConfig
emergency_stop_config
=
6
;
ScenarioNarrowStreetUTurnConfig
narrow_street_u_turn_config
=
7
;
ScenarioStopSignUnprotectedConfig
stop_sign_unprotected_config
=
8
;
ScenarioTrafficLightProtectedConfig
traffic_light_protected_config
=
9
;
ScenarioTrafficLightUnprotectedRightTurnConfig
traffic_light_unprotected_right_turn_config
=
9
;
traffic_light_unprotected_right_turn_config
=
10
;
ScenarioTrafficLightUnprotectedLeftTurnConfig
traffic_light_unprotected_left_turn_config
=
1
0
;
ScenarioParkAndGoConfig
park_and_go_config
=
1
1
;
ScenarioPullOverConfig
pull_over_config
=
1
2
;
ScenarioValetParkingConfig
valet_parking_config
=
1
3
;
ScenarioYieldSignConfig
yield_sign_config
=
1
4
;
traffic_light_unprotected_left_turn_config
=
1
1
;
ScenarioParkAndGoConfig
park_and_go_config
=
1
2
;
ScenarioPullOverConfig
pull_over_config
=
1
3
;
ScenarioValetParkingConfig
valet_parking_config
=
1
4
;
ScenarioYieldSignConfig
yield_sign_config
=
1
5
;
}
// a list of stages that are used at runtime. The first one is default stage.
repeated
StageType
stage_type
=
1
5
;
repeated
StageType
stage_type
=
1
6
;
// an unordered list of stage configs.
repeated
StageConfig
stage_config
=
1
6
;
repeated
StageConfig
stage_config
=
1
7
;
}
message
PlannerPublicRoadConfig
{
...
...
编辑
预览
Markdown
is supported
0%
请重试
或
添加新附件
.
添加附件
取消
You are about to add
0
people
to the discussion. Proceed with caution.
先完成此消息的编辑!
取消
想要评论请
注册
或
登录