planning: naming changes to make naming conversion consistent

modules/planning/conf/scenario/bare_intersection_unprotected_config.pb.txt

@@ -61,7 +61,7 @@ stage_config: {
 stage_config: {
   stage_type: BARE_INTERSECTION_UNPROTECTED_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -74,8 +74,8 @@ stage_config: {
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PROCEED_WITH_CAUTION_SPEED
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4

modules/planning/conf/scenario/stop_sign_unprotected_config.pb.txt

@@ -115,7 +115,7 @@ stage_config: {
 stage_config: {
   stage_type: STOP_SIGN_UNPROTECTED_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -129,8 +129,8 @@ stage_config: {
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
   # task_type: PROCEED_WITH_CAUTION_SPEED
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4

modules/planning/conf/scenario/traffic_light_unprotected_left_turn_config.pb.txt

@@ -13,7 +13,7 @@ stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE
 stage_config: {
   stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -26,8 +26,8 @@ stage_config: {
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4

modules/planning/conf/scenario/traffic_light_unprotected_right_turn_config.pb.txt

@@ -64,7 +64,7 @@ stage_config: {
 stage_config: {
   stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -77,8 +77,8 @@ stage_config: {
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4

modules/planning/proto/decider_config.proto

@@ -2,7 +2,7 @@ syntax = "proto2";
 
 package apollo.planning;
 
-message DeciderCreepConfig {
+message CreepDeciderConfig {
   // stop distance(m) to the creeping stop fence while creeping
   optional double stop_distance = 1 [default = 0.5];  // meter
   optional double speed_limit = 2 [default = 1.0];    // m/s

modules/planning/proto/planning_config.proto

@@ -39,7 +39,7 @@ message TaskConfig {
     NAVI_PATH_DECIDER = 7;
     NAVI_SPEED_DECIDER = 8;
     NAVI_OBSTACLE_DECIDER = 9;
-    DECIDER_CREEP = 11;
+    CREEP_DECIDER = 11;
     OPEN_SPACE_PRE_STOP_DECIDER = 12;
     PROCEED_WITH_CAUTION_SPEED = 15;
     DECIDER_RSS = 16;
@@ -62,7 +62,7 @@ message TaskConfig {
     DpStSpeedConfig dp_st_speed_config = 3;
     PathDeciderConfig path_decider_config = 7;
     ProceedWithCautionSpeedConfig proceed_with_caution_speed_config = 8;
-    DeciderCreepConfig decider_creep_config = 10;
+    CreepDeciderConfig creep_decider_config = 10;
     OpenSpacePreStopDeciderConfig open_space_pre_stop_decider_config = 11;
     SpeedBoundsDeciderConfig speed_bounds_decider_config = 15;
     PiecewiseJerkPathConfig piecewise_jerk_path_config = 16;

modules/planning/scenarios/bare_intersection/unprotected/BUILD

@@ -25,7 +25,7 @@ cc_library(
         "//modules/planning/proto:planning_proto",
         "//modules/planning/scenarios:scenario",
         "//modules/planning/scenarios:stage_intersection_cruise_impl",
-        "//modules/planning/tasks/deciders:decider",
+        "//modules/planning/tasks/deciders/creep_decider",
         "@eigen",
     ],
 )

modules/planning/scenarios/stop_sign/unprotected/BUILD

@@ -30,7 +30,7 @@ cc_library(
         "//modules/planning/scenarios:scenario",
         "//modules/planning/scenarios:stage_intersection_cruise_impl",
         "//modules/planning/scenarios/util:scenario_util_lib",
-        "//modules/planning/tasks/deciders:decider",
+        "//modules/planning/tasks/deciders/creep_decider",
         "@eigen",
     ],
 )

modules/planning/scenarios/stop_sign/unprotected/stage_creep.cc

@@ -33,7 +33,7 @@
 #include "modules/planning/common/speed_profile_generator.h"
 #include "modules/planning/common/util/util.h"
 #include "modules/planning/scenarios/util/util.h"
-#include "modules/planning/tasks/deciders/decider_creep.h"
+#include "modules/planning/tasks/deciders/creep_decider/creep_decider.h"
 
 namespace apollo {
 namespace planning {
@@ -81,7 +81,7 @@ Stage::StageStatus StopSignUnprotectedStageCreep::Process(
   const double wait_time =
       Clock::NowInSeconds() - GetContext()->creep_start_time;
   const double timeout_sec = scenario_config_.creep_timeout_sec();
-  auto* task = dynamic_cast<DeciderCreep*>(FindTask(TaskConfig::DECIDER_CREEP));
+  auto* task = dynamic_cast<CreepDecider*>(FindTask(TaskConfig::CREEP_DECIDER));
 
   if (task == nullptr) {
     AERROR << "task is nullptr";
@@ -104,7 +104,7 @@ Stage::StageStatus StopSignUnprotectedStageCreep::Process(
   }
 
   // set param for PROCEED_WITH_CAUTION_SPEED
-  // dynamic_cast<DeciderCreep*>(FindTask(TaskConfig::DECIDER_CREEP))
+  // dynamic_cast<CreepDecider*>(FindTask(TaskConfig::CREEP_DECIDER))
   //    ->SetProceedWithCautionSpeedParam(*frame, reference_line_info,
   //                                      stop_sign_end_s);
 

modules/planning/scenarios/stop_sign/unprotected/stage_pre_stop.cc

@@ -33,7 +33,6 @@
 #include "modules/planning/common/planning_context.h"
 #include "modules/planning/common/util/util.h"
 #include "modules/planning/scenarios/util/util.h"
-#include "modules/planning/tasks/deciders/decider_creep.h"
 
 namespace apollo {
 namespace planning {

modules/planning/scenarios/traffic_light/protected/BUILD

@@ -25,7 +25,6 @@ cc_library(
         "//modules/planning/scenarios:scenario",
         "//modules/planning/scenarios:stage_intersection_cruise_impl",
         "//modules/planning/scenarios/util:scenario_util_lib",
-        "//modules/planning/tasks/deciders:decider",
         "@eigen",
     ],
 )

modules/planning/scenarios/traffic_light/unprotected_left_turn/BUILD

@@ -24,7 +24,7 @@ cc_library(
         "//modules/planning/proto:planning_proto",
         "//modules/planning/scenarios:scenario",
         "//modules/planning/scenarios:stage_intersection_cruise_impl",
-        "//modules/planning/tasks/deciders:decider",
+        "//modules/planning/tasks/deciders/creep_decider",
         "@eigen",
     ],
 )

modules/planning/scenarios/traffic_light/unprotected_left_turn/stage_creep.cc

@@ -31,7 +31,7 @@
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
 #include "modules/planning/common/frame.h"
 #include "modules/planning/common/planning_context.h"
-#include "modules/planning/tasks/deciders/decider_creep.h"
+#include "modules/planning/tasks/deciders/creep_decider/creep_decider.h"
 
 namespace apollo {
 namespace planning {

modules/planning/scenarios/traffic_light/unprotected_right_turn/BUILD

@@ -27,7 +27,7 @@ cc_library(
         "//modules/planning/scenarios:scenario",
         "//modules/planning/scenarios:stage_intersection_cruise_impl",
         "//modules/planning/scenarios/util:scenario_util_lib",
-        "//modules/planning/tasks/deciders:decider",
+        "//modules/planning/tasks/deciders/creep_decider",
         "@eigen",
     ],
 )

modules/planning/scenarios/traffic_light/unprotected_right_turn/stage_creep.cc

@@ -34,7 +34,7 @@
 #include "modules/planning/common/planning_context.h"
 #include "modules/planning/common/util/util.h"
 #include "modules/planning/scenarios/util/util.h"
-#include "modules/planning/tasks/deciders/decider_creep.h"
+#include "modules/planning/tasks/deciders/creep_decider/creep_decider.h"
 
 namespace apollo {
 namespace planning {
@@ -107,7 +107,7 @@ Stage::StageStatus TrafficLightUnprotectedRightTurnStageCreep::Process(
   const double wait_time =
       Clock::NowInSeconds() - GetContext()->creep_start_time;
   const double timeout_sec = scenario_config_.creep_timeout_sec();
-  auto* task = dynamic_cast<DeciderCreep*>(FindTask(TaskConfig::DECIDER_CREEP));
+  auto* task = dynamic_cast<CreepDecider*>(FindTask(TaskConfig::CREEP_DECIDER));
   if (task &&
       task->CheckCreepDone(*frame, reference_line_info, traffic_light->end_s,
                            wait_time, timeout_sec)) {
@@ -115,7 +115,7 @@ Stage::StageStatus TrafficLightUnprotectedRightTurnStageCreep::Process(
   }
 
   // set param for PROCEED_WITH_CAUTION_SPEED
-  // dynamic_cast<DeciderCreep*>(FindTask(TaskConfig::DECIDER_CREEP))
+  // dynamic_cast<CreepDecider*>(FindTask(TaskConfig::CREEP_DECIDER))
   //    ->SetProceedWithCautionSpeedParam(*frame, reference_line_info,
   //                                      traffic_light.end_s);
 

modules/planning/tasks/BUILD

@@ -36,7 +36,7 @@ cc_library(
     deps = [
         ":task",
         "//modules/planning/proto:planning_config_proto",
-        "//modules/planning/tasks/deciders:decider",
+        "//modules/planning/tasks/deciders/creep_decider",
         "//modules/planning/tasks/deciders/lane_change_decider",
         "//modules/planning/tasks/deciders/open_space_decider:open_space_fallback_decider",
         "//modules/planning/tasks/deciders/open_space_decider:open_space_pre_stop_decider",
@@ -45,6 +45,7 @@ cc_library(
         "//modules/planning/tasks/deciders/path_bounds_decider",
         "//modules/planning/tasks/deciders/path_lane_borrow_decider",
         "//modules/planning/tasks/deciders/rule_based_stop_decider",
+        "//modules/planning/tasks/deciders/speed_bounds_decider",
         "//modules/planning/tasks/optimizers/open_space_trajectory_generation:open_space_trajectory_provider",
         "//modules/planning/tasks/optimizers/open_space_trajectory_partition",
         "//modules/planning/tasks/optimizers/path_decider",

modules/planning/tasks/deciders/BUILD

@@ -2,31 +2,6 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
-    name = "decider",
-    srcs = [
-        "decider_creep.cc",
-    ],
-    hdrs = [
-        "decider_creep.h",
-    ],
-    copts = ["-DMODULE_NAME=\\\"planning\\\""],
-    deps = [
-        ":decider_base",
-        "//modules/perception/proto:perception_proto",
-        "//modules/planning/common:planning_context",
-        "//modules/planning/common:planning_gflags",
-        "//modules/planning/common:reference_line_info",
-        "//modules/planning/common:st_graph_data",
-        "//modules/planning/common/util:common_lib",
-        "//modules/planning/common/util:util_lib",
-        "//modules/planning/math/piecewise_jerk:piecewise_jerk_path_problem",
-        "//modules/planning/scenarios/util:scenario_util_lib",
-        "//modules/planning/tasks/deciders/speed_bounds_decider",
-        "//modules/planning/tasks/deciders/speed_bounds_decider:st_boundary_mapper",
-    ],
-)
-
 cc_library(
     name = "path_decider_obstacle_utils",
     srcs = [

modules/planning/tasks/deciders/creep_decider/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "creep_decider",
+    srcs = [
+        "creep_decider.cc",
+    ],
+    hdrs = [
+        "creep_decider.h",
+    ],
+    copts = ["-DMODULE_NAME=\\\"planning\\\""],
+    deps = [
+        "//modules/planning/common:planning_context",
+        "//modules/planning/common:reference_line_info",
+        "//modules/planning/common/util:common_lib",
+        "//modules/planning/common/util:util_lib",
+        "//modules/planning/scenarios/util:scenario_util_lib",
+        "//modules/planning/tasks/deciders:decider_base",
+    ],
+)
+
+cpplint()

modules/planning/tasks/deciders/decider_creep.cc → modules/planning/tasks/deciders/creep_decider/creep_decider.cc

@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/tasks/deciders/decider_creep.h"
+#include "modules/planning/tasks/deciders/creep_decider/creep_decider.h"
 
 #include <string>
 #include <vector>
@@ -35,14 +35,14 @@ namespace planning {
 using common::Status;
 using hdmap::PathOverlap;
 
-uint32_t DeciderCreep::creep_clear_counter_ = 0;
+uint32_t CreepDecider::creep_clear_counter_ = 0;
 
-DeciderCreep::DeciderCreep(const TaskConfig& config) : Decider(config) {
-  CHECK(config_.has_decider_creep_config());
-  SetName("DeciderCreep");
+CreepDecider::CreepDecider(const TaskConfig& config) : Decider(config) {
+  CHECK(config_.has_creep_decider_config());
+  SetName("CreepDecider");
 }
 
-Status DeciderCreep::Process(Frame* frame,
+Status CreepDecider::Process(Frame* frame,
                              ReferenceLineInfo* reference_line_info) {
   CHECK_NOTNULL(frame);
   CHECK_NOTNULL(reference_line_info);
@@ -90,27 +90,27 @@ Status DeciderCreep::Process(Frame* frame,
         stop_line_s + FindCreepDistance(*frame, *reference_line_info);
     const std::vector<std::string> wait_for_obstacles;
     util::BuildStopDecision(virtual_obstacle_id, creep_stop_s,
-                            config_.decider_creep_config().stop_distance(),
+                            config_.creep_decider_config().stop_distance(),
                             StopReasonCode::STOP_REASON_CREEPER,
-                            wait_for_obstacles, "DeciderCreep", frame,
+                            wait_for_obstacles, "CreepDecider", frame,
                             reference_line_info);
   }
 
   return Status::OK();
 }
 
-double DeciderCreep::FindCreepDistance(
+double CreepDecider::FindCreepDistance(
     const Frame& frame, const ReferenceLineInfo& reference_line_info) {
   // more delicate design of creep distance
   return 2.0;
 }
 
-bool DeciderCreep::CheckCreepDone(const Frame& frame,
+bool CreepDecider::CheckCreepDone(const Frame& frame,
                                   const ReferenceLineInfo& reference_line_info,
                                   const double stop_sign_overlap_end_s,
                                   const double wait_time_sec,
                                   const double timeout_sec) {
-  const auto& creep_config = config_.decider_creep_config();
+  const auto& creep_config = config_.creep_decider_config();
   bool creep_done = false;
   double creep_stop_s =
       stop_sign_overlap_end_s + FindCreepDistance(frame, reference_line_info);

modules/planning/tasks/deciders/decider_creep.h → modules/planning/tasks/deciders/creep_decider/creep_decider.h

@@ -32,9 +32,9 @@
 namespace apollo {
 namespace planning {
 
-class DeciderCreep : public Decider {
+class CreepDecider : public Decider {
  public:
-  explicit DeciderCreep(const TaskConfig& config);
+  explicit CreepDecider(const TaskConfig& config);
 
   apollo::common::Status Process(
       Frame* frame, ReferenceLineInfo* reference_line_info) override;

modules/planning/tasks/task_factory.cc

@@ -23,7 +23,7 @@
 #include "modules/planning/proto/planning_config.pb.h"
 
 #include "modules/common/status/status.h"
-#include "modules/planning/tasks/deciders/decider_creep.h"
+#include "modules/planning/tasks/deciders/creep_decider/creep_decider.h"
 #include "modules/planning/tasks/deciders/lane_change_decider/lane_change_decider.h"
 #include "modules/planning/tasks/deciders/open_space_decider/open_space_fallback_decider.h"
 #include "modules/planning/tasks/deciders/open_space_decider/open_space_pre_stop_decider.h"
@@ -92,9 +92,9 @@ void TaskFactory::Init(const PlanningConfig& config) {
                          [](const TaskConfig& config) -> Task* {
                            return new SpeedDecider(config);
                          });
-  task_factory_.Register(TaskConfig::DECIDER_CREEP,
+  task_factory_.Register(TaskConfig::CREEP_DECIDER,
                          [](const TaskConfig& config) -> Task* {
-                           return new DeciderCreep(config);
+                           return new CreepDecider(config);
                          });
   task_factory_.Register(TaskConfig::OPEN_SPACE_PRE_STOP_DECIDER,
                          [](const TaskConfig& config) -> Task* {

modules/planning/testdata/conf/scenario/bare_intersection_unprotected_config.pb.txt

@@ -56,15 +56,12 @@ stage_config: {
   task_config: {
     task_type: SPEED_BOUNDS_FINAL_DECIDER
   }
-  task_config: {
-    task_type: RULE_BASED_STOP_DECIDER
-  }
 }
 
 stage_config: {
   stage_type: BARE_INTERSECTION_UNPROTECTED_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -77,8 +74,8 @@ stage_config: {
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PROCEED_WITH_CAUTION_SPEED
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4

modules/planning/testdata/conf/scenario/lane_follow_config.pb.txt

@@ -3,6 +3,7 @@ stage_type: LANE_FOLLOW_DEFAULT_STAGE
 stage_config: {
   stage_type: LANE_FOLLOW_DEFAULT_STAGE
   enabled: true
+  task_type: LANE_CHANGE_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -16,6 +17,12 @@ stage_config: {
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
   task_type: DECIDER_RSS
 
+  task_config: {
+    task_type: LANE_CHANGE_DECIDER
+    lane_change_decider_config {
+      enable_lane_change_urgency_check: true
+    }
+  }
   task_config: {
     task_type: PATH_LANE_BORROW_DECIDER
     path_lane_borrow_decider_config {

modules/planning/testdata/conf/scenario/stop_sign_unprotected_config.pb.txt

@@ -115,7 +115,7 @@ stage_config: {
 stage_config: {
   stage_type: STOP_SIGN_UNPROTECTED_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -129,8 +129,8 @@ stage_config: {
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
   # task_type: PROCEED_WITH_CAUTION_SPEED
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4

modules/planning/testdata/conf/scenario/traffic_light_unprotected_left_turn_config.pb.txt

@@ -13,7 +13,7 @@ stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE
 stage_config: {
   stage_type: TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -25,10 +25,9 @@ stage_config: {
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
-  # task_type: PROCEED_WITH_CAUTION_SPEED
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4
@@ -58,12 +57,6 @@ stage_config: {
   task_config: {
     task_type: SPEED_DECIDER
   }
-  task_config: {
-    task_type: PROCEED_WITH_CAUTION_SPEED
-    proceed_with_caution_speed_config: {
-      max_distance: 5.0
-    }
-  }
   task_config: {
     task_type: SPEED_BOUNDS_PRIORI_DECIDER
   }

modules/planning/testdata/conf/scenario/traffic_light_unprotected_right_turn_config.pb.txt

@@ -64,7 +64,7 @@ stage_config: {
 stage_config: {
   stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
   enabled: true
-  task_type: DECIDER_CREEP
+  task_type: CREEP_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -76,10 +76,9 @@ stage_config: {
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
-  # task_type: PROCEED_WITH_CAUTION_SPEED
   task_config: {
-    task_type: DECIDER_CREEP
-    decider_creep_config: {
+    task_type: CREEP_DECIDER
+    creep_decider_config: {
       stop_distance: 0.3
       speed_limit: 1.0
       max_valid_stop_distance: 0.4
@@ -112,12 +111,6 @@ stage_config: {
   task_config: {
     task_type: SPEED_BOUNDS_FINAL_DECIDER
   }
-  task_config: {
-    task_type: PROCEED_WITH_CAUTION_SPEED
-    proceed_with_caution_speed_config: {
-      max_distance: 5.0
-    }
-  }
   task_config: {
     task_type: SPEED_DECIDER
   }

modules/planning/testdata/conf/scenario/valet_parking_config.pb.txt

@@ -62,6 +62,7 @@ stage_config: {
     task_config: {
         task_type: RULE_BASED_STOP_DECIDER
     }
+
 }
 stage_config: {
     stage_type: VALET_PARKING_PARKING