planning: remove stop_sign from traffic rules, use decider instead (#1987)

* planning: remove stop_sign from traffic rules, use decider instead * planning: scenario conf file format-only changes * planning: temporarily disable decider_rss build * planning: bring decider_rss build back

planning: remove stop_sign from traffic rules, use decider instead (#1987)
* planning: remove stop_sign from traffic rules, use decider instead * planning: scenario conf file format-only changes * planning: temporarily disable decider_rss build * planning: bring decider_rss build back
c13e9bc4 · Jiaming Tao · Jiangtao Hu · 80008a6d · c13e9bc4 · c13e9bc4
15 changed file
--- a/modules/planning/conf/planning_config.pb.txt
+++ b/modules/planning/conf/planning_config.pb.txt
 standard_planning_config {
-  planner_type : PUBLIC_ROAD
-  planner_type : OPEN_SPACE
+  planner_type: PUBLIC_ROAD
+  planner_type: OPEN_SPACE
  planner_public_road_config {
-     scenario_type : LANE_FOLLOW
-     scenario_type : SIDE_PASS
-     scenario_type : STOP_SIGN_UNPROTECTED
+     scenario_type: LANE_FOLLOW
+     scenario_type: SIDE_PASS
+     scenario_type: STOP_SIGN_UNPROTECTED
  }
 }

-default_task_config : {
-  task_type : DECIDER_RULE_BASED_STOP
-  decider_rule_based_stop_config : {
-    crosswalk : {
-      enabled : false
-      stop_distance : 1.0
+default_task_config: {
+  task_type: DECIDER_RULE_BASED_STOP
+  decider_rule_based_stop_config: {
+    crosswalk: {
+      enabled: false
+      stop_distance: 1.0
    }
-    stop_sign : {
-      enabled : true
-      stop_distance : 1.0
+    stop_sign: {
+      enabled: true
+      stop_distance: 1.0
    }
-    traffic_light : {
-      enabled : false
-      stop_distance : 1.0
-      signal_expire_time_sec : 5.0
+    traffic_light: {
+      enabled: false
+      stop_distance: 1.0
+      signal_expire_time_sec: 5.0
    }
  }
 }
-default_task_config : {
-  task_type : QP_PIECEWISE_JERK_PATH_OPTIMIZER
+default_task_config: {
+  task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
  qp_piecewise_jerk_path_config {
    path_resolution: 1.0
    qp_delta_s: 1.0
@@ -37,8 +37,8 @@ default_task_config : {
    path_output_resolution: 0.1
  }
 }
-default_task_config : {
-  task_type : DP_POLY_PATH_OPTIMIZER
+default_task_config: {
+  task_type: DP_POLY_PATH_OPTIMIZER
  dp_poly_path_config {
    waypoint_sampler_config {
      sample_points_num_each_level: 7
@@ -65,8 +65,8 @@ default_task_config : {
    path_end_l_cost: 1.0e4
  }
 }
-default_task_config : {
-  task_type : DP_ST_SPEED_OPTIMIZER
+default_task_config: {
+  task_type: DP_ST_SPEED_OPTIMIZER
  dp_st_speed_config {
    total_path_length: 149
    total_time: 7.0
@@ -112,8 +112,8 @@ default_task_config : {
    }
  }
 }
-default_task_config : {
-  task_type : SPEED_DECIDER
+default_task_config: {
+  task_type: SPEED_DECIDER
  dp_st_speed_config {
    total_path_length: 149
    total_time: 7.0
@@ -153,8 +153,8 @@ default_task_config : {
    }
  }
 }
-default_task_config : {
-  task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+default_task_config: {
+  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  qp_st_speed_config {
    total_path_length: 250.0
    total_time: 7.0
@@ -205,14 +205,14 @@ default_task_config : {
    }
  }
 }
-default_task_config : {
-  task_type : SIDE_PASS_SAFETY
+default_task_config: {
+  task_type: SIDE_PASS_SAFETY
  side_pass_safety_config {
    min_obstacle_lateral_distance: 1.0
  }
 }
-default_task_config : {
-  task_type : SIDE_PASS_PATH_DECIDER
+default_task_config: {
+  task_type: SIDE_PASS_PATH_DECIDER
  side_pass_path_decider_config {
    total_path_length: 50.0
    path_resolution: 0.5

--- a/modules/planning/conf/scenario_lane_follow_config.pb.txt
+++ b/modules/planning/conf/scenario_lane_follow_config.pb.txt
-scenario_type : LANE_FOLLOW
+scenario_type: LANE_FOLLOW
 stage_type: LANE_FOLLOW_DEFAULT_STAGE
-stage_config : {
-    stage_type: LANE_FOLLOW_DEFAULT_STAGE
-    enabled: true
-    task_type : DP_POLY_PATH_OPTIMIZER
-#   task_type : QP_PIECEWISE_JERK_PATH_OPTIMIZER
-    task_type : PATH_DECIDER
-    task_type : DP_ST_SPEED_OPTIMIZER
-    task_type : SPEED_DECIDER
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
-#   task_type : DECIDER_RSS
+stage_config: {
+  stage_type: LANE_FOLLOW_DEFAULT_STAGE
+  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
+  task_type: DP_POLY_PATH_OPTIMIZER
+# task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
+  task_type: PATH_DECIDER
+  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_DECIDER
+  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
+# task_type: DECIDER_RSS

-    task_config : {
-      task_type : QP_PIECEWISE_JERK_PATH_OPTIMIZER
-    }
-    task_config : {
-      task_type : DP_POLY_PATH_OPTIMIZER
-    }
-    task_config : {
-      task_type : PATH_DECIDER
-    }
-    task_config : {
-      task_type : DP_ST_SPEED_OPTIMIZER
-    }
-    task_config : {
-      task_type : SPEED_DECIDER
-    }
-    task_config : {
-      task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
-    }
-    task_config : {
-      task_type : DECIDER_RSS
-    }
-}
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
+  }
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
+  }
+  task_config: {
+    task_type: PATH_DECIDER
+  }
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
+  }
+  task_config: {
+    task_type: SPEED_DECIDER
+  }
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
+  }
+  task_config: {
+    task_type: DECIDER_RSS
+  }
+}
\ No newline at end of file
--- a/modules/planning/conf/scenario_side_pass_config.pb.txt
+++ b/modules/planning/conf/scenario_side_pass_config.pb.txt
-scenario_type : SIDE_PASS
+scenario_type: SIDE_PASS
 stage_type: SIDE_PASS_APPROACH_OBSTACLE
 stage_type: SIDE_PASS_GENERATE_PATH
 stage_type: SIDE_PASS_STOP_ON_WAITPOINT
 stage_type: SIDE_PASS_DETECT_SAFETY
 stage_type: SIDE_PASS_PASS_OBSTACLE
 stage_type: SIDE_PASS_BACKUP
-side_pass_config : {
-  side_pass_exit_distance : 10.0
-  approach_obstacle_max_stop_speed : 1.0e-5
-  approach_obstacle_min_stop_distance : 4.0
-  block_obstacle_min_speed : 0.1
+side_pass_config: {
+  side_pass_exit_distance: 10.0
+  approach_obstacle_max_stop_speed: 1.0e-5
+  approach_obstacle_min_stop_distance: 4.0
+  block_obstacle_min_speed: 0.1
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_APPROACH_OBSTACLE
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: SPEED_DECIDER
+  }
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_BACKUP
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_GENERATE_PATH
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: SIDE_PASS_PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : SIDE_PASS_PATH_DECIDER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: SIDE_PASS_PATH_DECIDER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: SPEED_DECIDER
+  }
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }

-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_STOP_ON_WAITPOINT
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_DETECT_SAFETY
  enabled: true
+
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: SIDE_PASS_SAFETY
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : SIDE_PASS_SAFETY
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: SIDE_PASS_SAFETY
    side_pass_safety_config {
      min_obstacle_lateral_distance: 1.0
    }
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_PASS_OBSTACLE
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
--- a/modules/planning/conf/scenario_stop_sign_unprotected_config.pb.txt
+++ b/modules/planning/conf/scenario_stop_sign_unprotected_config.pb.txt
-scenario_type : STOP_SIGN_UNPROTECTED
-stop_sign_unprotected_config : {
-  start_stop_sign_scenario_timer : 10
+scenario_type: STOP_SIGN_UNPROTECTED
+stop_sign_unprotected_config: {
+  start_stop_sign_scenario_timer: 10
  start_stop_sign_scenario_distance: 100.0
-  watch_vehicle_max_valid_stop_distance : 5.0
-  max_valid_stop_distance : 3.5
-  max_adc_stop_speed : 0.3
-  stop_duration : 1.0
-  min_pass_s_distance : 3.0
-  wait_timeout : 8.0
+  watch_vehicle_max_valid_stop_distance: 5.0
+  max_valid_stop_distance: 3.5
+  max_adc_stop_speed: 0.3
+  stop_duration: 1.0
+  min_pass_s_distance: 3.0
+  wait_timeout: 8.0
 }
 stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
 stage_type: STOP_SIGN_UNPROTECTED_STOP
@@ -16,61 +16,61 @@ stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_STOP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
 }

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_CREEP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DECIDER_CREEP
  task_type: DP_POLY_PATH_OPTIMIZER
@@ -78,63 +78,63 @@ stage_config: {
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: PROCEED_WITH_CAUTION_SPEED
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DECIDER_CREEP
-    decider_creep_config : {
+  task_config: {
+    task_type: DECIDER_CREEP
+    decider_creep_config: {
      stop_distance: 0.3
      speed_limit: 1.0
      max_valid_stop_distance: 0.4
      min_boundary_t: 6.0
    }
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  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: PROCEED_WITH_CAUTION_SPEED
+    proceed_with_caution_speed_config: {
+      max_distance: 5.0
    }
  }
 }

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
--- a/modules/planning/conf/scenario_traffic_light_right_turn_unprotected_config.pb.txt
+++ b/modules/planning/conf/scenario_traffic_light_right_turn_unprotected_config.pb.txt
-scenario_type : TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED
-traffic_light_right_turn_unprotected_config : {
-  start_traffic_light_scenario_timer : 20
-  max_valid_stop_distance : 3.5
-  max_adc_stop_speed : 0.3
-  min_pass_s_distance : 3.0
+scenario_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED
+traffic_light_right_turn_unprotected_config: {
+  start_traffic_light_scenario_timer: 20
+  max_valid_stop_distance: 3.5
+  max_adc_stop_speed: 0.3
+  min_pass_s_distance: 3.0
 }
 stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
 stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
@@ -11,32 +11,32 @@ stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE

 stage_config: {
  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
 }

 stage_config: {
  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DECIDER_CREEP
  task_type: DP_POLY_PATH_OPTIMIZER
@@ -44,63 +44,63 @@ stage_config: {
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: PROCEED_WITH_CAUTION_SPEED
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DECIDER_CREEP
-    decider_creep_config : {
+  task_config: {
+    task_type: DECIDER_CREEP
+    decider_creep_config: {
      stop_distance: 0.3
      speed_limit: 1.0
      max_valid_stop_distance: 0.4
      min_boundary_t: 6.0
    }
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  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: PROCEED_WITH_CAUTION_SPEED
+    proceed_with_caution_speed_config: {
+      max_distance: 5.0
    }
  }
 }

 stage_config: {
  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
--- a/modules/planning/integration_tests/sunnyvale_big_loop_test.cc
+++ b/modules/planning/integration_tests/sunnyvale_big_loop_test.cc
@@ -24,14 +24,12 @@
 #include "modules/planning/common/planning_context.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/integration_tests/planning_test_base.h"
-#include "modules/planning/traffic_rules/stop_sign.h"

 namespace apollo {
 namespace planning {

 using apollo::common::PointENU;
 using apollo::common::time::Clock;
-using apollo::planning::StopSign;

 /**
 * @class SunnyvaleBigLoopTest
@@ -75,6 +73,7 @@ class SunnyvaleBigLoopTest : public PlanningTestBase {
 *   adc status: null => DRIVE
 *   decision: STOP
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_01) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -92,12 +91,14 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_01) {
  EXPECT_TRUE(stop_sign_status.has_status() &&
              stop_sign_status.status() == StopSignStatus::DRIVE);
 }
+*/

 /*
 * stop_sign: adc stopped (speed and distance to stop_line)
 *   adc status: DRIVE => STOP
 *   decision: STOP
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_02) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -120,12 +121,14 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_02) {
  EXPECT_TRUE(stop_sign_status->has_status() &&
              stop_sign_status->status() == StopSignStatus::STOP);
 }
+*/

 /*
 * stop_sign: adc stopped + wait_time < STOP_DURATION
 *   adc status: STOP => STOP
 *   decision: STOP
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_03) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -154,12 +157,14 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_03) {
  EXPECT_TRUE(stop_sign_status->has_status() &&
              stop_sign_status->status() == StopSignStatus::STOP);
 }
+*/

 /*
 * stop_sign: adc stopped + wait time > STOP_DURATION
 *   adc status: STOP => STOP_DONE
 *   decision: CRUISE
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_04) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -192,6 +197,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_04) {
  EXPECT_TRUE(stop_sign_status->has_status() &&
              stop_sign_status->status() == StopSignStatus::STOP_DONE);
 }
+*/

 /*
 * stop_sign:
@@ -204,6 +210,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_04) {
 *   adc status: STOP => STOP_DONE
 *   decision: CRUISE
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_05) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -239,6 +246,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_05) {

  RUN_GOLDEN_TEST_DECISION(1);
 }
+*/

 /*
 * stop_sign:
@@ -260,6 +268,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_05) {
 *   adc status: WAIT => STOP_DONE
 *   decision: CRUISE
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_06) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -340,6 +349,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_06) {
  EXPECT_TRUE(stop_sign_status->has_status() &&
              stop_sign_status->status() == StopSignStatus::STOP_DONE);
 }
+*/

 /*
 * stop_sign:
@@ -354,6 +364,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_06) {
 *   come back to the same stop sign 2nd time
 *   adc decision: STOP
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_07) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -408,6 +419,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_07) {

  RUN_GOLDEN_TEST_DECISION(2);
 }
+*/

 /*
 * stop_sign:
@@ -420,6 +432,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_07) {
 *   adc status: STOP => CREEP
 *   decision: STOP
 */
+/* TODO(all): to rewrite
 TEST_F(SunnyvaleBigLoopTest, stop_sign_08) {
  ENABLE_RULE(TrafficRuleConfig::STOP_SIGN, true);

@@ -477,6 +490,7 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_08) {
  EXPECT_TRUE(stop_sign_status->has_status() &&
              stop_sign_status->status() == StopSignStatus::STOP_DONE);
 }
+*/

 /*
 * kee_clear: keep clear zone clear

--- a/modules/planning/testdata/conf/scenario_lane_follow_config.pb.txt
+++ b/modules/planning/testdata/conf/scenario_lane_follow_config.pb.txt
-scenario_type : LANE_FOLLOW
+scenario_type: LANE_FOLLOW
 stage_type: LANE_FOLLOW_DEFAULT_STAGE
-stage_config : {
-    stage_type: LANE_FOLLOW_DEFAULT_STAGE
-    enabled: true
-    task_type : DP_POLY_PATH_OPTIMIZER
-#   task_type : QP_PIECEWISE_JERK_PATH_OPTIMIZER
-    task_type : PATH_DECIDER
-    task_type : DP_ST_SPEED_OPTIMIZER
-    task_type : SPEED_DECIDER
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+stage_config: {
+  stage_type: LANE_FOLLOW_DEFAULT_STAGE
+  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
+  task_type: DP_POLY_PATH_OPTIMIZER
+# task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
+  task_type: PATH_DECIDER
+  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_DECIDER
+  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
+# task_type: DECIDER_RSS

-    task_config : {
-      task_type : QP_PIECEWISE_JERK_PATH_OPTIMIZER
-    }
-    task_config : {
-      task_type : DP_POLY_PATH_OPTIMIZER
-    }
-    task_config : {
-      task_type : PATH_DECIDER
-    }
-    task_config : {
-      task_type : DP_ST_SPEED_OPTIMIZER
-    }
-    task_config : {
-      task_type : SPEED_DECIDER
-    }
-    task_config : {
-      task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
-    }
-}
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
+  }
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
+  }
+  task_config: {
+    task_type: PATH_DECIDER
+  }
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
+  }
+  task_config: {
+    task_type: SPEED_DECIDER
+  }
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
+  }
+  task_config: {
+    task_type: DECIDER_RSS
+  }
+}
\ No newline at end of file
--- a/modules/planning/testdata/conf/scenario_side_pass_config.pb.txt
+++ b/modules/planning/testdata/conf/scenario_side_pass_config.pb.txt
-scenario_type : SIDE_PASS
+scenario_type: SIDE_PASS
 stage_type: SIDE_PASS_APPROACH_OBSTACLE
 stage_type: SIDE_PASS_GENERATE_PATH
 stage_type: SIDE_PASS_STOP_ON_WAITPOINT
 stage_type: SIDE_PASS_DETECT_SAFETY
 stage_type: SIDE_PASS_PASS_OBSTACLE
 stage_type: SIDE_PASS_BACKUP
-side_pass_config : {
-  side_pass_exit_distance : 10.0
-  approach_obstacle_max_stop_speed : 1.0e-5
-  approach_obstacle_min_stop_distance : 4.0
-  block_obstacle_min_speed : 0.1
+side_pass_config: {
+  side_pass_exit_distance: 10.0
+  approach_obstacle_max_stop_speed: 1.0e-5
+  approach_obstacle_min_stop_distance: 4.0
+  block_obstacle_min_speed: 0.1
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_APPROACH_OBSTACLE
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: SPEED_DECIDER
+  }
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_BACKUP
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_GENERATE_PATH
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: SIDE_PASS_PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : SIDE_PASS_PATH_DECIDER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: SIDE_PASS_PATH_DECIDER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: SPEED_DECIDER
+  }
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }

-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_STOP_ON_WAITPOINT
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_DETECT_SAFETY
  enabled: true
+
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: SIDE_PASS_SAFETY
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : SIDE_PASS_SAFETY
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: SIDE_PASS_SAFETY
    side_pass_safety_config {
      min_obstacle_lateral_distance: 1.0
    }
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
-stage_config : {
+stage_config: {
  stage_type: SIDE_PASS_PASS_OBSTACLE
  enabled: true
+  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
+  }
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
--- a/modules/planning/testdata/conf/scenario_stop_sign_unprotected_config.pb.txt
+++ b/modules/planning/testdata/conf/scenario_stop_sign_unprotected_config.pb.txt
-scenario_type : STOP_SIGN_UNPROTECTED
-stop_sign_unprotected_config : {
-  start_stop_sign_scenario_timer : 10
+scenario_type: STOP_SIGN_UNPROTECTED
+stop_sign_unprotected_config: {
+  start_stop_sign_scenario_timer: 10
  start_stop_sign_scenario_distance: 100.0
-  watch_vehicle_max_valid_stop_distance : 5.0
-  max_valid_stop_distance : 3.5
-  max_adc_stop_speed : 0.3
-  stop_duration : 1.0
-  min_pass_s_distance : 3.0
-  wait_timeout : 8.0
+  watch_vehicle_max_valid_stop_distance: 5.0
+  max_valid_stop_distance: 3.5
+  max_adc_stop_speed: 0.3
+  stop_duration: 1.0
+  min_pass_s_distance: 3.0
+  wait_timeout: 8.0
 }
 stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
 stage_type: STOP_SIGN_UNPROTECTED_STOP
@@ -16,61 +16,61 @@ stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_STOP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
 }

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_CREEP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DECIDER_CREEP
  task_type: DP_POLY_PATH_OPTIMIZER
@@ -78,63 +78,63 @@ stage_config: {
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: PROCEED_WITH_CAUTION_SPEED
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DECIDER_CREEP
-    decider_creep_config : {
+  task_config: {
+    task_type: DECIDER_CREEP
+    decider_creep_config: {
      stop_distance: 0.3
      speed_limit: 1.0
      max_valid_stop_distance: 0.4
      min_boundary_t: 6.0
    }
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  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: PROCEED_WITH_CAUTION_SPEED
+    proceed_with_caution_speed_config: {
+      max_distance: 5.0
    }
  }
 }

 stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
--- a/modules/planning/testdata/conf/scenario_traffic_light_right_turn_unprotected_config.pb.txt
+++ b/modules/planning/testdata/conf/scenario_traffic_light_right_turn_unprotected_config.pb.txt
-scenario_type : TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED
-traffic_light_right_turn_unprotected_config : {
-  start_traffic_light_scenario_timer : 20
-  max_valid_stop_distance : 3.5
-  max_adc_stop_speed : 0.3
-  min_pass_s_distance : 3.0
+scenario_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED
+traffic_light_right_turn_unprotected_config: {
+  start_traffic_light_scenario_timer: 20
+  max_valid_stop_distance: 3.5
+  max_adc_stop_speed: 0.3
+  min_pass_s_distance: 3.0
 }
 stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
 stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
@@ -11,32 +11,32 @@ stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE

 stage_config: {
  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
 }

 stage_config: {
  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DECIDER_CREEP
  task_type: DP_POLY_PATH_OPTIMIZER
@@ -44,63 +44,63 @@ stage_config: {
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: PROCEED_WITH_CAUTION_SPEED
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DECIDER_CREEP
-    decider_creep_config : {
+  task_config: {
+    task_type: DECIDER_CREEP
+    decider_creep_config: {
      stop_distance: 0.3
      speed_limit: 1.0
      max_valid_stop_distance: 0.4
      min_boundary_t: 6.0
    }
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  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: PROCEED_WITH_CAUTION_SPEED
+    proceed_with_caution_speed_config: {
+      max_distance: 5.0
    }
  }
 }

 stage_config: {
  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE
-  enabled : true
+  enabled: true
  task_type: DECIDER_RULE_BASED_STOP
  task_type: DP_POLY_PATH_OPTIMIZER
  task_type: PATH_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
-  task_config : {
-    task_type : DECIDER_RULE_BASED_STOP
+  task_config: {
+    task_type: DECIDER_RULE_BASED_STOP
  }
-  task_config : {
-    task_type : DP_POLY_PATH_OPTIMIZER
+  task_config: {
+    task_type: DP_POLY_PATH_OPTIMIZER
  }
-  task_config : {
-    task_type : PATH_DECIDER
+  task_config: {
+    task_type: PATH_DECIDER
  }
-  task_config : {
-    task_type : DP_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: DP_ST_SPEED_OPTIMIZER
  }
-  task_config : {
-    task_type : SPEED_DECIDER
+  task_config: {
+    task_type: SPEED_DECIDER
  }
-  task_config : {
-    task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_config: {
+    task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
  }
 }
--- a/modules/planning/testdata/garage_test/result_dest_stop_01_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_dest_stop_01_0.pb.txt
--- a/modules/planning/traffic_rules/BUILD
+++ b/modules/planning/traffic_rules/BUILD
@@ -15,7 +15,6 @@ cc_library(
        "reference_line_end.cc",
        "rerouting.cc",
        "signal_light.cc",
-        "stop_sign.cc",
        "util.cc",
    ],
    hdrs = [
@@ -29,7 +28,6 @@ cc_library(
        "reference_line_end.h",
        "rerouting.h",
        "signal_light.h",
-        "stop_sign.h",
        "traffic_rule.h",
        "util.h",
    ],

--- a/modules/planning/traffic_rules/stop_sign.cc
+++ b/modules/planning/traffic_rules/stop_sign.cc
--- a/modules/planning/traffic_rules/stop_sign.h
+++ b/modules/planning/traffic_rules/stop_sign.h
--- a/modules/planning/traffic_rules/traffic_decider.cc
+++ b/modules/planning/traffic_rules/traffic_decider.cc
@@ -33,7 +33,6 @@
 #include "modules/planning/traffic_rules/reference_line_end.h"
 #include "modules/planning/traffic_rules/rerouting.h"
 #include "modules/planning/traffic_rules/signal_light.h"
-#include "modules/planning/traffic_rules/stop_sign.h"

 namespace apollo {
 namespace planning {
@@ -82,10 +81,6 @@ void TrafficDecider::RegisterRules() {
                          [](const TrafficRuleConfig &config) -> TrafficRule * {
                            return new SignalLight(config);
                          });
-  s_rule_factory.Register(TrafficRuleConfig::STOP_SIGN,
-                          [](const TrafficRuleConfig &config) -> TrafficRule * {
-                            return new StopSign(config);
-                          });
 }

 bool TrafficDecider::Init(const TrafficRuleConfigs &config) {