scenario_type: STOP_SIGN_UNPROTECTED
stop_sign_unprotected_config: {
  start_stop_sign_scenario_distance: 4.0
  watch_vehicle_max_valid_stop_distance: 5.0
  max_valid_stop_distance: 2.0
  max_adc_stop_speed: 0.3
  stop_duration_sec: 1.0
  min_pass_s_distance: 3.0
  stop_timeout_sec: 8.0
  creep_timeout_sec: 10.0
}
stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
stage_type: STOP_SIGN_UNPROTECTED_STOP
stage_type: STOP_SIGN_UNPROTECTED_CREEP
stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE

stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_PRE_STOP
  enabled: true
  task_type: PATH_LANE_BORROW_DECIDER
  task_type: PATH_BOUNDS_DECIDER
  task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  task_type: PATH_ASSESSMENT_DECIDER
  task_type: PATH_DECIDER
  task_type: RULE_BASED_STOP_DECIDER
  task_type: SPEED_BOUNDS_PRIORI_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: SPEED_BOUNDS_FINAL_DECIDER
  task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  task_config: {
    task_type: PATH_LANE_BORROW_DECIDER
  }
  task_config: {
    task_type: PATH_BOUNDS_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  }
  task_config: {
    task_type: PATH_ASSESSMENT_DECIDER
  }
  task_config: {
    task_type: PATH_DECIDER
  }
  task_config: {
    task_type: DP_ST_SPEED_OPTIMIZER
  }
  task_config: {
    task_type: SPEED_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  }
  task_config: {
    task_type: SPEED_BOUNDS_PRIORI_DECIDER
  }
  task_config: {
    task_type: SPEED_BOUNDS_FINAL_DECIDER
  }
  task_config: {
    task_type: RULE_BASED_STOP_DECIDER
  }
}

stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_STOP
  enabled: true
  task_type: PATH_LANE_BORROW_DECIDER
  task_type: PATH_BOUNDS_DECIDER
  task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  task_type: PATH_ASSESSMENT_DECIDER
  task_type: PATH_DECIDER
  task_type: RULE_BASED_STOP_DECIDER
  task_type: SPEED_BOUNDS_PRIORI_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: SPEED_BOUNDS_FINAL_DECIDER
  task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  task_config: {
    task_type: PATH_LANE_BORROW_DECIDER
  }
  task_config: {
    task_type: PATH_BOUNDS_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  }
  task_config: {
    task_type: PATH_ASSESSMENT_DECIDER
  }
  task_config: {
    task_type: PATH_DECIDER
  }
  task_config: {
    task_type: DP_ST_SPEED_OPTIMIZER
  }
  task_config: {
    task_type: SPEED_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  }
  task_config: {
    task_type: SPEED_BOUNDS_PRIORI_DECIDER
  }
  task_config: {
    task_type: SPEED_BOUNDS_FINAL_DECIDER
  }
  task_config: {
    task_type: RULE_BASED_STOP_DECIDER
  }
}

stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_CREEP
  enabled: true
  task_type: DECIDER_CREEP
  task_type: PATH_LANE_BORROW_DECIDER
  task_type: PATH_BOUNDS_DECIDER
  task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  task_type: PATH_ASSESSMENT_DECIDER
  task_type: PATH_DECIDER
  task_type: RULE_BASED_STOP_DECIDER
  task_type: SPEED_BOUNDS_PRIORI_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  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: {
      stop_distance: 0.3
      speed_limit: 1.0
      max_valid_stop_distance: 0.4
      min_boundary_t: 6.0
      ignore_max_st_min_t: 0.1
      ignore_min_st_min_s: 15.0
    }
  }
  task_config: {
    task_type: PATH_LANE_BORROW_DECIDER
  }
  task_config: {
    task_type: PATH_BOUNDS_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  }
  task_config: {
    task_type: PATH_ASSESSMENT_DECIDER
  }
  task_config: {
    task_type: PATH_DECIDER
  }
  task_config: {
    task_type: DP_ST_SPEED_OPTIMIZER
  }
  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
  }
  task_config: {
    task_type: SPEED_BOUNDS_FINAL_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  }
  task_config: {
    task_type: RULE_BASED_STOP_DECIDER
  }
}

stage_config: {
  stage_type: STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE
  enabled: true
  task_type: PATH_LANE_BORROW_DECIDER
  task_type: PATH_BOUNDS_DECIDER
  task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  task_type: PATH_ASSESSMENT_DECIDER
  task_type: PATH_DECIDER
  task_type: RULE_BASED_STOP_DECIDER
  task_type: SPEED_BOUNDS_PRIORI_DECIDER
  task_type: DP_ST_SPEED_OPTIMIZER
  task_type: SPEED_DECIDER
  task_type: SPEED_BOUNDS_FINAL_DECIDER
  task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  task_config: {
    task_type: PATH_LANE_BORROW_DECIDER
    path_lane_borrow_decider_config {
      allow_lane_borrowing: true
    }
  }
  task_config: {
    task_type: PATH_BOUNDS_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_PATH_OPTIMIZER
  }
  task_config: {
    task_type: PATH_ASSESSMENT_DECIDER
  }
  task_config: {
    task_type: PATH_DECIDER
  }
  task_config: {
    task_type: DP_ST_SPEED_OPTIMIZER
  }
  task_config: {
    task_type: SPEED_DECIDER
  }
  task_config: {
    task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
  }
  task_config: {
    task_type: SPEED_BOUNDS_PRIORI_DECIDER
  }
  task_config: {
    task_type: SPEED_BOUNDS_FINAL_DECIDER
  }
  task_config: {
    task_type: RULE_BASED_STOP_DECIDER
  }
}