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main_decision { stop { reason_code: STOP_REASON_OBSTACLE reason: "stop by 867_0" stop_point { x: 587254.44444700878 y: 4140934.4322579573 } stop_heading: -2.0392368879364722 change_lane_type: FORWARD } } object_decision { decision { id: "867_0" perception_id: 867 object_decision { stop { reason_code: STOP_REASON_OBSTACLE distance_s: -6 stop_point { x: 587254.44444700878 y: 4140934.4322579573 } stop_heading: -2.0392368879364722 } } } } vehicle_signal { turn_signal: TURN_RIGHT } } routing_header { timestamp_sec: 1505427398.4920573 module_name: "routing" } right_of_way_status: UNPROTECTED lane_id { id: "141_1_-2" } lane_id { id: "906_1_-1" } lane_id { id: "9_1_-2" }