無人駕駛控制的代碼

syntax = “proto2”;

package apollo.control;

import “modules/canbus/proto/chassis.proto”;

import “modules/common/proto/header.proto”;

import “modules/common/proto/vehicle_signal.proto”;

import “modules/control/proto/pad_msg.proto”;

import “modules/common/proto/drive_state.proto”;

import “modules/common/proto/pnc_point.proto”;

enum TurnSignal {

TURN_NONE = 0;

TURN_LEFT = 1;

TURN_RIGHT = 2;

}

message LatencyStats {

optional double total_time_ms = 1;

repeated double controller_time_ms = 2;

optional bool total_time_exceeded = 3;

}

// next id : 27

message ControlCommand {

optional apollo.common.Header header = 1;

// target throttle in percentage [0, 100]

optional double throttle = 3;

// target brake in percentage [0, 100]

optional double brake = 4;

// target non-directional steering rate, in percentage of full scale per

// second [0, 100]

optional double steering_rate = 6;

// target steering angle, in percentage of full scale [-100, 100]

optional double steering_target = 7;

// parking brake engage. true: engaged

optional bool parking_brake = 8;

// target speed, in m/s

optional double speed = 9;

// target acceleration in m`s^-2

optional double acceleration = 10;

// model reset

optional bool reset_model = 16 [deprecated = true];

// engine on/off, true: engine on

optional bool engine_on_off = 17;

// completion percentage of trajectory planned in last cycle

optional double trajectory_fraction = 18;

optional apollo.canbus.Chassis.DrivingMode driving_mode = 19

[deprecated = true];

optional apollo.canbus.Chassis.GearPosition gear_location = 20;

optional Debug debug = 22;

optional apollo.common.VehicleSignal signal = 23;

optional LatencyStats latency_stats = 24;

optional PadMessage pad_msg = 25;

optional apollo.common.EngageAdvice engage_advice = 26;

optional bool is_in_safe_mode = 27 [default = false];

// deprecated fields

optional bool left_turn = 13 [deprecated = true];

optional bool right_turn = 14 [deprecated = true];

optional bool high_beam = 11 [deprecated = true];

optional bool low_beam = 12 [deprecated = true];

optional bool horn = 15 [deprecated = true];

optional TurnSignal turnsignal = 21 [deprecated = true];

}

message SimpleLongitudinalDebug {

optional double station_reference = 1;

optional double station_error = 2;

optional double station_error_limited = 3;

optional double preview_station_error = 4;

optional double speed_reference = 5;

optional double speed_error = 6;

optional double speed_controller_input_limited = 7;

optional double preview_speed_reference = 8;

optional double preview_speed_error = 9;

optional double preview_acceleration_reference = 10;

optional double acceleration_cmd_closeloop = 11;

optional double acceleration_cmd = 12;

optional double acceleration_lookup = 13;

optional double speed_lookup = 14;

optional double calibration_value = 15;

optional double throttle_cmd = 16;

optional double brake_cmd = 17;

optional bool is_full_stop = 18;

optional double slope_offset_compensation = 19;

optional double current_station = 20;

optional double path_remain = 21;

optional int32 pid_saturation_status = 22;

optional int32 leadlag_saturation_status = 23;

optional double speed_offset = 24;

optional double current_speed = 25;

optional double acceleration_reference = 26;

optional double current_acceleration = 27;

optional double acceleration_error = 28;

optional double jerk_reference = 29;

optional double current_jerk = 30;

optional double jerk_error = 31;

optional apollo.common.TrajectoryPoint current_matched_point = 32;

optional apollo.common.TrajectoryPoint current_reference_point = 33;

optional apollo.common.TrajectoryPoint preview_reference_point = 34;

}

message SimpleLateralDebug {

optional double lateral_error = 1;

optional double ref_heading = 2;

optional double heading = 3;

optional double heading_error = 4;

optional double heading_error_rate = 5;

optional double lateral_error_rate = 6;

optional double curvature = 7;

optional double steer_angle = 8;

optional double steer_angle_feedforward = 9;

optional double steer_angle_lateral_contribution = 10;

optional double steer_angle_lateral_rate_contribution = 11;

optional double steer_angle_heading_contribution = 12;

optional double steer_angle_heading_rate_contribution = 13;

optional double steer_angle_feedback = 14;

optional double steering_position = 15;

optional double ref_speed = 16;

optional double steer_angle_limited = 17;

// time derivative of lateral error rate, in m/s^2

optional double lateral_acceleration = 18;

// second time derivative of lateral error rate, in m/s^3

optional double lateral_jerk = 19;

optional double ref_heading_rate = 20;

optional double heading_rate = 21;

// heading_acceleration, as known as yaw acceleration, is the time derivative

// of heading rate, in rad/s^2

optional double ref_heading_acceleration = 22;

optional double heading_acceleration = 23;

optional double heading_error_acceleration = 24;

// heading_jerk, as known as yaw jerk, is the second time derivative of

// heading rate, in rad/s^3

optional double ref_heading_jerk = 25;

optional double heading_jerk = 26;

optional double heading_error_jerk = 27;

// modified lateral_error and heading_error with look-ahead or look-back

// station, as the feedback term for control usage

optional double lateral_error_feedback = 28;

optional double heading_error_feedback = 29;

// current planning target point

optional apollo.common.TrajectoryPoint current_target_point = 30;

// Augmented feedback control term in addition to LQR control

optional double steer_angle_feedback_augment = 31;

}

message SimpleMPCDebug {

optional double lateral_error = 1;

optional double ref_heading = 2;

optional double heading = 3;

optional double heading_error = 4;

optional double heading_error_rate = 5;

optional double lateral_error_rate = 6;

optional double curvature = 7;

optional double steer_angle = 8;

optional double steer_angle_feedforward = 9;

optional double steer_angle_lateral_contribution = 10;

optional double steer_angle_lateral_rate_contribution = 11;

optional double steer_angle_heading_contribution = 12;

optional double steer_angle_heading_rate_contribution = 13;

optional double steer_angle_feedback = 14;

optional double steering_position = 15;

optional double ref_speed = 16;

optional double steer_angle_limited = 17;

optional double station_reference = 18;

optional double station_error = 19;

optional double speed_reference = 20;

optional double speed_error = 21;

optional double acceleration_reference = 22;

optional bool is_full_stop = 23;

optional double station_feedback = 24;

optional double speed_feedback = 25;

optional double acceleration_cmd_closeloop = 26;

optional double acceleration_cmd = 27;

optional double acceleration_lookup = 28;

optional double speed_lookup = 29;

optional double calibration_value = 30;

optional double steer_unconstraint_control_diff = 31;

optional double steer_angle_feedforward_compensation = 32;

repeated double matrix_q_updated = 33; // matrix_q_updated_ size = 6

repeated double matrix_r_updated = 34; // matrix_r_updated_ size = 2

// time derivative of lateral error rate, in m/s^2

optional double lateral_acceleration = 35;

// second time derivative of lateral error rate, in m/s^3

optional double lateral_jerk = 36;

optional double ref_heading_rate = 37;

optional double heading_rate = 38;

// heading_acceleration, as known as yaw acceleration, is the time derivative

// of heading rate, in rad/s^2

optional double ref_heading_acceleration = 39;

optional double heading_acceleration = 40;

optional double heading_error_acceleration = 41;

// heading_jerk, as known as yaw jerk, is the second time derivative of

// heading rate, in rad/s^3

optional double ref_heading_jerk = 42;

optional double heading_jerk = 43;

optional double heading_error_jerk = 44;

optional double acceleration_feedback = 45;

optional double acceleration_error = 46;

optional double jerk_reference = 47;

optional double jerk_feedback = 48;

optional double jerk_error = 49;

}

message InputDebug {

optional apollo.common.Header localization_header = 1;

optional apollo.common.Header canbus_header = 2;

optional apollo.common.Header trajectory_header = 3;

optional apollo.common.Header latest_replan_trajectory_header = 4;

}

message Debug {

optional SimpleLongitudinalDebug simple_lon_debug = 1;

optional SimpleLateralDebug simple_lat_debug = 2;

optional InputDebug input_debug = 3;

optional SimpleMPCDebug simple_mpc_debug = 4;

}