无人驾驶控制的代码

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;
}