无人驾驶控制学习

最主要的控制命令输出
1、串口
2、油门
3、刹车
4、转向速率
5、转向角度
6、停车制动
7、目标速度
8、目标加速度
9、模型重置
10、发动机开关
11、轨迹部分
12、驾驶方式
13、齿轮位置
14、调试模式
15、延时统计
16、平板信息？
17、engage_advice
18、安全模式
19、左转
20、右转
21、远光灯
22、近光灯
23、喇叭
24、转向信号灯

// next id : 27
message ControlCommand {
//控制串口头
optional apollo.common.Header header = 1;
// target throttle in percentage [0, 100]油门百分比
optional double throttle = 3;

// target brake in percentage [0, 100]刹车
optional double brake = 4;

// target non-directional steering rate, in percentage of full scale per转向速率
// second [0, 100]
optional double steering_rate = 6;

// target steering angle, in percentage of full scale [-100, 100]转向角
optional double steering_target = 7;

// parking brake engage. true: engaged停车制动
optional bool parking_brake = 8;

// target speed, in m/s目标速率
optional double speed = 9;

// target acceleration in m`s^-2目标加速度
optional double acceleration = 10;

// model reset模型重置
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];
}