diff --git a/modules/planning/proto/BUILD b/modules/planning/proto/BUILD index 6194ad46030..a36dc00bfee 100644 --- a/modules/planning/proto/BUILD +++ b/modules/planning/proto/BUILD @@ -600,6 +600,7 @@ proto_library( "//modules/canbus/proto:canbus_proto_lib", "//modules/common/proto:geometry_proto_lib", "//modules/common/proto:pnc_point_proto_lib", + "//modules/perception/proto:perception_proto_lib", ], ) diff --git a/modules/planning/proto/learning_data.proto b/modules/planning/proto/learning_data.proto index f354ffa49a0..e6eeb37c4a5 100644 --- a/modules/planning/proto/learning_data.proto +++ b/modules/planning/proto/learning_data.proto @@ -5,6 +5,7 @@ package apollo.planning; import "modules/canbus/proto/chassis.proto"; import "modules/common/proto/geometry.proto"; import "modules/common/proto/pnc_point.proto"; +import "modules/perception/proto/traffic_light_detection.proto"; message ObstacleFeature { // TODO(all): add more obstacle features. @@ -57,6 +58,11 @@ message ChassisFeature { optional apollo.canbus.Chassis.GearPosition gear_location = 5; } +message TrafficLightFeature { + optional string light_id = 1; + optional apollo.perception.TrafficLight.Color color = 2; +} + message LearningDataFrame { // Message publishing time in seconds. optional double timestamp_sec = 1; @@ -79,5 +85,6 @@ message LearningDataFrame { } message LearningData { - repeated LearningDataFrame learning_data = 1; + repeated TrafficLightFeature traffic_light = 1; + repeated LearningDataFrame learning_data = 2; }