Light status of the vehicles

[LIIHWF]

Apollo version: 8.0

Hi community,

I noticed that the message output by Perception Module contains the attribute light_status of the type LightStatus:

message LightStatus {
  optional double brake_visible = 1;
  optional double brake_switch_on = 2;
  optional double left_turn_visible = 3;
  optional double left_turn_switch_on = 4;
  optional double right_turn_visible = 5;
  optional double right_turn_switch_on = 6;
}

I have the following questions about this attribute:

1. What's the difference between *_visible and *_switch_on (where * can be brake, left_turn, right_turn)?
2. Does the value of *_visible and *_switch_on represent the confidence level of the perception?
3. Does light_status used in Prediction Module? I searched the attribute in the related code, but nothing has been found. It should be an important factor for the prediction task.

Your help will be greatly appreciated!

[daohu527]

Glad you looked so carefully! I believe this is reserved functionality and is not currently used in the code.

in my option

• *_visible means that it is not occluded and visible
• *_switch_on means the light is on

The double type does not necessarily represent confidence, because the output of the neural network is floating point.

You are right, this function can be used to judge the behavior of the vehicle in front, but it is not used yet.