# The seconds time to collision in different level
warn_sec: 5.0  # Do nothing, just sending a warning status
error_sec: 4.0 # Comfortable brake
fatal_sec: 3.0 # Emergency brake

# strategy type:
#   SENSITIVE: a relatively conservative strategy that may raise alarm at low level risk.
#   ACCURATE: calculate ttc only by prediction result, few alarm raised in this strategy usually.
#   NORMAL: a neutral strategy between SENSITIVE and ACCURATE.
type: NORMAL

# sensitive strategy
sensitive_strategy_conf {
  # front collision check angle
  collision_check_angle: 90.0
  # front collision check distance
  collision_check_distance: 100.0

  # if predict adc trajectory by acceleration, 
  # when adc is decelerating, deceleration is not calculated.
  predict_adc_by_acc: true

  # acceleration calculation time, after which speed is regared as constant
  acc_calculate_sec: 3.0

  # obstacles prediction method, at least one method need to be selected
  # optional: perception, prediction, stationary
  predict_obs_by_perception: true
  predict_obs_by_prediction: true
  predict_obs_by_stationary: true

  # auto driving car box extended in meters
  adc_front_extended_len: 0.2
  adc_lateral_extended_len: 0.2
  adc_back_extended_len: 0.2

  # do not check at low speed or turning
  speed_threshold_mps: 0.01
  steering_threshold_percentage: 50
}

# normal strategy
normal_strategy_conf {
  # front collision check angle
  collision_check_angle: 90.0
  # front collision check distance
  collision_check_distance: 100.0

  # if predict adc trajectory by acceleration, 
  # when adc is decelerating, deceleration is not calculated.
  predict_adc_by_acc: true

  # acceleration calculation time, after which speed is regared as constant
  acc_calculate_sec: 3.0

  # obstacles prediction method, at least one method need to be selected
  # optional: perception, prediction, stationary
  predict_obs_by_perception: true
  predict_obs_by_prediction: true
  predict_obs_by_stationary: false

  # auto driving car box extended in meters
  adc_front_extended_len: 0.1
  adc_lateral_extended_len: 0.1
  adc_back_extended_len: 0.1

  # do not check at low speed or turning
  speed_threshold_mps: 1.0
  steering_threshold_percentage: 10
}

# accurate strategy
accurate_strategy_conf {
  # front collision check angle
  collision_check_angle: 90.0
  # front collision check distance
  collision_check_distance: 100.0

  # if predict adc trajectory by acceleration, 
  # when adc is decelerating, deceleration is not calculated.
  predict_adc_by_acc: true

  # acceleration calculation time, after which speed is regared as constant
  acc_calculate_sec: 3.0

  # obstacles prediction method, at least one method need to be selected
  # optional: perception, prediction, stationary
  predict_obs_by_perception: false
  predict_obs_by_prediction: true
  predict_obs_by_stationary: false

  # auto driving car box extended in meters
  adc_front_extended_len: 0.0;
  adc_lateral_extended_len: 0.0;
  adc_back_extended_len: 0.0;

  # do not check at low speed or turning
  speed_threshold_mps: 1.0
  steering_threshold_percentage: 10
}
