<commit_before>config: {
  rule_id: BACKSIDE_VEHICLE
  enabled: true
  backside_vehicle {
    backside_lane_width: 4.0
  }
}

config: {
  rule_id: CHANGE_LANE
  enabled: true
  change_lane {
    min_overtake_distance: 10.0
    min_overtake_time: 2.0
    enable_guard_obstacle: true
    guard_distance: 100.0
    min_guard_speed: 1.0
  }
}

config: {
  rule_id: CROSSWALK
  enabled: true
  crosswalk {
    stop_distance: 1.0
    max_stop_deceleration: 6.0
    min_pass_s_distance: 1.0
    expand_s_distance: 2.0
    stop_strick_l_distance: 4.0
    stop_loose_l_distance: 5.0
  }
}

config: {
  rule_id: DESTINATION
  enabled: true
  destination {
    stop_distance: 0.5
  }
}

config: {
  rule_id: FRONT_VEHICLE
  enabled: true
  front_vehicle {
    enable_side_pass: true
    side_pass_s_threshold: 15.0
    side_pass_l_threshold: 1.0
    side_pass_wait_time: 30.0
    nudge_l_buffer: 0.5
  }
}

config: {
  rule_id: KEEP_CLEAR
  enabled: true
  keep_clear {
    enable_keep_clear_zone: true
    enable_junction: false
    min_pass_s_distance: 2.0
  }
}

config: {
  rule_id: REFERENCE_LINE_END
  enabled: true
  reference_line_end {
    stop_distance: 0.5
    stop_acc_to_max_deceleration_ratio: 3.0
    min_reference_line_remain_length: 10.0
  }
}

config: {
  rule_id: REROUTING
  enabled: true
  rerouting {
    prepare_rerouting_time: 2.0
  }
}

config: {
  rule_id: SIGNAL_LIGHT
  enabled: true
  signal_light {
    stop_distance: 1.0
    max_stop_deceleration: 6.0
    min_pass_s_distance: 4.0
    max_stop_deacceleration_yellow_light: 3.0
    signal_expire_time_sec: 5.0
    righ_turn_creep {
      enabled: false
      min_boundary_t: 6.0
      stop_distance: 0.5
      speed_limit: 1.0
    }
  }
}

config: {
  rule_id: STOP_SIGN
  enabled: true
  stop_sign {
    stop_distance: 1.0
    max_stop_deceleration: 6.0
    min_pass_s_distance: 3.0
    max_stop_speed: 0.3
    max_valid_stop_distance: 3.5
    stop_duration : 1.0
    watch_vehicle_max_valid_stop_speed: 0.5
    watch_vehicle_max_valid_stop_distance: 5.0
    creep {
      enabled: false
      min_boundary_t: 6.0
      stop_distance: 0.5
      speed_limit: 1.0
    }
  }
}<commit_msg>planning: enable CREEP at stop-sign<commit_after>config: {
  rule_id: BACKSIDE_VEHICLE
  enabled: true
  backside_vehicle {
    backside_lane_width: 4.0
  }
}

config: {
  rule_id: CHANGE_LANE
  enabled: true
  change_lane {
    min_overtake_distance: 10.0
    min_overtake_time: 2.0
    enable_guard_obstacle: true
    guard_distance: 100.0
    min_guard_speed: 1.0
  }
}

config: {
  rule_id: CROSSWALK
  enabled: true
  crosswalk {
    stop_distance: 1.0
    max_stop_deceleration: 6.0
    min_pass_s_distance: 1.0
    expand_s_distance: 2.0
    stop_strick_l_distance: 4.0
    stop_loose_l_distance: 5.0
  }
}

config: {
  rule_id: DESTINATION
  enabled: true
  destination {
    stop_distance: 0.5
  }
}

config: {
  rule_id: FRONT_VEHICLE
  enabled: true
  front_vehicle {
    enable_side_pass: true
    side_pass_s_threshold: 15.0
    side_pass_l_threshold: 1.0
    side_pass_wait_time: 30.0
    nudge_l_buffer: 0.5
  }
}

config: {
  rule_id: KEEP_CLEAR
  enabled: true
  keep_clear {
    enable_keep_clear_zone: true
    enable_junction: false
    min_pass_s_distance: 2.0
  }
}

config: {
  rule_id: REFERENCE_LINE_END
  enabled: true
  reference_line_end {
    stop_distance: 0.5
    stop_acc_to_max_deceleration_ratio: 3.0
    min_reference_line_remain_length: 10.0
  }
}

config: {
  rule_id: REROUTING
  enabled: true
  rerouting {
    prepare_rerouting_time: 2.0
  }
}

config: {
  rule_id: SIGNAL_LIGHT
  enabled: true
  signal_light {
    stop_distance: 1.0
    max_stop_deceleration: 6.0
    min_pass_s_distance: 4.0
    max_stop_deacceleration_yellow_light: 3.0
    signal_expire_time_sec: 5.0
    righ_turn_creep {
      enabled: false
      min_boundary_t: 6.0
      stop_distance: 0.5
      speed_limit: 1.0
    }
  }
}

config: {
  rule_id: STOP_SIGN
  enabled: true
  stop_sign {
    stop_distance: 1.0
    max_stop_deceleration: 6.0
    min_pass_s_distance: 3.0
    max_stop_speed: 0.3
    max_valid_stop_distance: 3.5
    stop_duration : 1.0
    watch_vehicle_max_valid_stop_speed: 0.5
    watch_vehicle_max_valid_stop_distance: 5.0
    creep {
      enabled: true
      min_boundary_t: 6.0
      stop_distance: 0.5
      speed_limit: 1.0
    }
  }
}
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