planning: adjust and integrate traffic-light scenarios

liupzone · Jan 15, 2019 · 820b735 · 820b735
1 parent 3665944
commit 820b735
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Showing 17 changed files with 59 additions and 66 deletions.
diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
@@ -40,7 +40,7 @@ DEFINE_string(scenario_stop_sign_unprotected_config_file,
               "/apollo/modules/planning/conf/"
               "scenario/stop_sign_unprotected_config.pb.txt",
               "stop_sign_unprotected scenario configuration file");
-DEFINE_string(scenario_traffic_light_right_turn_unprotected_config_file,
+DEFINE_string(scenario_traffic_light_unprotected_right_turn_config_file,
               "/apollo/modules/planning/conf/"
               "scenario/traffic_light_right_turn_unprotected_config.pb.txt",
               "scenario_traffic_light_right_turn_unprotected config file");
@@ -56,7 +56,7 @@ DEFINE_bool(enable_scenario_side_pass_multiple_parked_obstacles, true,
 
 DEFINE_bool(enable_scenario_stop_sign_unprotected, true,
             "enable stop_sign_unprotected scenario in planning");
-DEFINE_bool(enable_scenario_traffic_light_right_turn_unprotected, false,
+DEFINE_bool(enable_scenario_traffic_light_unprotected_right_turn, false,
             "enable traffic_light_right_turn_unprotected scenario in planning");
 
 DEFINE_string(traffic_rule_config_filename,

diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h
@@ -27,13 +27,13 @@ DECLARE_string(planning_config_file);
 DECLARE_string(scenario_lane_follow_config_file);
 DECLARE_string(scenario_side_pass_config_file);
 DECLARE_string(scenario_stop_sign_unprotected_config_file);
-DECLARE_string(scenario_traffic_light_right_turn_unprotected_config_file);
+DECLARE_string(scenario_traffic_light_unprotected_right_turn_config_file);
 
 DECLARE_bool(enable_scenario_side_pass);
 DECLARE_double(side_pass_min_signal_intersection_distance);
 DECLARE_bool(enable_scenario_side_pass_multiple_parked_obstacles);
 DECLARE_bool(enable_scenario_stop_sign_unprotected);
-DECLARE_bool(enable_scenario_traffic_light_right_turn_unprotected);
+DECLARE_bool(enable_scenario_traffic_light_unprotected_right_turn);
 
 DECLARE_string(traffic_rule_config_filename);
 DECLARE_string(smoother_config_filename);

diff --git a/modules/planning/conf/scenario/traffic_light_right_turn_unprotected_config.pb.txt b/modules/planning/conf/scenario/traffic_light_right_turn_unprotected_config.pb.txt
@@ -1,17 +1,17 @@
-scenario_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED
-traffic_light_right_turn_unprotected_config: {
+scenario_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN
+traffic_light_unprotected_right_turn_config: {
   max_valid_stop_distance: 3.5
   max_adc_stop_speed: 0.3
   min_pass_s_distance: 3.0
   red_light_right_turn_stop_duration: 3.0
   creep_timeout: 10.0
 }
-stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
-stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
-stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE
+stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP
+stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
+stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE
 
 stage_config: {
-  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
+  stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP
   enabled: true
   task_type: DECIDER_RULE_BASED_STOP
   task_type: DP_POLY_PATH_OPTIMIZER
@@ -40,7 +40,7 @@ stage_config: {
 }
 
 stage_config: {
-  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
+  stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
   enabled: true
   task_type: DECIDER_RULE_BASED_STOP
   task_type: DECIDER_CREEP
@@ -84,7 +84,7 @@ stage_config: {
 }
 
 stage_config: {
-  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE
+  stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE
   enabled: true
   task_type: DECIDER_RULE_BASED_STOP
   task_type: DP_POLY_PATH_OPTIMIZER

diff --git a/modules/planning/integration_tests/garage_test.cc b/modules/planning/integration_tests/garage_test.cc
@@ -52,7 +52,7 @@ class GarageTest : public PlanningTestBase {
 
     FLAGS_enable_scenario_side_pass = false;
     FLAGS_enable_scenario_stop_sign_unprotected = false;
-    FLAGS_enable_scenario_traffic_light_right_turn_unprotected = false;
+    FLAGS_enable_scenario_traffic_light_unprotected_right_turn = false;
   }
 };
 

diff --git a/modules/planning/integration_tests/sunnyvale_big_loop_test.cc b/modules/planning/integration_tests/sunnyvale_big_loop_test.cc
@@ -54,7 +54,7 @@ class SunnyvaleBigLoopTest : public PlanningTestBase {
 
     FLAGS_enable_scenario_side_pass = false;
     FLAGS_enable_scenario_stop_sign_unprotected = false;
-    FLAGS_enable_scenario_traffic_light_right_turn_unprotected = false;
+    FLAGS_enable_scenario_traffic_light_unprotected_right_turn = false;
     FLAGS_enable_rss_info = false;
 
     ENABLE_RULE(TrafficRuleConfig::CROSSWALK, false);

diff --git a/modules/planning/integration_tests/sunnyvale_loop_test.cc b/modules/planning/integration_tests/sunnyvale_loop_test.cc
@@ -41,7 +41,7 @@ class SunnyvaleLoopTest : public PlanningTestBase {
 
     FLAGS_enable_scenario_side_pass = false;
     FLAGS_enable_scenario_stop_sign_unprotected = false;
-    FLAGS_enable_scenario_traffic_light_right_turn_unprotected = false;
+    FLAGS_enable_scenario_traffic_light_unprotected_right_turn = false;
     FLAGS_enable_rss_info = false;
 
     ENABLE_RULE(TrafficRuleConfig::CROSSWALK, false);

diff --git a/modules/planning/proto/planning_config.proto b/modules/planning/proto/planning_config.proto
@@ -92,7 +92,7 @@ message ScenarioStopSignUnprotectedConfig {
   optional float creep_timeout = 8 [default = 10.0];  // secoond
 }
 
-message ScenarioTrafficLightRightTurnUnprotectedConfig {
+message ScenarioTrafficLightUnprotectedRightTurnConfig {
   optional double max_valid_stop_distance = 1 [default = 3.5];  // meter
   optional double max_adc_stop_speed = 2 [default = 0.3];  // m/s
   optional double min_pass_s_distance = 3 [default = 3.0];  // meter
@@ -109,11 +109,9 @@ message ScenarioConfig {
     APPROACH = 3;   // approach to an intersection
     STOP_SIGN_PROTECTED = 4;
     STOP_SIGN_UNPROTECTED = 5;
-    TRAFFIC_LIGHT_LEFT_TURN_PROTECTED = 6;
-    TRAFFIC_LIGHT_LEFT_TURN_UNPROTECTED = 7;
-    TRAFFIC_LIGHT_RIGHT_TURN_PROTECTED = 8;
-    TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED = 9;
-    TRAFFIC_LIGHT_GO_THROUGH = 10;
+    TRAFFIC_LIGHT_PROTECTED = 6;
+    TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN = 7;
+    TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN = 8;
   }
 
   // StageType is a superset of stages from all scenarios.
@@ -135,9 +133,9 @@ message ScenarioConfig {
     SIDE_PASS_PASS_OBSTACLE = 204;
     SIDE_PASS_BACKUP = 205;
 
-    TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP = 300;
-    TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP = 301 ;
-    TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE = 302;
+    TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP = 300;
+    TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP = 301 ;
+    TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE = 302;
   };
 
   message StageConfig {
@@ -154,7 +152,7 @@ message ScenarioConfig {
     ScenarioLaneFollowConfig lane_follow_config = 2;
     ScenarioSidePassConfig side_pass_config = 3;
     ScenarioStopSignUnprotectedConfig stop_sign_unprotected_config = 4;
-    ScenarioTrafficLightRightTurnUnprotectedConfig traffic_light_right_turn_unprotected_config = 5;
+    ScenarioTrafficLightUnprotectedRightTurnConfig traffic_light_unprotected_right_turn_config = 5;
   }
   // a list of stages that are used at runtime.  The first one is default stage.
   repeated StageType stage_type = 6;

diff --git a/modules/planning/scenarios/scenario_manager.cc b/modules/planning/scenarios/scenario_manager.cc
@@ -60,7 +60,7 @@ std::unique_ptr<Scenario> ScenarioManager::CreateScenario(
       ptr.reset(new scenario::stop_sign::StopSignUnprotectedScenario(
           config_map_[scenario_type], &scenario_context_));
       break;
-    case ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED:
+    case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
       ptr.reset(
           new scenario::traffic_light::TrafficLightRightTurnUnprotectedScenario(
               config_map_[scenario_type], &scenario_context_));
@@ -84,8 +84,8 @@ void ScenarioManager::RegisterScenarios() {
       FLAGS_scenario_stop_sign_unprotected_config_file,
       &config_map_[ScenarioConfig::STOP_SIGN_UNPROTECTED]));
   CHECK(Scenario::LoadConfig(
-      FLAGS_scenario_traffic_light_right_turn_unprotected_config_file,
-      &config_map_[ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED]));
+      FLAGS_scenario_traffic_light_unprotected_right_turn_config_file,
+      &config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN]));
 }
 
 bool ScenarioManager::SelectChangeLaneScenario(
@@ -220,9 +220,9 @@ void ScenarioManager::Update(const common::TrajectoryPoint& ego_point,
       }
     } else if (overlap.first == ReferenceLineInfo::SIGNAL) {
       // traffic_light scenarios
-      if (FLAGS_enable_scenario_traffic_light_right_turn_unprotected) {
+      if (FLAGS_enable_scenario_traffic_light_unprotected_right_turn) {
         preferred_scenario =
-            ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED;
+            ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN;
       }
     }
     if (rejected_scenarios.find(preferred_scenario) !=

diff --git a/modules/planning/scenarios/stop_sign/stop_sign_unprotected/stop_sign_unprotected_scenario.cc b/modules/planning/scenarios/stop_sign/stop_sign_unprotected/stop_sign_unprotected_scenario.cc
@@ -155,11 +155,9 @@ bool StopSignUnprotectedScenario::IsTransferable(
     case ScenarioConfig::STOP_SIGN_UNPROTECTED:
       return (current_scenario.GetStatus() !=
               Scenario::ScenarioStatus::STATUS_DONE);
-    case ScenarioConfig::TRAFFIC_LIGHT_LEFT_TURN_PROTECTED:
-    case ScenarioConfig::TRAFFIC_LIGHT_LEFT_TURN_UNPROTECTED:
-    case ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_PROTECTED:
-    case ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED:
-    case ScenarioConfig::TRAFFIC_LIGHT_GO_THROUGH:
+    case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
+    case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
+    case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
     default:
       break;
   }

diff --git a/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_creep.h b/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_creep.h
@@ -49,7 +49,7 @@ class StageCreep : public Stage {
   Stage::StageStatus FinishStage();
 
  private:
-  ScenarioTrafficLightRightTurnUnprotectedConfig scenario_config_;
+  ScenarioTrafficLightUnprotectedRightTurnConfig scenario_config_;
 };
 
 }  // namespace traffic_light

diff --git a/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_intersection_cruise.h b/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_intersection_cruise.h
@@ -49,7 +49,7 @@ class StageIntersectionCruise : public Stage {
   Stage::StageStatus FinishStage();
 
  private:
-  ScenarioTrafficLightRightTurnUnprotectedConfig scenario_config_;
+  ScenarioTrafficLightUnprotectedRightTurnConfig scenario_config_;
 };
 
 }  // namespace traffic_light

diff --git a/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_stop.cc b/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_stop.cc
@@ -93,7 +93,7 @@ Stage::StageStatus StageStop::Process(
   if (PlanningContext::GetScenarioInfo()->traffic_light_color ==
       TrafficLight::GREEN) {
     next_stage_ = ScenarioConfig::
-        TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE;
+        TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE;
     return Stage::FINISHED;
   }
 
@@ -105,7 +105,7 @@ Stage::StageStatus StageStop::FinishStage() {
       GetContext()->traffic_light_id;
   GetContext()->creep_start_time = Clock::NowInSeconds();
 
-  next_stage_ = ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP;
+  next_stage_ = ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP;
   return Stage::FINISHED;
 }
 

diff --git a/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_stop.h b/modules/planning/scenarios/traffic_light/right_turn_unprotected/stage_stop.h
@@ -51,7 +51,7 @@ class StageStop : public Stage {
   Stage::StageStatus FinishStage();
 
  private:
-  ScenarioTrafficLightRightTurnUnprotectedConfig scenario_config_;
+  ScenarioTrafficLightUnprotectedRightTurnConfig scenario_config_;
 };
 
 }  // namespace traffic_light

diff --git a/...ios/traffic_light/right_turn_unprotected/traffic_light_right_turn_unprotected_scenario.cc b/...ios/traffic_light/right_turn_unprotected/traffic_light_right_turn_unprotected_scenario.cc
@@ -80,17 +80,17 @@ void TrafficLightRightTurnUnprotectedScenario::RegisterStages() {
     s_stage_factory_.Clear();
   }
   s_stage_factory_.Register(
-      ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP,
+      ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP,
       [](const ScenarioConfig::StageConfig& config) -> Stage* {
         return new StageStop(config);
       });
   s_stage_factory_.Register(
-      ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP,
+      ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP,
       [](const ScenarioConfig::StageConfig& config) -> Stage* {
         return new StageCreep(config);
       });
   s_stage_factory_.Register(
-      ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE,
+      ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE,
       [](const ScenarioConfig::StageConfig& config) -> Stage* {
         return new StageIntersectionCruise(config);
       });
@@ -128,7 +128,7 @@ bool TrafficLightRightTurnUnprotectedScenario::IsTransferable(
   const double adc_speed =
       common::VehicleStateProvider::Instance()->linear_velocity();
 
-  auto scenario_config = config_.traffic_light_right_turn_unprotected_config();
+  auto scenario_config = config_.traffic_light_unprotected_right_turn_config();
 
   bool is_stopped_for_traffic_light = true;
   if (adc_speed > scenario_config.max_adc_stop_speed() ||
@@ -151,15 +151,12 @@ bool TrafficLightRightTurnUnprotectedScenario::IsTransferable(
               TrafficLight::RED);
     case ScenarioConfig::STOP_SIGN_PROTECTED:
     case ScenarioConfig::STOP_SIGN_UNPROTECTED:
-    case ScenarioConfig::TRAFFIC_LIGHT_LEFT_TURN_PROTECTED:
-    case ScenarioConfig::TRAFFIC_LIGHT_LEFT_TURN_UNPROTECTED:
-    case ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_PROTECTED:
+    case ScenarioConfig::TRAFFIC_LIGHT_PROTECTED:
+    case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:
       return false;
-    case ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED:
+    case ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:
       return (current_scenario.GetStatus() !=
               Scenario::ScenarioStatus::STATUS_DONE);
-    case ScenarioConfig::TRAFFIC_LIGHT_GO_THROUGH:
-      return false;
     default:
       break;
   }
@@ -171,12 +168,12 @@ bool TrafficLightRightTurnUnprotectedScenario::IsTransferable(
  * read scenario specific configs and set in context_ for stages to read
  */
 bool TrafficLightRightTurnUnprotectedScenario::GetScenarioConfig() {
-  if (!config_.has_traffic_light_right_turn_unprotected_config()) {
+  if (!config_.has_traffic_light_unprotected_right_turn_config()) {
     AERROR << "miss scenario specific config";
     return false;
   }
   context_.scenario_config.CopyFrom(
-      config_.traffic_light_right_turn_unprotected_config());
+      config_.traffic_light_unprotected_right_turn_config());
   return true;
 }
 

diff --git a/...rios/traffic_light/right_turn_unprotected/traffic_light_right_turn_unprotected_scenario.h b/...rios/traffic_light/right_turn_unprotected/traffic_light_right_turn_unprotected_scenario.h
@@ -36,7 +36,7 @@ namespace traffic_light {
 
 // stage context
 struct TrafficLightRightTurnUnprotectedContext {
-  ScenarioTrafficLightRightTurnUnprotectedConfig scenario_config;
+  ScenarioTrafficLightUnprotectedRightTurnConfig scenario_config;
   std::string traffic_light_id;
   double stop_start_time = 0.0;
   double creep_start_time;

diff --git a/...raffic_light/right_turn_unprotected/traffic_light_right_turn_unprotected_scenario_test.cc b/...raffic_light/right_turn_unprotected/traffic_light_right_turn_unprotected_scenario_test.cc
@@ -42,31 +42,31 @@ class TrafficLightRightTurnUnprotectedScenarioTest : public ::testing::Test {
 };
 
 TEST_F(TrafficLightRightTurnUnprotectedScenarioTest, VerifyConf) {
-  FLAGS_scenario_stop_sign_unprotected_config_file =
+  FLAGS_scenario_traffic_light_unprotected_right_turn_config_file =
       "/apollo/modules/planning/conf/"
       "scenario/traffic_light_right_turn_unprotected_config.pb.txt";
 
   ScenarioConfig config;
   EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
-      FLAGS_scenario_traffic_light_right_turn_unprotected_config_file,
+      FLAGS_scenario_traffic_light_unprotected_right_turn_config_file,
       &config));
 }
 
 TEST_F(TrafficLightRightTurnUnprotectedScenarioTest, Init) {
-  FLAGS_scenario_stop_sign_unprotected_config_file =
+  FLAGS_scenario_traffic_light_unprotected_right_turn_config_file =
       "/apollo/modules/planning/testdata/conf/"
       "scenario/traffic_light_right_turn_unprotected_config.pb.txt";
 
   ScenarioConfig config;
   EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
-      FLAGS_scenario_traffic_light_right_turn_unprotected_config_file,
+      FLAGS_scenario_traffic_light_unprotected_right_turn_config_file,
       &config));
 
   ScenarioContext context;
   scenario_.reset(new TrafficLightRightTurnUnprotectedScenario(config,
                                                                &context));
   EXPECT_EQ(scenario_->scenario_type(),
-            ScenarioConfig::TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED);
+            ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN);
 }
 
 }  // namespace traffic_light

diff --git a/modules/planning/testdata/conf/scenario/traffic_light_right_turn_unprotected_config.pb.txt b/modules/planning/testdata/conf/scenario/traffic_light_right_turn_unprotected_config.pb.txt
@@ -1,17 +1,17 @@
-scenario_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED
-traffic_light_right_turn_unprotected_config: {
+scenario_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN
+traffic_light_unprotected_right_turn_config: {
   max_valid_stop_distance: 3.5
   max_adc_stop_speed: 0.3
   min_pass_s_distance: 3.0
   red_light_right_turn_stop_duration: 3.0
   creep_timeout: 10.0
 }
-stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
-stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
-stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE
+stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP
+stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
+stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE
 
 stage_config: {
-  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_STOP
+  stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP
   enabled: true
   task_type: DECIDER_RULE_BASED_STOP
   task_type: DP_POLY_PATH_OPTIMIZER
@@ -40,7 +40,7 @@ stage_config: {
 }
 
 stage_config: {
-  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_CREEP
+  stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP
   enabled: true
   task_type: DECIDER_RULE_BASED_STOP
   task_type: DECIDER_CREEP
@@ -84,7 +84,7 @@ stage_config: {
 }
 
 stage_config: {
-  stage_type: TRAFFIC_LIGHT_RIGHT_TURN_UNPROTECTED_INTERSECTION_CRUISE
+  stage_type: TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE
   enabled: true
   task_type: DECIDER_RULE_BASED_STOP
   task_type: DP_POLY_PATH_OPTIMIZER