diff --git a/modules/dreamview/frontend/dist/3.bundle.js b/modules/dreamview/frontend/dist/3.bundle.js
index c6ffa664b8..80a2bd4ff3 100644
--- a/modules/dreamview/frontend/dist/3.bundle.js
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diff --git a/modules/dreamview/frontend/dist/3.bundle.js.map b/modules/dreamview/frontend/dist/3.bundle.js.map
index ea3099c415..29c34d73bf 100644
--- a/modules/dreamview/frontend/dist/3.bundle.js.map
+++ b/modules/dreamview/frontend/dist/3.bundle.js.map
@@ -1 +1 @@
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diff --git a/modules/dreamview/frontend/dist/4.bundle.js b/modules/dreamview/frontend/dist/4.bundle.js
index 89bfcb5f77..dcf712ec9b 100644
--- a/modules/dreamview/frontend/dist/4.bundle.js
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AR_GNSS:16,MSF_NOSOL_X_GNSS:17,MSF_NOSOL_LIDAR_X:18,MSF_NOSOL_LIDAR_XX:19,MSF_NOSOL_LIDAR_XXX:20,MSF_NOSOL_X_X:21,MSF_NOSOL_X_XX:22,MSF_NOSOL_X_XXX:23,MSF_RUNNING_INIT:24}},MsfSensorMsgStatus:{fields:{imuDelayStatus:{type:"ImuMsgDelayStatus",id:1},imuMissingStatus:{type:"ImuMsgMissingStatus",id:2},imuDataStatus:{type:"ImuMsgDataStatus",id:3}}},MsfStatus:{fields:{localLidarConsistency:{type:"LocalLidarConsistency",id:1},gnssConsistency:{type:"GnssConsistency",id:2},localLidarStatus:{type:"LocalLidarStatus",id:3},localLidarQuality:{type:"LocalLidarQuality",id:4},gnssposPositionType:{type:"GnssPositionType",id:5},msfRunningStatus:{type:"MsfRunningStatus",id:6}}}}},canbus:{nested:{Chassis:{fields:{engineStarted:{type:"bool",id:3},engineRpm:{type:"float",id:4,options:{default:null}},speedMps:{type:"float",id:5,options:{default:null}},odometerM:{type:"float",id:6,options:{default:null}},fuelRangeM:{type:"int32",id:7},throttlePercentage:{type:"float",id:8,options:{default:null}},brakePercentage:{type:"float",id:9,options:{default:null}},steeringPercentage:{type:"float",id:11,options:{default:null}},steeringTorqueNm:{type:"float",id:12,options:{default:null}},parkingBrake:{type:"bool",id:13},highBeamSignal:{type:"bool",id:14,options:{deprecated:!0}},lowBeamSignal:{type:"bool",id:15,options:{deprecated:!0}},leftTurnSignal:{type:"bool",id:16,options:{deprecated:!0}},rightTurnSignal:{type:"bool",id:17,options:{deprecated:!0}},horn:{type:"bool",id:18,options:{deprecated:!0}},wiper:{type:"bool",id:19},disengageStatus:{type:"bool",id:20,options:{deprecated:!0}},drivingMode:{type:"DrivingMode",id:21,options:{default:"COMPLETE_MANUAL"}},errorCode:{type:"ErrorCode",id:22,options:{default:"NO_ERROR"}},gearLocation:{type:"GearPosition",id:23},steeringTimestamp:{type:"double",id:24},header:{type:"apollo.common.Header",id:25},chassisErrorMask:{type:"int32",id:26,options:{default:0}},signal:{type:"apollo.common.VehicleSignal",id:27},chassisGps:{type:"ChassisGPS",id:28},engageAdvice:{type:"apollo.common.EngageAdvice",id:29},wheelSpeed:{type:"WheelSpeed",id:30},surround:{type:"Surround",id:31},license:{type:"License",id:32}},nested:{DrivingMode:{values:{COMPLETE_MANUAL:0,COMPLETE_AUTO_DRIVE:1,AUTO_STEER_ONLY:2,AUTO_SPEED_ONLY:3,EMERGENCY_MODE:4}},ErrorCode:{values:{NO_ERROR:0,CMD_NOT_IN_PERIOD:1,CHASSIS_ERROR:2,CHASSIS_ERROR_ON_STEER:6,CHASSIS_ERROR_ON_BRAKE:7,CHASSIS_ERROR_ON_THROTTLE:8,CHASSIS_ERROR_ON_GEAR:9,MANUAL_INTERVENTION:3,CHASSIS_CAN_NOT_IN_PERIOD:4,UNKNOWN_ERROR:5}},GearPosition:{values:{GEAR_NEUTRAL:0,GEAR_DRIVE:1,GEAR_REVERSE:2,GEAR_PARKING:3,GEAR_LOW:4,GEAR_INVALID:5,GEAR_NONE:6}}}},ChassisGPS:{fields:{latitude:{type:"double",id:1},longitude:{type:"double",id:2},gpsValid:{type:"bool",id:3},year:{type:"int32",id:4},month:{type:"int32",id:5},day:{type:"int32",id:6},hours:{type:"int32",id:7},minutes:{type:"int32",id:8},seconds:{type:"int32",id:9},compassDirection:{type:"double",id:10},pdop:{type:"double",id:11},isGpsFault:{type:"bool",id:12},isInferred:{type:"bool",id:13},altitude:{type:"double",id:14},heading:{type:"double",id:15},hdop:{type:"double",id:16},vdop:{type:"double",id:17},quality:{type:"GpsQuality",id:18},numSatellites:{type:"int32",id:19},gpsSpeed:{type:"double",id:20}}},GpsQuality:{values:{FIX_NO:0,FIX_2D:1,FIX_3D:2,FIX_INVALID:3}},WheelSpeed:{fields:{isWheelSpdRrValid:{type:"bool",id:1,options:{default:!1}},wheelDirectionRr:{type:"WheelSpeedType",id:2,options:{default:"INVALID"}},wheelSpdRr:{type:"double",id:3,options:{default:0}},isWheelSpdRlValid:{type:"bool",id:4,options:{default:!1}},wheelDirectionRl:{type:"WheelSpeedType",id:5,options:{default:"INVALID"}},wheelSpdRl:{type:"double",id:6,options:{default:0}},isWheelSpdFrValid:{type:"bool",id:7,options:{default:!1}},wheelDirectionFr:{type:"WheelSpeedType",id:8,options:{default:"INVALID"}},wheelSpdFr:{type:"double",id:9,options:{default:0}},isWheelSpdFlValid:{type:"bool",id:10,options:{default:!1}},wheelDirectionFl:{type:"WheelSpeedType",id:11,options:{default:"INVALID"}},wheelSpdFl:{type:"double",id:12,options:{default:0}}},nested:{WheelSpeedType:{values:{FORWARD:0,BACKWARD:1,STANDSTILL:2,INVALID:3}}}},Sonar:{fields:{range:{type:"double",id:1},translation:{type:"apollo.common.Point3D",id:2},rotation:{type:"apollo.common.Quaternion",id:3}}},Surround:{fields:{crossTrafficAlertLeft:{type:"bool",id:1},crossTrafficAlertLeftEnabled:{type:"bool",id:2},blindSpotLeftAlert:{type:"bool",id:3},blindSpotLeftAlertEnabled:{type:"bool",id:4},crossTrafficAlertRight:{type:"bool",id:5},crossTrafficAlertRightEnabled:{type:"bool",id:6},blindSpotRightAlert:{type:"bool",id:7},blindSpotRightAlertEnabled:{type:"bool",id:8},sonar00:{type:"double",id:9},sonar01:{type:"double",id:10},sonar02:{type:"double",id:11},sonar03:{type:"double",id:12},sonar04:{type:"double",id:13},sonar05:{type:"double",id:14},sonar06:{type:"double",id:15},sonar07:{type:"double",id:16},sonar08:{type:"double",id:17},sonar09:{type:"double",id:18},sonar10:{type:"double",id:19},sonar11:{type:"double",id:20},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:{lWeight:{type:"double",id:1,options:{default:1}},dlWeight:{type:"double",id:2,options:{default:100}},ddlWeight:{type:"double",id:3,options:{default:1e3}},dddlWeight:{type:"double",id:4,options:{default:1e4}}}},DualWarmUpMode:{values:{IPOPT:0,IPOPTQP:1,OSQP:2,DEBUG:3}},DistanceApproachMode:{values:{DISTANCE_APPROACH_IPOPT:0,DISTANCE_APPROACH_IPOPT_CUDA:1}},PlannerOpenSpaceConfig:{fields:{roiConfig:{type:"ROIConfig",id:1},warmStartConfig:{type:"WarmStartConfig",id:2},dualVariableWarmStartConfig:{type:"DualVariableWarmStartConfig",id:3},distanceApproachConfig:{type:"DistanceApproachConfig",id:4},trajectoryPartitionConfig:{type:"TrajectoryPartitionConfig",id:5},deltaT:{type:"float",id:6,options:{default:1}},maxPositionErrorToEndPoint:{type:"double",id:7,options:{default:.5}},maxThetaErrorToEndPoint:{type:"double",id:8,options:{default:.2}},isNearDestinationThreshold:{type:"double",id:9,options:{default:.001}}}},ROIConfig:{fields:{roiLongitudinalRange:{type:"double",id:1,options:{default:10}},parkingStartRange:{type:"double",id:2,options:{default:7}},parkingInwards:{type:"bool",id:3,options:{default:!1}}}},WarmStartConfig:{fields:{xyGridResolution:{type:"double",id:1,options:{default:.2}},phiGridResolution:{type:"double",id:2,options:{default:.05}},nextNodeNum:{type:"uint64",id:3,options:{default:10}},stepSize:{type:"double",id:4,options:{default:.5}},trajForwardPenalty:{type:"double",id:5,options:{default:0}},trajBackPenalty:{type:"double",id:6,options:{default:0}},trajGearSwitchPenalty:{type:"double",id:7,options:{default:10}},trajSteerPenalty:{type:"double",id:8,options:{default:100}},trajSteerChangePenalty:{type:"double",id:9,options:{default:10}},gridAStarXyResolution:{type:"double",id:15,options:{default:.1}},nodeRadius:{type:"double",id:16,options:{default:.5}}}},DualVariableWarmStartConfig:{fields:{weightD:{type:"double",id:1,options:{default:1}},ipoptConfig:{type:"IpoptConfig",id:2},qpFormat:{type:"DualWarmUpMode",id:3},minSafetyDistance:{type:"double",id:4,options:{default:0}}}},DistanceApproachConfig:{fields:{weightSteer:{type:"double",id:1},weightA:{type:"double",id:2},weightSteerRate:{type:"double",id:3},weightARate:{type:"double",id:4},weightX:{type:"double",id:5},weightY:{type:"double",id:6},weightPhi:{type:"double",id:7},weightV:{type:"double",id:8},weightSteerStitching:{type:"double",id:9},weightAStitching:{type:"double",id:10},weightFirstOrderTime:{type:"double",id:11},weightSecondOrderTime:{type:"double",id:12},minSafetyDistance:{type:"double",id:13,options:{default:0}},maxSpeedForward:{type:"double",id:14,options:{default:3}},maxSpeedReverse:{type:"double",id:15,options:{default:2}},maxAccelerationForward:{type:"double",id:16,options:{default:2}},maxAccelerationReverse:{type:"double",id:17,options:{default:2}},minTimeSampleScaling:{type:"double",id:18,options:{default:.1}},maxTimeSampleScaling:{type:"double",id:19,options:{default:10}},useFixTime:{type:"bool",id:20,options:{default:!1}},ipoptConfig:{type:"IpoptConfig",id:21},enableConstraintCheck:{type:"bool",id:22},enableHandDerivative:{type:"bool",id:23},enableDerivativeCheck:{type:"bool",id:24},enableInitialFinalCheck:{type:"bool",id:25,options:{default:!1}},distanceApproachMode:{type:"DistanceApproachMode",id:26}}},IpoptConfig:{fields:{ipoptPrintLevel:{type:"int32",id:1},mumpsMemPercent:{type:"int32",id:2},mumpsPivtol:{type:"double",id:3},ipoptMaxIter:{type:"int32",id:4},ipoptTol:{type:"double",id:5},ipoptAcceptableConstrViolTol:{type:"double",id:6},ipoptMinHessianPerturbation:{type:"double",id:7},ipoptJacobianRegularizationValue:{type:"double",id:8},ipoptPrintTimingStatistics:{type:"string",id:9},ipoptAlphaForY:{type:"string",id:10},ipoptRecalcY:{type:"string",id:11},ipoptMuInit:{type:"double",id:12,options:{default:.1}}}},TrajectoryPartitionConfig:{fields:{interpolatedPiecesNum:{type:"uint64",id:1,options:{default:50}},initialGearCheckHorizon:{type:"uint64",id:2,options:{default:3}},headingSearchingRange:{type:"double",id:3,options:{default:.3}},gearShiftPeriodDuration:{type:"double",id:4,options:{default:2}},gearShiftMaxT:{type:"double",id:5,options:{default:3}},gearShiftUnitT:{type:"double",id:6,options:{default:.02}}}},ADCSignals:{fields:{signal:{rule:"repeated",type:"SignalType",id:1,options:{packed:!1}}},nested:{SignalType:{values:{LEFT_TURN:1,RIGHT_TURN:2,LOW_BEAM_LIGHT:3,HIGH_BEAM_LIGHT:4,FOG_LIGHT:5,EMERGENCY_LIGHT:6}}}},EStop:{fields:{isEstop:{type:"bool",id:1},reason:{type:"string",id:2}}},TaskStats:{fields:{name:{type:"string",id:1},timeMs:{type:"double",id:2}}},LatencyStats:{fields:{totalTimeMs:{type:"double",id:1},taskStats:{rule:"repeated",type:"TaskStats",id:2},initFrameTimeMs:{type:"double",id:3}}},RSSInfo:{fields:{isRssSafe:{type:"bool",id:1},curDistLon:{type:"double",id:2},rssSafeDistLon:{type:"double",id:3},accLonRangeMinimum:{type:"double",id:4},accLonRangeMaximum:{type:"double",id:5},accLatLeftRangeMinimum:{type:"double",id:6},accLatLeftRangeMaximum:{type:"double",id:7},accLatRightRangeMinimum:{type:"double",id:8},accLatRightRangeMaximum:{type:"double",id:9}}},ADCTrajectory:{fields:{header:{type:"apollo.common.Header",id:1},totalPathLength:{type:"double",id:2},totalPathTime:{type:"double",id:3},trajectoryPoint:{rule:"repeated",type:"apollo.common.TrajectoryPoint",id:12},estop:{type:"EStop",id:6},pathPoint:{rule:"repeated",type:"apollo.common.PathPoint",id:13},isReplan:{type:"bool",id:9,options:{default:!1}},replanReason:{type:"string",id:22},gear:{type:"apollo.canbus.Chassis.GearPosition",id:10},decision:{type:"apollo.planning.DecisionResult",id:14},latencyStats:{type:"LatencyStats",id:15},routingHeader:{type:"apollo.common.Header",id:16},debug:{type:"apollo.planning_internal.Debug",id:8},rightOfWayStatus:{type:"RightOfWayStatus",id:17},laneId:{rule:"repeated",type:"apollo.hdmap.Id",id:18},engageAdvice:{type:"apollo.common.EngageAdvice",id:19},criticalRegion:{type:"CriticalRegion",id:20},trajectoryType:{type:"TrajectoryType",id:21,options:{default:"UNKNOWN"}},rssInfo:{type:"RSSInfo",id:100}},nested:{RightOfWayStatus:{values:{UNPROTECTED:0,PROTECTED:1}},CriticalRegion:{fields:{region:{rule:"repeated",type:"apollo.common.Polygon",id:1}}},TrajectoryType:{values:{UNKNOWN:0,NORMAL:1,PATH_FALLBACK:2,SPEED_FALLBACK:3}}}},PathDeciderConfig:{fields:{}},TaskConfig:{oneofs:{taskConfig:{oneof:["dpPolyPathConfig","dpStSpeedConfig","qpSplinePathConfig","qpStSpeedConfig","pathDeciderConfig","proceedWithCautionSpeedConfig","qpPiecewiseJerkPathConfig","deciderCreepConfig","deciderRuleBasedStopConfig","sidePassSafetyConfig","sidePassPathDeciderConfig","speedBoundsDeciderConfig","piecewiseJerkPathConfig","pathBoundsDeciderConfig","openSpaceFallbackDeciderConfig","openSpaceRoiDeciderConfig","openSpaceTrajectoryProviderConfig","openSpaceTrajectoryPartitionConfig","pathAssessmentDeciderConfig"]}},fields:{taskType:{type:"TaskType",id:1},dpPolyPathConfig:{type:"DpPolyPathConfig",id:2},dpStSpeedConfig:{type:"DpStSpeedConfig",id:3},qpSplinePathConfig:{type:"QpSplinePathConfig",id:4},qpStSpeedConfig:{type:"QpStSpeedConfig",id:5},pathDeciderConfig:{type:"PathDeciderConfig",id:7},proceedWithCautionSpeedConfig:{type:"ProceedWithCautionSpeedConfig",id:8},qpPiecewiseJerkPathConfig:{type:"QpPiecewiseJerkPathConfig",id:9},deciderCreepConfig:{type:"DeciderCreepConfig",id:10},deciderRuleBasedStopConfig:{type:"DeciderRuleBasedStopConfig",id:11},sidePassSafetyConfig:{type:"SidePassSafetyConfig",id:12},sidePassPathDeciderConfig:{type:"SidePassPathDeciderConfig",id:13},speedBoundsDeciderConfig:{type:"SpeedBoundsDeciderConfig",id:15},piecewiseJerkPathConfig:{type:"PiecewiseJerkPathConfig",id:16},pathBoundsDeciderConfig:{type:"PathBoundsDeciderConfig",id:17},openSpaceFallbackDeciderConfig:{type:"OpenSpaceFallBackDeciderConfig",id:18},openSpaceRoiDeciderConfig:{type:"OpenSpaceRoiDeciderConfig",id:19},openSpaceTrajectoryProviderConfig:{type:"OpenSpaceTrajectoryProviderConfig",id:20},openSpaceTrajectoryPartitionConfig:{type:"OpenSpaceTrajectoryPartitionConfig",id:21},pathAssessmentDeciderConfig:{type:"PathAssessmentDeciderConfig",id:22}},nested:{TaskType:{values:{DP_POLY_PATH_OPTIMIZER:0,DP_ST_SPEED_OPTIMIZER:1,QP_SPLINE_PATH_OPTIMIZER:2,QP_SPLINE_ST_SPEED_OPTIMIZER:3,PATH_DECIDER:4,SPEED_DECIDER:5,POLY_ST_SPEED_OPTIMIZER:6,NAVI_PATH_DECIDER:7,NAVI_SPEED_DECIDER:8,NAVI_OBSTACLE_DECIDER:9,QP_PIECEWISE_JERK_PATH_OPTIMIZER:10,DECIDER_CREEP:11,DECIDER_RULE_BASED_STOP:12,SIDE_PASS_PATH_DECIDER:13,SIDE_PASS_SAFETY:14,PROCEED_WITH_CAUTION_SPEED:15,DECIDER_RSS:16,SPEED_BOUNDS_PRIORI_DECIDER:17,SPEED_BOUNDS_FINAL_DECIDER:18,PIECEWISE_JERK_PATH_OPTIMIZER:19,PATH_BOUNDS_DECIDER:20,OPEN_SPACE_ROI_DECIDER:21,OPEN_SPACE_TRAJECTORY_PROVIDER:22,OPEN_SPACE_TRAJECTORY_PARTITION:23,OPEN_SPACE_FALLBACK_DECIDER:24,PATH_ASSESSMENT_DECIDER:25}}}},ScenarioLaneFollowConfig:{fields:{}},ScenarioSidePassConfig:{fields:{sidePassExitDistance:{type:"double",id:1,options:{default:10}},approachObstacleMaxStopSpeed:{type:"double",id:2,options:{default:1e-5}},approachObstacleMinStopDistance:{type:"double",id:3,options:{default:4}},blockObstacleMinSpeed:{type:"double",id:4,options:{default:.1}},enableObstacleBlockedCheck:{type:"bool",id:5,options:{default:!0}},maxBackupStageCycleNum:{type:"uint32",id:6,options:{default:30}},minLNudgeBuffer:{type:"double",id:7,options:{default:.5}},minFrontObstacleDistance:{type:"double",id:8,options:{default:.5}},maxFrontObstacleDistance:{type:"double",id:9,options:{default:15}},stopFenceDistanceToBlockingObstacle:{type:"double",id:10,options:{default:6}}}},ScenarioBareIntersectionUnprotectedConfig:{fields:{startBareIntersectionScenarioDistance:{type:"double",id:1,options:{default:25}},minPassSDistance:{type:"double",id:2,options:{default:3}},approachSpeedLimit:{type:"double",id:3,options:{default:6.7056}},stopTimeoutSec:{type:"float",id:4,options:{default:8}},creepTimeoutSec:{type:"float",id:5,options:{default:10}}}},ScenarioStopSignUnprotectedConfig:{fields:{startStopSignScenarioDistance:{type:"double",id:1,options:{default:5}},watchVehicleMaxValidStopDistance:{type:"double",id:2,options:{default:5}},maxValidStopDistance:{type:"double",id:3,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:4,options:{default:.3}},stopDurationSec:{type:"float",id:5,options:{default:1}},minPassSDistance:{type:"double",id:6,options:{default:3}},stopTimeoutSec:{type:"float",id:7,options:{default:8}},creepTimeoutSec:{type:"float",id:8,options:{default:10}}}},ScenarioTrafficLightProtectedConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},maxValidStopDistance:{type:"double",id:2,options:{default:2}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.3}},minPassSDistance:{type:"double",id:4,options:{default:3}}}},ScenarioTrafficLightUnprotectedLeftTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},maxValidStopDistance:{type:"double",id:2,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.3}},minPassSDistance:{type:"double",id:4,options:{default:3}},creepTimeoutSec:{type:"float",id:5,options:{default:10}}}},ScenarioTrafficLightUnprotectedRightTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},enableRightTurnOnRed:{type:"bool",id:2,options:{default:!1}},maxValidStopDistance:{type:"double",id:3,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:4,options:{default:.3}},minPassSDistance:{type:"double",id:5,options:{default:3}},redLightRightTurnStopDurationSec:{type:"float",id:6,options:{default:3}},creepTimeoutSec:{type:"float",id:7,options:{default:10}}}},ScenarioValetParkingConfig:{fields:{parkingSpotRangeToStart:{type:"double",id:1,options:{default:20}},maxValidStopDistance:{type:"double",id:2,options:{default:1}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.1}}}},ScenarioNarrowStreetUTurnConfig:{fields:{}},ScenarioConfig:{oneofs:{scenarioConfig:{oneof:["laneFollowConfig","sidePassConfig","bareIntersectionUnprotectedConfig","stopSignUnprotectedConfig","trafficLightProtectedConfig","trafficLightUnprotectedRightTurnConfig","trafficLightUnprotectedLeftTurnConfig","valetParkingConfig","narrowStreetUTurnConfig"]}},fields:{scenarioType:{type:"ScenarioType",id:1},laneFollowConfig:{type:"ScenarioLaneFollowConfig",id:2},sidePassConfig:{type:"ScenarioSidePassConfig",id:3},bareIntersectionUnprotectedConfig:{type:"ScenarioBareIntersectionUnprotectedConfig",id:4},stopSignUnprotectedConfig:{type:"ScenarioStopSignUnprotectedConfig",id:5},trafficLightProtectedConfig:{type:"ScenarioTrafficLightProtectedConfig",id:6},trafficLightUnprotectedRightTurnConfig:{type:"ScenarioTrafficLightUnprotectedRightTurnConfig",id:7},trafficLightUnprotectedLeftTurnConfig:{type:"ScenarioTrafficLightUnprotectedLeftTurnConfig",id:8},valetParkingConfig:{type:"ScenarioValetParkingConfig",id:9},narrowStreetUTurnConfig:{type:"ScenarioNarrowStreetUTurnConfig",id:10},stageType:{rule:"repeated",type:"StageType",id:11,options:{packed:!1}},stageConfig:{rule:"repeated",type:"StageConfig",id:12}},nested:{ScenarioType:{values:{LANE_FOLLOW:0,CHANGE_LANE:1,SIDE_PASS:2,BARE_INTERSECTION_UNPROTECTED:3,STOP_SIGN_PROTECTED:4,STOP_SIGN_UNPROTECTED:5,TRAFFIC_LIGHT_PROTECTED:6,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:7,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:8,YIELD_SIGN_UNPROTECTED:9,VALET_PARKING:10,NARROW_STREET_U_TURN:11}},StageType:{values:{NO_STAGE:0,LANE_FOLLOW_DEFAULT_STAGE:1,SIDE_PASS_APPROACH_OBSTACLE:100,SIDE_PASS_GENERATE_PATH:101,SIDE_PASS_STOP_ON_WAITPOINT:102,SIDE_PASS_DETECT_SAFETY:103,SIDE_PASS_PASS_OBSTACLE:104,SIDE_PASS_BACKUP:105,SIDE_PASS_DEFAULT_STAGE:106,BARE_INTERSECTION_UNPROTECTED_APPROACH:200,BARE_INTERSECTION_UNPROTECTED_CREEP:201,BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE:202,STOP_SIGN_UNPROTECTED_PRE_STOP:300,STOP_SIGN_UNPROTECTED_STOP:301,STOP_SIGN_UNPROTECTED_CREEP:302,STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE:303,TRAFFIC_LIGHT_PROTECTED_APPROACH:400,TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE:401,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP:410,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE:411,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP:420,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP:421,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE:422,VALET_PARKING_APPROACHING_PARKING_SPOT:501,VALET_PARKING_PARKING:502}},StageConfig:{fields:{stageType:{type:"StageType",id:1},enabled:{type:"bool",id:2,options:{default:!0}},taskType:{rule:"repeated",type:"TaskConfig.TaskType",id:3,options:{packed:!1}},taskConfig:{rule:"repeated",type:"TaskConfig",id:4}}}}},PlannerPublicRoadConfig:{fields:{scenarioType:{rule:"repeated",type:"ScenarioConfig.ScenarioType",id:1,options:{packed:!1}}}},PlannerNaviConfig:{fields:{task:{rule:"repeated",type:"TaskConfig.TaskType",id:1,options:{packed:!1}},naviPathDeciderConfig:{type:"NaviPathDeciderConfig",id:2},naviSpeedDeciderConfig:{type:"NaviSpeedDeciderConfig",id:3},naviObstacleDeciderConfig:{type:"NaviObstacleDeciderConfig",id:4}}},PlannerType:{values:{RTK:0,PUBLIC_ROAD:1,OPEN_SPACE:2,NAVI:3,LATTICE:4}},RtkPlanni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talPathLength:{type:"double",id:2},totalPathTime:{type:"double",id:3},trajectoryPoint:{rule:"repeated",type:"apollo.common.TrajectoryPoint",id:12},estop:{type:"EStop",id:6},pathPoint:{rule:"repeated",type:"apollo.common.PathPoint",id:13},isReplan:{type:"bool",id:9,options:{default:!1}},replanReason:{type:"string",id:22},gear:{type:"apollo.canbus.Chassis.GearPosition",id:10},decision:{type:"apollo.planning.DecisionResult",id:14},latencyStats:{type:"LatencyStats",id:15},routingHeader:{type:"apollo.common.Header",id:16},debug:{type:"apollo.planning_internal.Debug",id:8},rightOfWayStatus:{type:"RightOfWayStatus",id:17},laneId:{rule:"repeated",type:"apollo.hdmap.Id",id:18},engageAdvice:{type:"apollo.common.EngageAdvice",id:19},criticalRegion:{type:"CriticalRegion",id:20},trajectoryType:{type:"TrajectoryType",id:21,options:{default:"UNKNOWN"}},rssInfo:{type:"RSSInfo",id:100}},nested:{RightOfWayStatus:{values:{UNPROTECTED:0,PROTECTED:1}},CriticalRegion:{fields:{region:{rule:"repeated",type:"apollo.common.Polygon",id:1}}},TrajectoryType:{values:{UNKNOWN:0,NORMAL:1,PATH_FALLBACK:2,SPEED_FALLBACK:3}}}},PathDeciderConfig:{fields:{}},TaskConfig:{oneofs:{taskConfig:{oneof:["dpStSpeedConfig","pathDeciderConfig","proceedWithCautionSpeedConfig","deciderCreepConfig","openSpacePreStopDeciderConfig","speedBoundsDeciderConfig","piecewiseJerkPathConfig","pathBoundsDeciderConfig","openSpaceFallbackDeciderConfig","openSpaceRoiDeciderConfig","openSpaceTrajectoryProviderConfig","openSpaceTrajectoryPartitionConfig","pathAssessmentDeciderConfig","piecewiseJerkSpeedConfig","pathLaneBorrowDeciderConfig"]}},fields:{taskType:{type:"TaskType",id:1},dpStSpeedConfig:{type:"DpStSpeedConfig",id:3},pathDeciderConfig:{type:"PathDeciderConfig",id:7},proceedWithCautionSpeedConfig:{type:"ProceedWithCautionSpeedConfig",id:8},deciderCreepConfig:{type:"DeciderCreepConfig",id:10},openSpacePreStopDeciderConfig:{type:"OpenSpacePreStopDeciderConfig",id:11},speedBoundsDeciderConfig:{type:"SpeedBoundsDeciderConfig",id:15},piecewiseJerkPathConfig:{type:"PiecewiseJerkPathConfig",id:16},pathBoundsDeciderConfig:{type:"PathBoundsDeciderConfig",id:17},openSpaceFallbackDeciderConfig:{type:"OpenSpaceFallBackDeciderConfig",id:18},openSpaceRoiDeciderConfig:{type:"OpenSpaceRoiDeciderConfig",id:19},openSpaceTrajectoryProviderConfig:{type:"OpenSpaceTrajectoryProviderConfig",id:20},openSpaceTrajectoryPartitionConfig:{type:"OpenSpaceTrajectoryPartitionConfig",id:21},pathAssessmentDeciderConfig:{type:"PathAssessmentDeciderConfig",id:22},piecewiseJerkSpeedConfig:{type:"PiecewiseJerkSpeedConfig",id:23},pathLaneBorrowDeciderConfig:{type:"PathLaneBorrowDeciderConfig",id:24}},nested:{TaskType:{values:{DP_ST_SPEED_OPTIMIZER:1,PATH_DECIDER:4,SPEED_DECIDER:5,NAVI_PATH_DECIDER:7,NAVI_SPEED_DECIDER:8,NAVI_OBSTACLE_DECIDER:9,DECIDER_CREEP:11,OPEN_SPACE_PRE_STOP_DECIDER:12,PROCEED_WITH_CAUTION_SPEED:15,DECIDER_RSS:16,SPEED_BOUNDS_PRIORI_DECIDER:17,SPEED_BOUNDS_FINAL_DECIDER:18,PIECEWISE_JERK_PATH_OPTIMIZER:19,PATH_BOUNDS_DECIDER:20,OPEN_SPACE_ROI_DECIDER:21,OPEN_SPACE_TRAJECTORY_PROVIDER:22,OPEN_SPACE_TRAJECTORY_PARTITION:23,OPEN_SPACE_FALLBACK_DECIDER:24,PATH_ASSESSMENT_DECIDER:25,PATH_LANE_BORROW_DECIDER:26,PIECEWISE_JERK_SPEED_OPTIMIZER:27}}}},ScenarioLaneFollowConfig:{fields:{}},ScenarioSidePassConfig:{fields:{sidePassExitDistance:{type:"double",id:1,options:{default:10}},approachObstacleMaxStopSpeed:{type:"double",id:2,options:{default:1e-5}},approachObstacleMinStopDistance:{type:"double",id:3,options:{default:4}},blockObstacleMinSpeed:{type:"double",id:4,options:{default:.1}},enableObstacleBlockedCheck:{type:"bool",id:5,options:{default:!0}},maxBackupStageCycleNum:{type:"uint32",id:6,options:{default:30}},minLNudgeBuffer:{type:"double",id:7,options:{default:.5}},minFrontObstacleDistance:{type:"double",id:8,options:{default:.5}},maxFrontObstacleDistance:{type:"double",id:9,options:{default:15}},stopFenceDistanceToBlockingObstacle:{type:"double",id:10,options:{default:6}}}},ScenarioBareIntersectionUnprotectedConfig:{fields:{startBareIntersectionScenarioDistance:{type:"double",id:1,options:{default:25}},enableExplicitStop:{type:"bool",id:2,options:{default:!1}},minPassSDistance:{type:"double",id:3,options:{default:3}},approachSpeedLimit:{type:"double",id:4,options:{default:6.7056}},stopDistance:{type:"double",id:5,options:{default:.5}},stopTimeoutSec:{type:"float",id:6,options:{default:8}},creepTimeoutSec:{type:"float",id:7,options:{default:10}}}},ScenarioStopSignUnprotectedConfig:{fields:{startStopSignScenarioDistance:{type:"double",id:1,options:{default:5}},watchVehicleMaxValidStopDistance:{type:"double",id:2,options:{default:5}},maxValidStopDistance:{type:"double",id:3,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:4,options:{default:.3}},stopDurationSec:{type:"float",id:5,options:{default:1}},minPassSDistance:{type:"double",id:6,options:{default:3}},stopTimeoutSec:{type:"float",id:7,options:{default:8}},creepTimeoutSec:{type:"float",id:8,options:{default:10}}}},ScenarioTrafficLightProtectedConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},maxValidStopDistance:{type:"double",id:2,options:{default:2}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.3}},minPassSDistance:{type:"double",id:4,options:{default:3}}}},ScenarioTrafficLightUnprotectedLeftTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},maxValidStopDistance:{type:"double",id:2,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.3}},minPassSDistance:{type:"double",id:4,options:{default:3}},creepTimeoutSec:{type:"float",id:5,options:{default:10}}}},ScenarioTrafficLightUnprotectedRightTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},enableRightTurnOnRed:{type:"bool",id:2,options:{default:!1}},maxValidStopDistance:{type:"double",id:3,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:4,options:{default:.3}},minPassSDistance:{type:"double",id:5,options:{default:3}},redLightRightTurnStopDurationSec:{type:"float",id:6,options:{default:3}},creepTimeoutSec:{type:"float",id:7,options:{default:10}}}},ScenarioPullOverConfig:{fields:{startPullOverScenarioDistance:{type:"double",id:1,options:{default:50}}}},ScenarioValetParkingConfig:{fields:{parkingSpotRangeToStart:{type:"double",id:1,options:{default:20}},maxValidStopDistance:{type:"double",id:2,options:{default:1}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.1}}}},ScenarioNarrowStreetUTurnConfig:{fields:{}},ScenarioConfig:{oneofs:{scenarioConfig:{oneof:["laneFollowConfig","sidePassConfig","bareIntersectionUnprotectedConfig","stopSignUnprotectedConfig","trafficLightProtectedConfig","trafficLightUnprotectedRightTurnConfig","trafficLightUnprotectedLeftTurnConfig","pullOverConfig","valetParkingConfig","narrowStreetUTurnConfig"]}},fields:{scenarioType:{type:"ScenarioType",id:1},laneFollowConfig:{type:"ScenarioLaneFollowConfig",id:2},sidePassConfig:{type:"ScenarioSidePassConfig",id:3},bareIntersectionUnprotectedConfig:{type:"ScenarioBareIntersectionUnprotectedConfig",id:4},stopSignUnprotectedConfig:{type:"ScenarioStopSignUnprotectedConfig",id:5},trafficLightProtectedConfig:{type:"ScenarioTrafficLightProtectedConfig",id:6},trafficLightUnprotectedRightTurnConfig:{type:"ScenarioTrafficLightUnprotectedRightTurnConfig",id:7},trafficLightUnprotectedLeftTurnConfig:{type:"ScenarioTrafficLightUnprotectedLeftTurnConfig",id:8},pullOverConfig:{type:"ScenarioPullOverConfig",id:9},valetParkingConfig:{type:"ScenarioValetParkingConfig",id:10},narrowStreetUTurnConfig:{type:"ScenarioNarrowStreetUTurnConfig",id:11},stageType:{rule:"repeated",type:"StageType",id:12,options:{packed:!1}},stageConfig:{rule:"repeated",type:"StageConfig",id:13}},nested:{ScenarioType:{values:{LANE_FOLLOW:0,CHANGE_LANE:1,SIDE_PASS:2,BARE_INTERSECTION_UNPROTECTED:3,STOP_SIGN_PROTECTED:4,STOP_SIGN_UNPROTECTED:5,TRAFFIC_LIGHT_PROTECTED:6,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:7,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:8,YIELD_SIGN_UNPROTECTED:9,PULL_OVER:10,VALET_PARKING:11,NARROW_STREET_U_TURN:12}},StageType:{values:{NO_STAGE:0,LANE_FOLLOW_DEFAULT_STAGE:1,SIDE_PASS_APPROACH_OBSTACLE:100,SIDE_PASS_GENERATE_PATH:101,SIDE_PASS_STOP_ON_WAITPOINT:102,SIDE_PASS_DETECT_SAFETY:103,SIDE_PASS_PASS_OBSTACLE:104,SIDE_PASS_BACKUP:105,SIDE_PASS_DEFAULT_STAGE:106,BARE_INTERSECTION_UNPROTECTED_APPROACH:200,BARE_INTERSECTION_UNPROTECTED_CREEP:201,BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE:202,STOP_SIGN_UNPROTECTED_PRE_STOP:300,STOP_SIGN_UNPROTECTED_STOP:301,STOP_SIGN_UNPROTECTED_CREEP:302,STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE:303,TRAFFIC_LIGHT_PROTECTED_APPROACH:400,TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE:401,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP:410,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE:411,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP:420,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP:421,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE:422,PULL_OVER_APPROACH:500,VALET_PARKING_APPROACHING_PARKING_SPOT:510,VALET_PARKING_PARKING:511}},StageConfig:{fields:{stageType:{type:"StageType",id:1},enabled:{type:"bool",id:2,options:{default:!0}},taskType:{rule:"repeated",type:"TaskConfig.TaskType",id:3,options:{packed:!1}},taskConfig:{rule:"repeated",type:"TaskConfig",id:4}}}}},PlannerPublicRoadConfig:{fields:{scenarioType:{rule:"repeated",type:"ScenarioConfig.ScenarioType",id:1,options:{packed:!1}}}},PlannerNaviConfig:{fields:{task:{rule:"repeated",type:"TaskConfig.TaskType",id:1,options:{packed:!1}},naviPathDeciderConfig:{type:"NaviPathDeciderConfig",id:2},naviSpeedDeciderConfig:{type:"NaviSpeedDeciderConfig",id:3},naviObstacleDeciderConfig:{type:"NaviObstacleDeciderConfig",id:4}}},PlannerType:{values:{RTK:0,PUBLIC_ROAD:1,NAVI:2,LATTICE:3}},RtkPlanningConfig:{fields:{plannerType:{type:"PlannerType",id:1}}},StandardPlanningConfig:{fields:{plannerType:{rule:"repeated",type:"PlannerType",id:1,options:{packed:!1}},plannerPublicRoadConfig:{type:"Pla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htCurveLength:{type:"double",id:7,options:{default:1}},weightKappa:{type:"double",id:8,options:{default:1}},weightDkappa:{type:"double",id:9,options:{default:100}}}},CosThetaSmootherConfig:{fields:{printLevel:{type:"int32",id:1,options:{default:0}},maxPointDeviation:{type:"double",id:2,options:{default:5}},maxNumOfIterations:{type:"int32",id:3,options:{default:1e4}},weightCosIncludedAngle:{type:"double",id:4,options:{default:1e4}},weightAnchorPoints:{type:"double",id:5,options:{default:1}},weightLength:{type:"double",id:6,options:{default:1}},tol:{type:"double",id:7,options:{default:1e-8}},acceptableTol:{type:"double",id:8,options:{default:1e-6}},acceptableNumOfIterations:{type:"int32",id:9,options:{default:15}},relax:{type:"double",id:10,options:{default:.2}},useAutomaticDifferentiation:{type:"bool",id:11,options:{default:!1}}}},ReferenceLineSmootherConfig:{oneofs:{SmootherConfig:{oneof:["qpSpline","spiral","cosTheta"]}},fields:{maxConstraintInterval:{type:"double",id:1,options:{default:5}},longitudinalBoundaryBound:{type:"double",id:2,options:{default:1}},lateralBoundaryBound:{type:"double",id:3,options:{default:.1}},numOfTotalPoints:{type:"uint32",id:4,options:{default:500}},curbShift:{type:"double",id:5,options:{default:.2}},drivingSide:{type:"DrivingSide",id:6,options:{default:"RIGHT"}},wideLaneThresholdFactor:{type:"double",id:7,options:{default:2}},wideLaneShiftRemainFactor:{type:"double",id:8,options:{default:.5}},resolution:{type:"double",id:9,options:{default:.02}},qpSpline:{type:"QpSplineSmootherConfig",id:20},spiral:{type:"SpiralSmootherConfig",id:21},cosTheta:{type:"CosThetaSmootherConfig",id:22}},nested:{DrivingSide:{values:{LEFT:1,RIGHT:2}}}},SidePassPathDeciderConfig:{fields:{totalPathLength:{type:"double",id:1},pathResolution:{type:"double",id:2},maxDddl:{type:"double",id:3},lWeight:{type:"double",id:4},dlWeight:{type:"double",id:5},ddlWeight:{type:"double",id:6},dddlWeight:{type:"double",id:7},guidingLineWeight:{type:"double",id:8}}},SLBoundary:{fields:{startS:{type:"double",id:1},endS:{type:"double",id:2},startL:{type:"double",id:3},endL:{type:"double",id:4},boundaryPoint:{rule:"repeated",type:"apollo.common.SLPoint",id:5}}},SpeedBoundsDeciderConfig:{fields:{totalPathLength:{type:"double",id:1,options:{default:250}},totalTime:{type:"double",id:2,options:{default:7}},boundaryBuffer:{type:"double",id:3,options:{default:.1}},highSpeedCentricAccelerationLimit:{type:"double",id:4,options:{default:1.2}},lowSpeedCentricAccelerationLimit:{type:"double",id:5,options:{default:1.4}},highSpeedThreshold:{type:"double",id:6,options:{default:20}},lowSpeedThreshold:{type:"double",id:7,options:{default:7}},minimalKappa:{type:"double",id:8,options:{default:1e-5}},pointExtension:{type:"double",id:9,options:{default:1}},lowestSpeed:{type:"double",id:10,options:{default:2.5}},numPointsToAvgKappa:{type:"uint32",id:11,options:{default:4}},collisionSafetyRange:{type:"double",id:12,options:{default:1}},staticObsNudgeSpeedRatio:{type:"double",id:13},dynamicObsNudgeSpeedRatio:{type:"double",id:14},centriJerkSpeedCoeff:{type:"double",id:15},maxAdcStopSpeed:{type:"double",id:16,options:{default:.3}},maxValidStopDistance:{type:"double",id:17,options:{default:.5}},approachDistanceForLaneChange:{type:"double",id:18,options:{default:50}},urgentDistanceForLaneChange:{type:"double",id:19,options:{default:30}}}},SpiralCurveConfig:{fields:{simpsonSize:{type:"int32",id:1,options:{default:9}},newtonRaphsonTol:{type:"double",id:2,options:{default:.01}},newtonRaphsonMaxIter:{type:"int32",id:3,options:{default:20}}}},BacksideVehicleConfig:{fields:{backsideLaneWidth:{type:"double",id:1,options:{default:4}}}},ChangeLaneConfig:{fields:{minOvertakeDistance:{type:"double",id:1,options:{default:10}},minOvertakeTime:{type:"double",id:2,options:{default:2}},enableGuardObstacle:{type:"bool",id:3,options:{default:!1}},guardDistance:{type:"double",id:4,options:{default:100}},minGuardSpeed:{type:"double",id:5,options:{default:1}}}},CreepConfig:{fields:{enabled:{type:"bool",id:1},creepDistanceToStopLine:{type:"double",id:2,options:{default:1}},stopDistance:{type:"double",id:3,options:{default:.5}},speedLimit:{type:"double",id:4,options:{default:1}},maxValidStopDistance:{type:"double",id:5,options:{default:.3}},minBoundaryT:{type:"double",id:6,options:{default:6}},minBoundaryS:{type:"double",id:7,options:{default:3}}}},CrosswalkConfig:{fields:{stopDistance:{type:"double",id:1,options:{default:1}},maxStopDeceleration:{type:"double",id:2,options:{default:4}},minPassSDistance:{type:"double",id:3,options:{default:1}},maxStopSpeed:{type:"double",id:4,options:{default:.3}},maxValidStopDistance:{type:"double",id:5,options:{default:3}},expandSDistance:{type:"double",id:6,options:{default:2}},stopStrictLDistance:{type:"double",id:7,options:{default:4}},stopLooseLDistance:{type:"double",id:8,options:{default:5}},stopTimeout:{type:"double",id:9,options:{default:10}}}},DestinationConfig:{fields:{stopDistance:{type:"double",id:1,options:{default:.5}}}},Kee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verlapInfo:{type:"JunctionOverlapInfo",id:7},yieldSignOverlapInfo:{type:"YieldOverlapInfo",id:8},clearAreaOverlapInfo:{type:"ClearAreaOverlapInfo",id:9},speedBumpOverlapInfo:{type:"SpeedBumpOverlapInfo",id:10},parkingSpaceOverlapInfo:{type:"ParkingSpaceOverlapInfo",id:11},pncJunctionOverlapInfo:{type:"PNCJunctionOverlapInfo",id:12}}},Overlap:{fields:{id:{type:"Id",id:1},object:{rule:"repeated",type:"ObjectOverlapInfo",id:2},regionOverlap:{rule:"repeated",type:"RegionOverlapInfo",id:3}}},ParkingSpace:{fields:{id:{type:"Id",id:1},polygon:{type:"Polygon",id:2},overlapId:{rule:"repeated",type:"Id",id:3},heading:{type:"double",id:4}}},ParkingLot:{fields:{id:{type:"Id",id:1},polygon:{type:"Polygon",id:2},overlapId:{rule:"repeated",type:"Id",id:3}}},PNCJunction:{fields:{id:{type:"Id",id:1},polygon:{type:"Polygon",id:2},overlapId:{rule:"repeated",type:"Id",id:3}}},BoundaryEdge:{fields:{curve:{type:"Curve",id:1},type:{type:"Type",id:2}},nested:{Type:{values:{UNKNOWN:0,NORMAL:1,LEFT_BOUNDARY:2,RIGHT_BOUNDARY:3}}}},BoundaryPolygon:{fields:{edge:{rule:"repeated",type:"BoundaryEdge",id:1}}},RoadBoundary:{fields:{outerPolygon:{type:"BoundaryPolygon",id:1},hole:{rule:"repeated",type:"BoundaryPolygon",id:2}}},RoadROIBoundary:{fields:{id:{type:"Id",id:1},roadBoundaries:{rule:"repeated",type:"RoadBoundary",id:2}}},RoadSection:{fields:{id:{type:"Id",id:1},laneId:{rule:"repeated",type:"Id",id:2},boundary:{type:"RoadBoundary",id:3}}},Road:{fields:{id:{type:"Id",id:1},section:{rule:"repeated",type:"RoadSection",id:2},junctionId:{type:"Id",id:3},type:{type:"Type",id:4}},nested:{Type:{values:{UNKNOWN:0,HIGHWAY:1,CITY_ROAD:2,PARK:3}}}},Subsignal:{fields:{id:{type:"Id",id:1},type:{type:"Type",id:2},location:{type:"apollo.common.PointENU",id:3}},nested:{Type:{values:{UNKNOWN:1,CIRCLE:2,ARROW_LEFT:3,ARROW_FORWARD:4,ARROW_RIGHT:5,ARROW_LEFT_AND_FORWARD:6,ARROW_RIGHT_AND_FORWARD:7,ARROW_U_TURN:8}}}},SignInfo:{fields:{type:{type:"Type",id:1}},nested:{Type:{values:{None:0,NO_RIGHT_TURN_ON_RED:1}}}},Signal:{fields:{id:{type:"Id",id:1},boundary:{type:"Polygon",id:2},subsignal:{rule:"repeated",type:"Subsignal",id:3},overlapId:{rule:"repeated",type:"Id",id:4},type:{type:"Type",id:5},stopLine:{rule:"repeated",type:"Curve",id:6},signInfo:{rule:"repeated",type:"SignInfo",id:7}},nested:{Type:{values:{UNKNOWN:1,MIX_2_HORIZONTAL:2,MIX_2_VERTICAL:3,MIX_3_HORIZONTAL:4,MIX_3_VERTICAL:5,SINGLE:6}}}},SpeedBump:{fields:{id:{type:"Id",id:1},overlapId:{rule:"repeated",type:"Id",id:2},position:{rule:"repeated",type:"Curve",id:3}}},SpeedControl:{fields:{name:{type:"string",id:1},polygon:{type:"apollo.hdmap.Polygon",id:2},speedLimit:{type:"double",id:3}}},SpeedControls:{fields:{speedControl:{rule:"repeated",type:"SpeedControl",id:1}}},StopSign:{fields:{id:{type:"Id",id:1},stopLine:{rule:"repeated",type:"Curve",id:2},overlapId:{rule:"repeated",type:"Id",id:3},type:{type:"StopType",id:4}},nested:{StopType:{values:{UNKNOWN:0,ONE_WAY:1,TWO_WAY:2,THREE_WAY:3,FOUR_WAY:4,ALL_WAY:5}}}},YieldSign:{fields:{id:{type:"Id",id:1},stopLine:{rule:"repeated",type:"Curve",id:2},overlapId:{rule:"repeated",type:"Id",id:3}}}}},prediction:{nested:{Lane:{fields:{currentLaneFeature:{rule:"repeated",type:"LaneFeature",id:1},laneFeature:{type:"LaneFeature",id:2},nearbyLaneFeature:{rule:"repeated",type:"LaneFeature",id:3},laneGraph:{type:"LaneGraph",id:4},laneGraphOrdered:{type:"LaneGraph",id:5},labelUpdateTimeDelta:{type:"double",id:26}}},LaneFeature:{fields:{laneId:{type:"string",id:1},laneTurnType:{type:"uint32",id:2},laneS:{type:"double",id:3},laneL:{type:"double",id:4},angleDiff:{type:"double",id:5},distToLeftBoundary:{type:"double",id:6},distToRightBoundary:{type:"double",id:7},laneHeading:{type:"double",id:8}}},JunctionExit:{fields:{exitLaneId:{type:"string",id:1},exitPosition:{type:"apollo.common.Point3D",id:2},exitHeading:{type:"double",id:3},exitWidth:{type:"double",id:4}}},JunctionFeature:{fields:{junctionId:{type:"string",id:1},junctionRange:{type:"double",id:2},enterLane:{type:"LaneFeature",id:3},junctionExit:{rule:"repeated",type:"JunctionExit",id:4},junctionMlpFeature:{rule:"repeated",type:"double",id:5,options:{packed:!1}},junctionMlpLabel:{rule:"repeated",type:"int32",id:6,options:{packed:!1}},junctionMlpProbability:{rule:"repeated",type:"double",id:7,options:{packed:!1}},startLaneId:{rule:"repeated",type:"string",id:8}}},ObstaclePriority:{fields:{priority:{type:"Priority",id:25,options:{default:"NORMAL"}}},nested:{Priority:{values:{CAUTION:1,NORMAL:2,IGNORE:3}}}},Trajectory:{fields:{probability:{type:"double",id:1},trajectoryPoint:{rule:"repeated",type:"apollo.common.TrajectoryPoint",id:2}}},Feature:{fields:{id:{type:"int32",id:1},polygonPoint:{rule:"repeated",type:"apollo.common.Point3D",id:30},position:{type:"apollo.common.Point3D",id:2},frontPosition:{type:"apollo.common.Point3D",id:27},velocity:{type:"apollo.common.Point3D",id:3},rawVelocity:{type:"apollo.common.Point3D",id:28},acceleration:{type:"apollo.common.Point3D",id:4},velocityHeading:{type:"double",id:5},speed:{type:"double",id:6},acc:{type:"double",id:7},theta:{type:"double",id:8},length:{type:"double",id:9},width:{type:"double",id:10},height:{type:"double",id:11},trackingTime:{type:"double",id:12},timestamp:{type:"double",id:13},lane:{type:"Lane",id:14},junctionFeature:{type:"JunctionFeature",id:26},tPosition:{type:"apollo.common.Point3D",id:16},tVelocity:{type:"apollo.common.Point3D",id:17,options:{deprecated:!0}},tVelocityHeading:{type:"double",id:18,options:{deprecated:!0}},tSpeed:{type:"double",id:19,options:{deprecated:!0}},tAcceleration:{type:"apollo.common.Point3D",id:20,options:{deprecated:!0}},tAcc:{type:"double",id:21,options:{deprecated:!0}},isStill:{type:"bool",id:22,options:{default:!1}},type:{type:"apollo.perception.PerceptionObstacle.Type",id:23},labelUpdateTimeDelta:{type:"double",id:24},priority:{type:"ObstaclePriority",id:25},isNearJunction:{type:"bool",id:29,options:{default:!1}},futureTrajectoryPoints:{rule:"repeated",type:"PredictionTrajectoryPoint",id:31},shortTermPredictedTrajectoryPoints:{rule:"repeated",type:"common.TrajectoryPoint",id:32},predictedTrajectory:{rule:"repeated",type:"Trajectory",id:33},adcTrajectoryPoint:{rule:"repeated",type:"common.TrajectoryPoint",id:34}}},ObstacleHistory:{fields:{feature:{rule:"repeated",type:"Feature",id:1},isTrainable:{type:"bool",id:2,options:{default:!1}}}},FrameEnv:{fields:{timestamp:{type:"double",id:1},egoHistory:{type:"ObstacleHistory",id:2},obstaclesHistory:{rule:"repeated",type:"ObstacleHistory",id:3}}},LanePoint:{fields:{position:{type:"apollo.common.Point3D",id:1},heading:{type:"double",id:2,options:{default:0}},width:{type:"double",id:3,options:{default:0}},relativeS:{type:"double",id:4,options:{default:0}},relativeL:{type:"double",id:5,options:{default:0}},angleDiff:{type:"double",id:6,options:{default:0}},kappa:{type:"double",id:7,options:{default:0}},scenarioType:{type:"ScenarioType",id:8},speedLimit:{type:"double",id:9}},nested:{ScenarioType:{values:{URBAN_ROAD:0,JUNCTION:1,HIGHWAY:2}}}},LaneSegment:{fields:{laneId:{type:"string",id:1},startS:{type:"double",id:2,options:{default:0}},endS:{type:"double",id:3,options:{default:0}},laneTurnType:{type:"uint32",id:4,options:{default:0}},lanePoint:{rule:"repeated",type:"LanePoint",id:5},totalLength:{type:"double",id:6,options:{default:0}}}},NearbyObstacle:{fields:{id:{type:"int32",id:1},s:{type:"double",id:2},l:{type:"double",id:3}}},StopSign:{fields:{stopSignId:{type:"string",id:1},laneId:{type:"string",id:2},laneS:{type:"double",id:3},laneSequenceS:{type:"double",id:4}}},LaneSequence:{fields:{laneSequenceId:{type:"int32",id:1},laneSegment:{rule:"repeated",type:"LaneSegment",id:2},nearbyObstacle:{rule:"repeated",type:"NearbyObstacle",id:3},laneS:{type:"double",id:17},laneL:{type:"double",id:18},stopSign:{type:"StopSign",id:20},rightOfWay:{type:"int32",id:21},features:{type:"Features",id:4},label:{type:"int32",id:5,options:{default:0}},probability:{type:"double",id:6,options:{default:0}},acceleration:{type:"double",id:7,options:{default:0}},timeToLaneCenter:{type:"double",id:16},timeToLaneEdge:{type:"double",id:19},pathPoint:{rule:"repeated",type:"apollo.common.PathPoint",id:8},behaviorType:{type:"BehaviorType",id:9},vehicleOnLane:{type:"bool",id:10},currLanePoint:{rule:"repeated",type:"LanePoint",id:11},leftNeighborPoint:{rule:"repeated",type:"LanePoint",id:12},rightNeighborPoint:{rule:"repeated",type:"LanePoint",id:13},leftNearbyObstacle:{rule:"repeated",type:"NearbyObstacle",id:14},rightNearbyObstacle:{rule:"repeated",type:"NearbyObstacle",id:15}},nested:{Features:{fields:{mlpFeatures:{rule:"repeated",type:"double",id:1,options:{packed:!1}}}},BehaviorType:{values:{NOT_GOTO_LANE:1,CONSTANT_SPEED:2,SMALL_ACCELERATION:3,LARGE_ACCELERATION:4,SMALL_DECELERATION:5,LARGE_DECELERATION:6}}}},LaneGraph:{fields:{laneSequence:{rule:"repeated",type:"LaneSequence",id:1}}},LaneObstacle:{fields:{obstacleId:{type:"int32",id:1},laneId:{type:"string",id:2},laneS:{type:"double",id:3},laneL:{type:"double",id:4}}},PredictionPathPoint:{fields:{x:{rule:"required",type:"double",id:1},y:{rule:"required",type:"double",id:2},velocityHeading:{type:"double",id:3}}},PredictionTrajectoryPoint:{fields:{pathPoint:{rule:"required",type:"PredictionPathPoint",id:1},timestamp:{rule:"required",type:"double",id:2}}}}},relative_map:{nested:{NavigationPath:{fields:{path:{type:"apollo.common.Path",id:1},pathPriority:{type:"uint32",id:2}}},NavigationInfo:{fields:{header:{type:"apollo.common.Header",id:1},navigationPath:{rule:"repeated",type:"NavigationPath",id:2}}},MapMsg:{fields:{header:{type:"apollo.common.Header",id:1},hdmap:{type:"apollo.hdmap.Map",id:2},navigationPath:{keyType:"string",type:"NavigationPath",id:3},laneMarker:{type:"apollo.perception.LaneMarkers",id:4},localization:{type:"apollo.localization.LocalizationEstimate",id:5}}},SampleParam:{fields:{straightSampleInterval:{type:"double",id:1,options:{default:3}},smallKappaSampleInterval:{type:"double",id:2,options:{default:1}},middleKappaSampleInterval:{type:"double",id:3,options:{default:.4}},largeKappaSampleInterval:{type:"double",id:4,options:{default:.1}},smallKappa:{type:"double",id:5,options:{default:.002}},middleKappa:{type:"double",id:6,options:{default:.008}},largeKappa:{type:"double",id:7,options:{default:.02}}}},NavigatorConfig:{fields:{enableNavigatorDownsample:{type:"bool",id:1,options:{default:!0}},sampleParam:{type:"SampleParam",id:2}}},MapGenerationParam:{fields:{defaultLeftWidth:{type:"double",id:1,options:{default:1.75}},defaultRightWidth:{type:"double",id:2,options:{default:1.75}},defaultSpeedLimit:{type:"double",id:3,options:{default:29.0576}}}},NavigationLaneConfig:{fields:{minLaneMarkerQuality:{type:"double",id:1,options:{default:.5}},laneSource:{type:"LaneSource",id:2},maxLenFromNavigationLine:{type:"double",id:3,options:{default:250}},minLenForNavigationLane:{type:"double",id:4,options:{default:150}},maxLenForNavigationLane:{type:"double",id:5,options:{default:250}},ratioNavigationLaneLenToSpeed:{type:"double",id:6,options:{default:8}},maxDistanceToNavigationLine:{type:"double",id:7,options:{default:15}},minViewRangeToUseLaneMarker:{type:"double",id:8,options:{default:.5}},minLaneHalfWidth:{type:"double",id:9,options:{default:1.5}},maxLaneHalfWidth:{type:"double",id:10,options:{default:2}},laneMarkerWeight:{type:"double",id:11,options:{default:.1}}},nested:{LaneSource:{values:{PERCEPTION:1,OFFLINE_GENERATED:2}}}},RelativeMapConfig:{fields:{mapParam:{type:"MapGenerationParam",id:1},navigationLane:{type:"NavigationLaneConfig",id:2}}}}}}}}}},function(e){e.exports={nested:{apollo:{nested:{dreamview:{nested:{PointCloud:{fields:{num:{rule:"repeated",type:"float",id:1}}}}}}}}}}]);
 //# sourceMappingURL=worker.bundle.js.map
\ No newline at end of file
diff --git a/modules/dreamview/frontend/dist/worker.bundle.js.map b/modules/dreamview/frontend/dist/worker.bundle.js.map
index a4797cd9a3..8de9c341d6 100644
--- a/modules/dreamview/frontend/dist/worker.bundle.js.map
+++ b/modules/dreamview/frontend/dist/worker.bundle.js.map
@@ -1 +1 @@
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\",id:3}}},Surround:{fields:{crossTrafficAlertLeft:{type:\"bool\",id:1},crossTrafficAlertLeftEnabled:{type:\"bool\",id:2},blindSpotLeftAlert:{type:\"bool\",id:3},blindSpotLeftAlertEnabled:{type:\"bool\",id:4},crossTrafficAlertRight:{type:\"bool\",id:5},crossTrafficAlertRightEnabled:{type:\"bool\",id:6},blindSpotRightAlert:{type:\"bool\",id:7},blindSpotRightAlertEnabled:{type:\"bool\",id:8},sonar00:{type:\"double\",id:9},sonar01:{type:\"double\",id:10},sonar02:{type:\"double\",id:11},sonar03:{type:\"double\",id:12},sonar04:{type:\"double\",id:13},sonar05:{type:\"double\",id:14},sonar06:{type:\"double\",id:15},sonar07:{type:\"double\",id:16},sonar08:{type:\"double\",id:17},sonar09:{type:\"double\",id:18},sonar10:{type:\"double\",id:19},sonar11:{type:\"double\",id:20},sonarEnabled:{type:\"bool\",id:21},sonarFault:{type:\"bool\",id:22},sonarRange:{rule:\"repeated\",type:\"double\",id:23,options:{packed:!1}},sonar:{rule:\"repeated\",type:\"Sonar\",id:24}}},License:{fields:{vin:{type:\"string\",id:1}}}}},planning:{nested:{autotuning:{nested:{PathPointwiseFeature:{fields:{l:{type:\"double\",id:1},dl:{type:\"double\",id:2},ddl:{type:\"double\",id:3},kappa:{type:\"double\",id:4},obstacleInfo:{rule:\"repeated\",type:\"ObstacleFeature\",id:5},leftBoundFeature:{type:\"BoundRelatedFeature\",id:6},rightBoundFeature:{type:\"BoundRelatedFeature\",id:7}},nested:{ObstacleFeature:{fields:{lateralDistance:{type:\"double\",id:1}}},BoundRelatedFeature:{fields:{boundDistance:{type:\"double\",id:1},crossableLevel:{type:\"CrossableLevel\",id:2}},nested:{CrossableLevel:{values:{CROSS_FREE:0,CROSS_ABLE:1,CROSS_FORBIDDEN:2}}}}}},SpeedPointwiseFeature:{fields:{s:{type:\"double\",id:1,options:{default:0}},t:{type:\"double\",id:2,options:{default:0}},v:{type:\"double\",id:3,options:{default:0}},speedLimit:{type:\"double\",id:4,options:{default:0}},acc:{type:\"double\",id:5,options:{default:0}},jerk:{type:\"double\",id:6,options:{default:0}},followObsFeature:{rule:\"repeated\",type:\"ObstacleFeature\",id:7},overtakeObsFeature:{rule:\"repeated\",type:\"ObstacleFeature\",id:8},nudgeObsFeature:{rule:\"repeated\",type:\"ObstacleFeature\",id:9},stopObsFeature:{rule:\"repeated\",type:\"ObstacleFeature\",id:10},collisionTimes:{type:\"int32\",id:11,options:{default:0}},virtualObsFeature:{rule:\"repeated\",type:\"ObstacleFeature\",id:12},lateralAcc:{type:\"double\",id:13,options:{default:0}},pathCurvatureAbs:{type:\"double\",id:14,options:{default:0}},sidepassFrontObsFeature:{rule:\"repeated\",type:\"ObstacleFeature\",id:15},sidepassRearObsFeature:{rule:\"repeated\",type:\"ObstacleFeature\",id:16}},nested:{ObstacleFeature:{fields:{longitudinalDistance:{type:\"double\",id:1},obstacleSpeed:{type:\"double\",id:2},lateralDistance:{type:\"double\",id:3,options:{default:10}},probability:{type:\"double\",id:4},relativeV:{type:\"double\",id:5}}}}},TrajectoryPointwiseFeature:{fields:{pathInputFeature:{type:\"PathPointwiseFeature\",id:1},speedInputFeature:{type:\"SpeedPointwiseFeature\",id:2}}},TrajectoryFeature:{fields:{pointFeature:{rule:\"repeated\",type:\"TrajectoryPointwiseFeature\",id:1}}},PathPointRawFeature:{fields:{cartesianCoord:{type:\"apollo.common.PathPoint\",id:1},frenetCoord:{type:\"apollo.common.FrenetFramePoint\",id:2}}},SpeedPointRawFeature:{fields:{s:{type:\"double\",id:1},t:{type:\"double\",id:2},v:{type:\"double\",id:3},a:{type:\"double\",id:4},j:{type:\"double\",id:5},speedLimit:{type:\"double\",id:6},follow:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:10},overtake:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:11},virtualDecision:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:13},stop:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:14},collision:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:15},nudge:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:12},sidepassFront:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:16},sidepassRear:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:17},keepClear:{rule:\"repeated\",type:\"ObjectDecisionFeature\",id:18}},nested:{ObjectDecisionFeature:{fields:{id:{type:\"int32\",id:1},relativeS:{type:\"double\",id:2},relativeL:{type:\"double\",id:3},relativeV:{type:\"double\",id:4},speed:{type:\"double\",id:5}}}}},ObstacleSTRawData:{fields:{obstacleStData:{rule:\"repeated\",type:\"ObstacleSTData\",id:1},obstacleStNudge:{rule:\"repeated\",type:\"ObstacleSTData\",id:2},obstacleStSidepass:{rule:\"repeated\",type:\"ObstacleSTData\",id:3}},nested:{STPointPair:{fields:{sLower:{type:\"double\",id:1},sUpper:{type:\"double\",id:2},t:{type:\"double\",id:3},l:{type:\"double\",id:4,options:{default:10}}}},ObstacleSTData:{fields:{id:{type:\"int32\",id:1},speed:{type:\"double\",id:2},isVirtual:{type:\"bool\",id:3},probability:{type:\"double\",id:4},polygon:{rule:\"repeated\",type:\"STPointPair\",id:8},distribution:{rule:\"repeated\",type:\"STPointPair\",id:9}}}}},TrajectoryPointRawFeature:{fields:{pathFeature:{type:\"PathPointRawFeature\",id:1},speedFeature:{type:\"SpeedPointRa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ady:{type:\"MainNotReady\",id:7},parking:{type:\"MainParking\",id:8},targetLane:{rule:\"repeated\",type:\"TargetLane\",id:5,options:{deprecated:!0}}}},DecisionResult:{fields:{mainDecision:{type:\"MainDecision\",id:1},objectDecision:{type:\"ObjectDecisions\",id:2},vehicleSignal:{type:\"apollo.common.VehicleSignal\",id:3}}},DpPolyPathConfig:{fields:{waypointSamplerConfig:{type:\"WaypointSamplerConfig\",id:1},evalTimeInterval:{type:\"double\",id:2,options:{default:.1}},pathResolution:{type:\"double\",id:3,options:{default:.1}},obstacleIgnoreDistance:{type:\"double\",id:4,options:{default:20}},obstacleCollisionDistance:{type:\"double\",id:5,options:{default:.2}},obstacleRiskDistance:{type:\"double\",id:6,options:{default:2}},obstacleCollisionCost:{type:\"double\",id:7,options:{default:1e3}},pathLCost:{type:\"double\",id:8},pathDlCost:{type:\"double\",id:9},pathDdlCost:{type:\"double\",id:10},pathLCostParamL0:{type:\"double\",id:11},pathLCostParamB:{type:\"double\",id:12},pathLCostParamK:{type:\"double\",id:13},pathOutLaneCost:{type:\"double\",id:14},pathEndLCost:{type:\"double\",id:15}}},DpStSpeedConfig:{fields:{matrixDimensionS:{type:\"int32\",id:1,options:{default:100}},matrixDimensionT:{type:\"int32\",id:2,options:{default:10}},speedWeight:{type:\"double\",id:10,options:{default:0}},accelWeight:{type:\"double\",id:11,options:{default:10}},jerkWeight:{type:\"double\",id:12,options:{default:10}},obstacleWeight:{type:\"double\",id:13,options:{default:1}},referenceWeight:{type:\"double\",id:14,options:{default:0}},goDownBuffer:{type:\"double\",id:15,options:{default:5}},goUpBuffer:{type:\"double\",id:16,options:{default:5}},defaultObstacleCost:{type:\"double\",id:20,options:{default:1e10}},defaultSpeedCost:{type:\"double\",id:31,options:{default:1}},exceedSpeedPenalty:{type:\"double\",id:32,options:{default:10}},lowSpeedPenalty:{type:\"double\",id:33,options:{default:2.5}},exceedSoftSpeedPenalty:{type:\"double\",id:34,options:{default:0}},lowSoftSpeedPenalty:{type:\"double\",id:35,options:{default:0}},keepClearLowSpeedPenalty:{type:\"double\",id:36,options:{default:10}},accelPenalty:{type:\"double\",id:40,options:{default:2}},decelPenalty:{type:\"double\",id:41,options:{default:2}},positiveJerkCoeff:{type:\"double\",id:50,options:{default:1}},negativeJerkCoeff:{type:\"double\",id:51,options:{default:300}},maxAcceleration:{type:\"double\",id:60,options:{default:4.5}},maxDeceleration:{type:\"double\",id:61,options:{default:-4.5}}}},LonCondition:{fields:{s:{type:\"double\",id:1,options:{default:0}},ds:{type:\"double\",id:2,options:{default:0}},dds:{type:\"double\",id:3,options:{default:0}}}},LatCondition:{fields:{l:{type:\"double\",id:1,options:{default:0}},dl:{type:\"double\",id:2,options:{default:0}},ddl:{type:\"double\",id:3,options:{default:0}}}},TStrategy:{fields:{tMarkers:{rule:\"repeated\",type:\"double\",id:1,options:{packed:!1}},tStep:{type:\"double\",id:2,options:{default:.5}},strategy:{type:\"string\",id:3}}},SStrategy:{fields:{sMarkers:{rule:\"repeated\",type:\"double\",id:1,options:{packed:!1}},sStep:{type:\"double\",id:2,options:{default:.5}},strategy:{type:\"string\",id:3}}},LonSampleConfig:{fields:{lonEndCondition:{type:\"LonCondition\",id:1},tStrategy:{type:\"TStrategy\",id:2}}},LatSampleConfig:{fields:{latEndCondition:{type:\"LatCondition\",id:1},sStrategy:{type:\"SStrategy\",id:2}}},LatticeSamplingConfig:{fields:{lonSampleConfig:{type:\"LonSampleConfig\",id:1},latSampleConfig:{type:\"LatSampleConfig\",id:2}}},StopPoint:{fields:{s:{type:\"double\",id:1},type:{type:\"Type\",id:2,options:{default:\"HARD\"}}},nested:{Type:{values:{HARD:0,SOFT:1}}}},PlanningTarget:{fields:{stopPoint:{type:\"StopPoint\",id:1},cruiseSpeed:{type:\"double\",id:2}}},NaviObstacleDeciderConfig:{fields:{minNudgeDistance:{type:\"double\",id:1,options:{default:.2}},maxNudgeDistance:{type:\"double\",id:2,options:{default:1.2}},maxAllowNudgeSpeed:{type:\"double\",id:3,options:{default:16.667}},safeDistance:{type:\"double\",id:4,options:{default:.2}},nudgeAllowTolerance:{type:\"double\",id:5,options:{default:.05}},cyclesNumber:{type:\"uint32\",id:6,options:{default:3}},judgeDisCoeff:{type:\"double\",id:7,options:{default:2}},basisDisValue:{type:\"double\",id:8,options:{default:30}},lateralVelocityValue:{type:\"double\",id:9,options:{default:.5}},speedDeciderDetectRange:{type:\"double\",id:10,options:{default:1}},maxKeepNudgeCycles:{type:\"uint32\",id:11,options:{default:100}}}},NaviPathDeciderConfig:{fields:{minPathLength:{type:\"double\",id:1,options:{default:5}},minLookForwardTime:{type:\"uint32\",id:2,options:{default:2}},maxKeepLaneDistance:{type:\"double\",id:3,options:{default:.8}},maxKeepLaneShiftY:{type:\"double\",id:4,options:{default:20}},minKeepLaneOffset:{type:\"double\",id:5,options:{default:15}},keepLaneShiftCompensation:{type:\"double\",id:6,options:{default:.01}},moveDestLaneConfigTalbe:{type:\"MoveDestLaneConfigTable\",id:7},moveDestLaneCompensation:{type:\"double\",id:8,options:{default:.35}},maxKappaThreshold:{t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e:\"bool\",id:2,options:{default:!1}}}},FrameEnv:{fields:{timestamp:{type:\"double\",id:1},egoHistory:{type:\"ObstacleHistory\",id:2},obstaclesHistory:{rule:\"repeated\",type:\"ObstacleHistory\",id:3}}},LanePoint:{fields:{position:{type:\"apollo.common.Point3D\",id:1},heading:{type:\"double\",id:2,options:{default:0}},width:{type:\"double\",id:3,options:{default:0}},relativeS:{type:\"double\",id:4,options:{default:0}},relativeL:{type:\"double\",id:5,options:{default:0}},angleDiff:{type:\"double\",id:6,options:{default:0}},kappa:{type:\"double\",id:7,options:{default:0}},scenarioType:{type:\"ScenarioType\",id:8},speedLimit:{type:\"double\",id:9}},nested:{ScenarioType:{values:{URBAN_ROAD:0,JUNCTION:1,HIGHWAY:2}}}},LaneSegment:{fields:{laneId:{type:\"string\",id:1},startS:{type:\"double\",id:2,options:{default:0}},endS:{type:\"double\",id:3,options:{default:0}},laneTurnType:{type:\"uint32\",id:4,options:{default:0}},lanePoint:{rule:\"repeated\",type:\"LanePoint\",id:5},totalLength:{type:\"double\",id:6,options:{default:0}}}},NearbyObstacle:{fields:{id:{type:\"int32\",id:1},s:{type:\"double\",id:2},l:{type:\"double\",id:3}}},StopSign:{fields:{stopSignId:{type:\"string\",id:1},laneId:{type:\"string\",id:2},laneS:{type:\"double\",id:3},laneSequenceS:{type:\"double\",id:4}}},LaneSequence:{fields:{laneSequenceId:{type:\"int32\",id:1},laneSegment:{rule:\"repeated\",type:\"LaneSegment\",id:2},nearbyObstacle:{rule:\"repeated\",type:\"NearbyObstacle\",id:3},laneS:{type:\"double\",id:17},laneL:{type:\"double\",id:18},stopSign:{type:\"StopSign\",id:20},rightOfWay:{type:\"int32\",id:21},features:{type:\"Features\",id:4},label:{type:\"int32\",id:5,options:{default:0}},probability:{type:\"double\",id:6,options:{default:0}},acceleration:{type:\"double\",id:7,options:{default:0}},timeToLaneCenter:{type:\"double\",id:16},timeToLaneEdge:{type:\"double\",id:19},pathPoint:{rule:\"repeated\",type:\"apollo.common.PathPoint\",id:8},behaviorType:{type:\"BehaviorType\",id:9},vehicleOnLane:{type:\"bool\",id:10},currLanePoint:{rule:\"repeated\",type:\"LanePoint\",id:11},leftNeighborPoint:{rule:\"repeated\",type:\"LanePoint\",id:12},rightNeighborPoint:{rule:\"repeated\",type:\"LanePoint\",id:13},leftNearbyObstacle:{rule:\"repeated\",type:\"NearbyObstacle\",id:14},rightNearbyObstacle:{rule:\"repeated\",type:\"NearbyObstacle\",id:15}},nested:{Features:{fields:{mlpFeatures:{rule:\"repeated\",type:\"double\",id:1,options:{packed:!1}}}},BehaviorType:{values:{NOT_GOTO_LANE:1,CONSTANT_SPEED:2,SMALL_ACCELERATION:3,LARGE_ACCELERATION:4,SMALL_DECELERATION:5,LARGE_DECELERATION:6}}}},LaneGraph:{fields:{laneSequence:{rule:\"repeated\",type:\"LaneSequence\",id:1}}},LaneObstacle:{fields:{obstacleId:{type:\"int32\",id:1},laneId:{type:\"string\",id:2},laneS:{type:\"double\",id:3},laneL:{type:\"double\",id:4}}},PredictionPathPoint:{fields:{x:{rule:\"required\",type:\"double\",id:1},y:{rule:\"required\",type:\"double\",id:2},velocityHeading:{type:\"double\",id:3}}},PredictionTrajectoryPoint:{fields:{pathPoint:{rule:\"required\",type:\"PredictionPathPoint\",id:1},timestamp:{rule:\"required\",type:\"double\",id:2}}}}},relative_map:{nested:{NavigationPath:{fields:{path:{type:\"apollo.common.Path\",id:1},pathPriority:{type:\"uint32\",id:2}}},NavigationInfo:{fields:{header:{type:\"apollo.common.Header\",id:1},navigationPath:{rule:\"repeated\",type:\"NavigationPath\",id:2}}},MapMsg:{fields:{header:{type:\"apollo.common.Header\",id:1},hdmap:{type:\"apollo.hdmap.Map\",id:2},navigationPath:{keyType:\"string\",type:\"NavigationPath\",id:3},laneMarker:{type:\"apollo.perception.LaneMarkers\",id:4},localization:{type:\"apollo.localization.LocalizationEstimate\",id:5}}},SampleParam:{fields:{straightSampleInterval:{type:\"double\",id:1,options:{default:3}},smallKappaSampleInterval:{type:\"double\",id:2,options:{default:1}},middleKappaSampleInterval:{type:\"double\",id:3,options:{default:.4}},largeKappaSampleInterval:{type:\"double\",id:4,options:{default:.1}},smallKappa:{type:\"double\",id:5,options:{default:.002}},middleKappa:{type:\"double\",id:6,options:{default:.008}},largeKappa:{type:\"double\",id:7,options:{default:.02}}}},NavigatorConfig:{fields:{enableNavigatorDownsample:{type:\"bool\",id:1,options:{default:!0}},sampleParam:{type:\"SampleParam\",id:2}}},MapGenerationParam:{fields:{defaultLeftWidth:{type:\"double\",id:1,options:{default:1.75}},defaultRightWidth:{type:\"double\",id:2,options:{default:1.75}},defaultSpeedLimit:{type:\"double\",id:3,options:{default:29.0576}}}},NavigationLaneConfig:{fields:{minLaneMarkerQuality:{type:\"double\",id:1,options:{default:.5}},laneSource:{type:\"LaneSource\",id:2},maxLenFromNavigationLine:{type:\"double\",id:3,options:{default:250}},minLenForNavigationLane:{type:\"double\",id:4,options:{default:150}},maxLenForNavigationLane:{type:\"double\",id:5,options:{default:250}},ratioNavigationLaneLenToSpeed:{type:\"double\",id:6,options:{default:8}},maxDistanceToNavigationLine:{type:\"double\",id:7,options:{default:15}},minViewRangeToUseLaneMarker:{type:\"double\",id:8,options:{default:.5}},minLaneHalfWidth:{type:\"double\",id:9,options:{default:1.5}},maxLaneHalfWidth:{type:\"double\",id:10,options:{default:2}},laneMarkerWeight:{type:\"double\",id:11,options:{default:.1}}},nested:{LaneSource:{values:{PERCEPTION:1,OFFLINE_GENERATED:2}}}},RelativeMapConfig:{fields:{mapParam:{type:\"MapGenerationParam\",id:1},navigationLane:{type:\"NavigationLaneConfig\",id:2}}}}}}}}}},function(e){e.exports={nested:{apollo:{nested:{dreamview:{nested:{PointCloud:{fields:{num:{rule:\"repeated\",type:\"float\",id:1}}}}}}}}}}]);"],"mappings":"AAAA","sourceRoot":""}
\ No newline at end of file
diff --git a/modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json b/modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
index 2760d805d8..278f23a38d 100644
--- a/modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
+++ b/modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
@@ -2667,7 +2667,7 @@
                 }
               }
             },
-            "RuleOpenSpaceStopConfig": {
+            "OpenSpacePreStopDeciderConfig": {
               "fields": {
                 "rightawayStopDistance": {
                   "type": "double",
@@ -2685,14 +2685,6 @@
                 }
               }
             },
-            "DeciderRuleBasedStopConfig": {
-              "fields": {
-                "openSpace": {
-                  "type": "RuleOpenSpaceStopConfig",
-                  "id": 1
-                }
-              }
-            },
             "SidePassSafetyConfig": {
               "fields": {
                 "minObstacleLateralDistance": {
@@ -3167,88 +3159,6 @@
                 }
               }
             },
-            "DpPolyPathConfig": {
-              "fields": {
-                "waypointSamplerConfig": {
-                  "type": "WaypointSamplerConfig",
-                  "id": 1
-                },
-                "evalTimeInterval": {
-                  "type": "double",
-                  "id": 2,
-                  "options": {
-                    "default": 0.1
-                  }
-                },
-                "pathResolution": {
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "default": 0.1
-                  }
-                },
-                "obstacleIgnoreDistance": {
-                  "type": "double",
-                  "id": 4,
-                  "options": {
-                    "default": 20
-                  }
-                },
-                "obstacleCollisionDistance": {
-                  "type": "double",
-                  "id": 5,
-                  "options": {
-                    "default": 0.2
-                  }
-                },
-                "obstacleRiskDistance": {
-                  "type": "double",
-                  "id": 6,
-                  "options": {
-                    "default": 2
-                  }
-                },
-                "obstacleCollisionCost": {
-                  "type": "double",
-                  "id": 7,
-                  "options": {
-                    "default": 1000
-                  }
-                },
-                "pathLCost": {
-                  "type": "double",
-                  "id": 8
-                },
-                "pathDlCost": {
-                  "type": "double",
-                  "id": 9
-                },
-                "pathDdlCost": {
-                  "type": "double",
-                  "id": 10
-                },
-                "pathLCostParamL0": {
-                  "type": "double",
-                  "id": 11
-                },
-                "pathLCostParamB": {
-                  "type": "double",
-                  "id": 12
-                },
-                "pathLCostParamK": {
-                  "type": "double",
-                  "id": 13
-                },
-                "pathOutLaneCost": {
-                  "type": "double",
-                  "id": 14
-                },
-                "pathEndLCost": {
-                  "type": "double",
-                  "id": 15
-                }
-              }
-            },
             "DpStSpeedConfig": {
               "fields": {
                 "matrixDimensionS": {
@@ -3356,9 +3266,16 @@
                     "default": 0
                   }
                 },
-                "keepClearLowSpeedPenalty": {
+                "referenceSpeedPenalty": {
                   "type": "double",
                   "id": 36,
+                  "options": {
+                    "default": 1
+                  }
+                },
+                "keepClearLowSpeedPenalty": {
+                  "type": "double",
+                  "id": 37,
                   "options": {
                     "default": 10
                   }
@@ -3962,6 +3879,17 @@
                   "options": {
                     "default": 1
                   }
+                },
+                "perceptionObstacleFilteringDistance": {
+                  "type": "double",
+                  "id": 8,
+                  "options": {
+                    "default": 1000
+                  }
+                },
+                "perceptionObstacleBuffer": {
+                  "type": "double",
+                  "id": 9
                 }
               }
             },
@@ -4390,6 +4318,18 @@
                 "isLaneBorrowing": {
                   "type": "bool",
                   "id": 1
+                },
+                "isPullOver": {
+                  "type": "bool",
+                  "id": 2
+                }
+              }
+            },
+            "PathLaneBorrowDeciderConfig": {
+              "fields": {
+                "allowLaneBorrowing": {
+                  "type": "bool",
+                  "id": 1
                 }
               }
             },
@@ -4425,6 +4365,52 @@
                 }
               }
             },
+            "PiecewiseJerkSpeedConfig": {
+              "fields": {
+                "sWeight": {
+                  "type": "double",
+                  "id": 1,
+                  "options": {
+                    "default": 1
+                  }
+                },
+                "velocityWeight": {
+                  "type": "double",
+                  "id": 2,
+                  "options": {
+                    "default": 10
+                  }
+                },
+                "accWeight": {
+                  "type": "double",
+                  "id": 3,
+                  "options": {
+                    "default": 10
+                  }
+                },
+                "jerkWeight": {
+                  "type": "double",
+                  "id": 4,
+                  "options": {
+                    "default": 100
+                  }
+                },
+                "refWeight": {
+                  "type": "double",
+                  "id": 5,
+                  "options": {
+                    "default": 100
+                  }
+                },
+                "kappaPenaltyWeight": {
+                  "type": "double",
+                  "id": 6,
+                  "options": {
+                    "default": 1000
+                  }
+                }
+              }
+            },
             "DualWarmUpMode": {
               "values": {
                 "IPOPT": 0,
@@ -4594,6 +4580,10 @@
                   "options": {
                     "default": 0.5
                   }
+                },
+                "sCurveConfig": {
+                  "type": "PiecewiseJerkSpeedConfig",
+                  "id": 17
                 }
               }
             },
@@ -5085,17 +5075,11 @@
               "oneofs": {
                 "taskConfig": {
                   "oneof": [
-                    "dpPolyPathConfig",
                     "dpStSpeedConfig",
-                    "qpSplinePathConfig",
-                    "qpStSpeedConfig",
                     "pathDeciderConfig",
                     "proceedWithCautionSpeedConfig",
-                    "qpPiecewiseJerkPathConfig",
                     "deciderCreepConfig",
-                    "deciderRuleBasedStopConfig",
-                    "sidePassSafetyConfig",
-                    "sidePassPathDeciderConfig",
+                    "openSpacePreStopDeciderConfig",
                     "speedBoundsDeciderConfig",
                     "piecewiseJerkPathConfig",
                     "pathBoundsDeciderConfig",
@@ -5103,7 +5087,9 @@
                     "openSpaceRoiDeciderConfig",
                     "openSpaceTrajectoryProviderConfig",
                     "openSpaceTrajectoryPartitionConfig",
-                    "pathAssessmentDeciderConfig"
+                    "pathAssessmentDeciderConfig",
+                    "piecewiseJerkSpeedConfig",
+                    "pathLaneBorrowDeciderConfig"
                   ]
                 }
               },
@@ -5112,22 +5098,10 @@
                   "type": "TaskType",
                   "id": 1
                 },
-                "dpPolyPathConfig": {
-                  "type": "DpPolyPathConfig",
-                  "id": 2
-                },
                 "dpStSpeedConfig": {
                   "type": "DpStSpeedConfig",
                   "id": 3
                 },
-                "qpSplinePathConfig": {
-                  "type": "QpSplinePathConfig",
-                  "id": 4
-                },
-                "qpStSpeedConfig": {
-                  "type": "QpStSpeedConfig",
-                  "id": 5
-                },
                 "pathDeciderConfig": {
                   "type": "PathDeciderConfig",
                   "id": 7
@@ -5136,26 +5110,14 @@
                   "type": "ProceedWithCautionSpeedConfig",
                   "id": 8
                 },
-                "qpPiecewiseJerkPathConfig": {
-                  "type": "QpPiecewiseJerkPathConfig",
-                  "id": 9
-                },
                 "deciderCreepConfig": {
                   "type": "DeciderCreepConfig",
                   "id": 10
                 },
-                "deciderRuleBasedStopConfig": {
-                  "type": "DeciderRuleBasedStopConfig",
+                "openSpacePreStopDeciderConfig": {
+                  "type": "OpenSpacePreStopDeciderConfig",
                   "id": 11
                 },
-                "sidePassSafetyConfig": {
-                  "type": "SidePassSafetyConfig",
-                  "id": 12
-                },
-                "sidePassPathDeciderConfig": {
-                  "type": "SidePassPathDeciderConfig",
-                  "id": 13
-                },
                 "speedBoundsDeciderConfig": {
                   "type": "SpeedBoundsDeciderConfig",
                   "id": 15
@@ -5187,26 +5149,27 @@
                 "pathAssessmentDeciderConfig": {
                   "type": "PathAssessmentDeciderConfig",
                   "id": 22
+                },
+                "piecewiseJerkSpeedConfig": {
+                  "type": "PiecewiseJerkSpeedConfig",
+                  "id": 23
+                },
+                "pathLaneBorrowDeciderConfig": {
+                  "type": "PathLaneBorrowDeciderConfig",
+                  "id": 24
                 }
               },
               "nested": {
                 "TaskType": {
                   "values": {
-                    "DP_POLY_PATH_OPTIMIZER": 0,
                     "DP_ST_SPEED_OPTIMIZER": 1,
-                    "QP_SPLINE_PATH_OPTIMIZER": 2,
-                    "QP_SPLINE_ST_SPEED_OPTIMIZER": 3,
                     "PATH_DECIDER": 4,
                     "SPEED_DECIDER": 5,
-                    "POLY_ST_SPEED_OPTIMIZER": 6,
                     "NAVI_PATH_DECIDER": 7,
                     "NAVI_SPEED_DECIDER": 8,
                     "NAVI_OBSTACLE_DECIDER": 9,
-                    "QP_PIECEWISE_JERK_PATH_OPTIMIZER": 10,
                     "DECIDER_CREEP": 11,
-                    "DECIDER_RULE_BASED_STOP": 12,
-                    "SIDE_PASS_PATH_DECIDER": 13,
-                    "SIDE_PASS_SAFETY": 14,
+                    "OPEN_SPACE_PRE_STOP_DECIDER": 12,
                     "PROCEED_WITH_CAUTION_SPEED": 15,
                     "DECIDER_RSS": 16,
                     "SPEED_BOUNDS_PRIORI_DECIDER": 17,
@@ -5217,7 +5180,9 @@
                     "OPEN_SPACE_TRAJECTORY_PROVIDER": 22,
                     "OPEN_SPACE_TRAJECTORY_PARTITION": 23,
                     "OPEN_SPACE_FALLBACK_DECIDER": 24,
-                    "PATH_ASSESSMENT_DECIDER": 25
+                    "PATH_ASSESSMENT_DECIDER": 25,
+                    "PATH_LANE_BORROW_DECIDER": 26,
+                    "PIECEWISE_JERK_SPEED_OPTIMIZER": 27
                   }
                 }
               }
@@ -5308,30 +5273,44 @@
                     "default": 25
                   }
                 },
+                "enableExplicitStop": {
+                  "type": "bool",
+                  "id": 2,
+                  "options": {
+                    "default": false
+                  }
+                },
                 "minPassSDistance": {
                   "type": "double",
-                  "id": 2,
+                  "id": 3,
                   "options": {
                     "default": 3
                   }
                 },
                 "approachSpeedLimit": {
                   "type": "double",
-                  "id": 3,
+                  "id": 4,
                   "options": {
                     "default": 6.7056
                   }
                 },
+                "stopDistance": {
+                  "type": "double",
+                  "id": 5,
+                  "options": {
+                    "default": 0.5
+                  }
+                },
                 "stopTimeoutSec": {
                   "type": "float",
-                  "id": 4,
+                  "id": 6,
                   "options": {
                     "default": 8
                   }
                 },
                 "creepTimeoutSec": {
                   "type": "float",
-                  "id": 5,
+                  "id": 7,
                   "options": {
                     "default": 10
                   }
@@ -5522,6 +5501,17 @@
                 }
               }
             },
+            "ScenarioPullOverConfig": {
+              "fields": {
+                "startPullOverScenarioDistance": {
+                  "type": "double",
+                  "id": 1,
+                  "options": {
+                    "default": 50
+                  }
+                }
+              }
+            },
             "ScenarioValetParkingConfig": {
               "fields": {
                 "parkingSpotRangeToStart": {
@@ -5561,6 +5551,7 @@
                     "trafficLightProtectedConfig",
                     "trafficLightUnprotectedRightTurnConfig",
                     "trafficLightUnprotectedLeftTurnConfig",
+                    "pullOverConfig",
                     "valetParkingConfig",
                     "narrowStreetUTurnConfig"
                   ]
@@ -5599,18 +5590,22 @@
                   "type": "ScenarioTrafficLightUnprotectedLeftTurnConfig",
                   "id": 8
                 },
+                "pullOverConfig": {
+                  "type": "ScenarioPullOverConfig",
+                  "id": 9
+                },
                 "valetParkingConfig": {
                   "type": "ScenarioValetParkingConfig",
-                  "id": 9
+                  "id": 10
                 },
                 "narrowStreetUTurnConfig": {
                   "type": "ScenarioNarrowStreetUTurnConfig",
-                  "id": 10
+                  "id": 11
                 },
                 "stageType": {
                   "rule": "repeated",
                   "type": "StageType",
-                  "id": 11,
+                  "id": 12,
                   "options": {
                     "packed": false
                   }
@@ -5618,7 +5613,7 @@
                 "stageConfig": {
                   "rule": "repeated",
                   "type": "StageConfig",
-                  "id": 12
+                  "id": 13
                 }
               },
               "nested": {
@@ -5634,8 +5629,9 @@
                     "TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN": 7,
                     "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN": 8,
                     "YIELD_SIGN_UNPROTECTED": 9,
-                    "VALET_PARKING": 10,
-                    "NARROW_STREET_U_TURN": 11
+                    "PULL_OVER": 10,
+                    "VALET_PARKING": 11,
+                    "NARROW_STREET_U_TURN": 12
                   }
                 },
                 "StageType": {
@@ -5663,8 +5659,9 @@
                     "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP": 420,
                     "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP": 421,
                     "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE": 422,
-                    "VALET_PARKING_APPROACHING_PARKING_SPOT": 501,
-                    "VALET_PARKING_PARKING": 502
+                    "PULL_OVER_APPROACH": 500,
+                    "VALET_PARKING_APPROACHING_PARKING_SPOT": 510,
+                    "VALET_PARKING_PARKING": 511
                   }
                 },
                 "StageConfig": {
@@ -5737,9 +5734,8 @@
               "values": {
                 "RTK": 0,
                 "PUBLIC_ROAD": 1,
-                "OPEN_SPACE": 2,
-                "NAVI": 3,
-                "LATTICE": 4
+                "NAVI": 2,
+                "LATTICE": 3
               }
             },
             "RtkPlanningConfig": {
@@ -5782,30 +5778,13 @@
                 }
               }
             },
-            "OpenSpacePlanningConfig": {
-              "fields": {
-                "plannerType": {
-                  "rule": "repeated",
-                  "type": "PlannerType",
-                  "id": 1,
-                  "options": {
-                    "packed": false
-                  }
-                },
-                "plannerOpenSpaceConfig": {
-                  "type": "PlannerOpenSpaceConfig",
-                  "id": 2
-                }
-              }
-            },
             "PlanningConfig": {
               "oneofs": {
                 "planningConfig": {
                   "oneof": [
                     "rtkPlanningConfig",
                     "standardPlanningConfig",
-                    "navigationPlanningConfig",
-                    "openSpacePlanningConfig"
+                    "navigationPlanningConfig"
                   ]
                 }
               },
@@ -5822,10 +5801,6 @@
                   "type": "NavigationPlanningConfig",
                   "id": 3
                 },
-                "openSpacePlanningConfig": {
-                  "type": "OpenSpacePlanningConfig",
-                  "id": 4
-                },
                 "defaultTaskConfig": {
                   "rule": "repeated",
                   "type": "TaskConfig",
@@ -5925,17 +5900,6 @@
                 }
               }
             },
-            "DestinationStatus": {
-              "fields": {
-                "hasPassedDestination": {
-                  "type": "bool",
-                  "id": 1,
-                  "options": {
-                    "default": false
-                  }
-                }
-              }
-            },
             "StopTime": {
               "fields": {
                 "obstacleId": {
@@ -5966,56 +5930,68 @@
                 }
               }
             },
+            "DestinationStatus": {
+              "fields": {
+                "hasPassedDestination": {
+                  "type": "bool",
+                  "id": 1,
+                  "options": {
+                    "default": false
+                  }
+                }
+              }
+            },
+            "PedestrianStatus": {
+              "fields": {
+                "stopTime": {
+                  "rule": "repeated",
+                  "type": "StopTime",
+                  "id": 1
+                }
+              }
+            },
             "PullOverStatus": {
               "fields": {
-                "inPullOver": {
+                "existPullOverPosition": {
                   "type": "bool",
                   "id": 1,
                   "options": {
                     "default": false
                   }
                 },
-                "status": {
-                  "type": "Status",
-                  "id": 2
-                },
-                "inlaneDestPoint": {
-                  "type": "apollo.common.PointENU",
-                  "id": 3
-                },
-                "startPoint": {
-                  "type": "apollo.common.PointENU",
-                  "id": 4
-                },
-                "stopPoint": {
-                  "type": "apollo.common.PointENU",
-                  "id": 5
-                },
-                "stopPointHeading": {
+                "pullOverS": {
                   "type": "double",
-                  "id": 6
+                  "id": 2,
+                  "options": {
+                    "default": 0
+                  }
                 },
-                "reason": {
-                  "type": "Reason",
-                  "id": 7
+                "pullOverL": {
+                  "type": "double",
+                  "id": 3,
+                  "options": {
+                    "default": 0
+                  }
                 },
-                "statusSetTime": {
+                "pullOverX": {
                   "type": "double",
-                  "id": 8
-                }
-              },
-              "nested": {
-                "Reason": {
-                  "values": {
-                    "DESTINATION": 1
+                  "id": 4,
+                  "options": {
+                    "default": 0
                   }
                 },
-                "Status": {
-                  "values": {
-                    "UNKNOWN": 1,
-                    "IN_OPERATION": 2,
-                    "DONE": 3,
-                    "DISABLED": 4
+                "pullOverY": {
+                  "type": "double",
+                  "id": 5,
+                  "options": {
+                    "default": 0
+                  }
+                },
+                "pullOverTheta": {
+                  "type": "double",
+                  "id": 6,
+                  "options": {
+                    "default": 0
                   }
                 }
               }
@@ -6121,103 +6097,37 @@
                   "type": "apollo.common.EngageAdvice",
                   "id": 5
                 },
+                "pedestrian": {
+                  "type": "PedestrianStatus",
+                  "id": 6
+                },
                 "pullOver": {
                   "type": "PullOverStatus",
-                  "id": 6
+                  "id": 7
                 },
                 "rerouting": {
                   "type": "ReroutingStatus",
-                  "id": 7
+                  "id": 8
                 },
                 "rightOfWay": {
                   "type": "RightOfWayStatus",
-                  "id": 8
+                  "id": 9
                 },
                 "scenario": {
                   "type": "ScenarioStatus",
-                  "id": 9
+                  "id": 10
                 },
                 "sidePass": {
                   "type": "SidePassStatus",
-                  "id": 10
+                  "id": 11
                 },
                 "stopSign": {
                   "type": "StopSignStatus",
-                  "id": 11
+                  "id": 12
                 },
                 "trafficLight": {
                   "type": "TrafficLightStatus",
-                  "id": 12
-                }
-              }
-            },
-            "PolyVTSpeedConfig": {
-              "fields": {
-                "totalTime": {
-                  "type": "double",
-                  "id": 1,
-                  "options": {
-                    "default": 0
-                  }
-                },
-                "totalS": {
-                  "type": "double",
-                  "id": 2,
-                  "options": {
-                    "default": 0
-                  }
-                },
-                "numTLayers": {
-                  "type": "int32",
-                  "id": 3
-                },
-                "onlineNumVLayers": {
-                  "type": "int32",
-                  "id": 4
-                },
-                "matrixDimS": {
-                  "type": "int32",
-                  "id": 5
-                },
-                "onlineMaxAcc": {
-                  "type": "double",
-                  "id": 6
-                },
-                "onlineMaxDec": {
-                  "type": "double",
-                  "id": 7
-                },
-                "onlineMaxSpeed": {
-                  "type": "double",
-                  "id": 8
-                },
-                "offlineNumVLayers": {
-                  "type": "int32",
-                  "id": 9
-                },
-                "offlineMaxAcc": {
-                  "type": "double",
-                  "id": 10
-                },
-                "offlineMaxDec": {
-                  "type": "double",
-                  "id": 11
-                },
-                "offlineMaxSpeed": {
-                  "type": "double",
-                  "id": 12
-                },
-                "numEvaluatedPoints": {
-                  "type": "int32",
                   "id": 13
-                },
-                "samplingUnitV": {
-                  "type": "double",
-                  "id": 14
-                },
-                "maxSamplingUnitV": {
-                  "type": "double",
-                  "id": 15
                 }
               }
             },
@@ -6232,87 +6142,6 @@
                 }
               }
             },
-            "QpPiecewiseJerkPathConfig": {
-              "fields": {
-                "pathResolution": {
-                  "type": "double",
-                  "id": 1,
-                  "options": {
-                    "default": 1
-                  }
-                },
-                "qpDeltaS": {
-                  "type": "double",
-                  "id": 2,
-                  "options": {
-                    "default": 1
-                  }
-                },
-                "minLookAheadTime": {
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "default": 6
-                  }
-                },
-                "minLookAheadDistance": {
-                  "type": "double",
-                  "id": 4,
-                  "options": {
-                    "default": 60
-                  }
-                },
-                "lateralBuffer": {
-                  "type": "double",
-                  "id": 5,
-                  "options": {
-                    "default": 0.2
-                  }
-                },
-                "pathOutputResolution": {
-                  "type": "double",
-                  "id": 6,
-                  "options": {
-                    "default": 0.1
-                  }
-                },
-                "lWeight": {
-                  "type": "double",
-                  "id": 7,
-                  "options": {
-                    "default": 1
-                  }
-                },
-                "dlWeight": {
-                  "type": "double",
-                  "id": 8,
-                  "options": {
-                    "default": 100
-                  }
-                },
-                "ddlWeight": {
-                  "type": "double",
-                  "id": 9,
-                  "options": {
-                    "default": 500
-                  }
-                },
-                "dddlWeight": {
-                  "type": "double",
-                  "id": 10,
-                  "options": {
-                    "default": 1000
-                  }
-                },
-                "guidingLineWeight": {
-                  "type": "double",
-                  "id": 11,
-                  "options": {
-                    "default": 1
-                  }
-                }
-              }
-            },
             "QuadraticProgrammingProblem": {
               "fields": {
                 "paramSize": {
@@ -6379,298 +6208,26 @@
                   "type": "int32",
                   "id": 1
                 },
-                "colSize": {
-                  "type": "int32",
-                  "id": 2
-                },
-                "element": {
-                  "rule": "repeated",
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "packed": false
-                  }
-                }
-              }
-            },
-            "QuadraticProgrammingProblemSet": {
-              "fields": {
-                "problem": {
-                  "rule": "repeated",
-                  "type": "QuadraticProgrammingProblem",
-                  "id": 1
-                }
-              }
-            },
-            "QpSplinePathConfig": {
-              "fields": {
-                "splineOrder": {
-                  "type": "uint32",
-                  "id": 1,
-                  "options": {
-                    "default": 6
-                  }
-                },
-                "maxSplineLength": {
-                  "type": "double",
-                  "id": 2,
-                  "options": {
-                    "default": 15
-                  }
-                },
-                "maxConstraintInterval": {
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "default": 15
-                  }
-                },
-                "timeResolution": {
-                  "type": "double",
-                  "id": 4,
-                  "options": {
-                    "default": 0.1
-                  }
-                },
-                "regularizationWeight": {
-                  "type": "double",
-                  "id": 5,
-                  "options": {
-                    "default": 0.001
-                  }
-                },
-                "firstSplineWeightFactor": {
-                  "type": "double",
-                  "id": 6,
-                  "options": {
-                    "default": 10
-                  }
-                },
-                "derivativeWeight": {
-                  "type": "double",
-                  "id": 7,
-                  "options": {
-                    "default": 0
-                  }
-                },
-                "secondDerivativeWeight": {
-                  "type": "double",
-                  "id": 8,
-                  "options": {
-                    "default": 0
-                  }
-                },
-                "thirdDerivativeWeight": {
-                  "type": "double",
-                  "id": 9,
-                  "options": {
-                    "default": 100
-                  }
-                },
-                "referenceLineWeight": {
-                  "type": "double",
-                  "id": 10,
-                  "options": {
-                    "default": 0
-                  }
-                },
-                "numOutput": {
-                  "type": "uint32",
-                  "id": 11,
-                  "options": {
-                    "default": 100
-                  }
-                },
-                "crossLaneLateralExtension": {
-                  "type": "double",
-                  "id": 12,
-                  "options": {
-                    "default": 1.2
-                  }
-                },
-                "crossLaneLongitudinalExtension": {
-                  "type": "double",
-                  "id": 13,
-                  "options": {
-                    "default": 50
-                  }
-                },
-                "historyPathWeight": {
-                  "type": "double",
-                  "id": 14,
-                  "options": {
-                    "default": 0
-                  }
-                },
-                "laneChangeMidL": {
-                  "type": "double",
-                  "id": 15,
-                  "options": {
-                    "default": 0.6
-                  }
-                },
-                "pointConstraintSPosition": {
-                  "type": "double",
-                  "id": 16,
-                  "options": {
-                    "default": 110
-                  }
-                },
-                "laneChangeLateralShift": {
-                  "type": "double",
-                  "id": 17,
-                  "options": {
-                    "default": 1
-                  }
-                },
-                "uturnSpeedLimit": {
-                  "type": "double",
-                  "id": 18,
-                  "options": {
-                    "default": 5
-                  }
-                }
-              }
-            },
-            "QpSplineConfig": {
-              "fields": {
-                "numberOfDiscreteGraphT": {
-                  "type": "uint32",
-                  "id": 1
-                },
-                "splineOrder": {
-                  "type": "uint32",
-                  "id": 2
-                },
-                "speedKernelWeight": {
-                  "type": "double",
-                  "id": 3
-                },
-                "accelKernelWeight": {
-                  "type": "double",
-                  "id": 4
-                },
-                "jerkKernelWeight": {
-                  "type": "double",
-                  "id": 5
-                },
-                "followWeight": {
-                  "type": "double",
-                  "id": 6
-                },
-                "stopWeight": {
-                  "type": "double",
-                  "id": 7
-                },
-                "cruiseWeight": {
-                  "type": "double",
-                  "id": 8
-                },
-                "regularizationWeight": {
-                  "type": "double",
-                  "id": 9,
-                  "options": {
-                    "default": 0.1
-                  }
-                },
-                "followDragDistance": {
-                  "type": "double",
-                  "id": 10
-                },
-                "dpStReferenceWeight": {
-                  "type": "double",
-                  "id": 11
-                },
-                "initJerkKernelWeight": {
-                  "type": "double",
-                  "id": 12
-                },
-                "yieldWeight": {
-                  "type": "double",
-                  "id": 13
-                },
-                "yieldDragDistance": {
-                  "type": "double",
-                  "id": 14
-                }
-              }
-            },
-            "QpPiecewiseConfig": {
-              "fields": {
-                "numberOfEvaluatedGraphT": {
-                  "type": "uint32",
-                  "id": 1
-                },
-                "accelKernelWeight": {
-                  "type": "double",
-                  "id": 2
-                },
-                "jerkKernelWeight": {
-                  "type": "double",
-                  "id": 3
-                },
-                "followWeight": {
-                  "type": "double",
-                  "id": 4
-                },
-                "stopWeight": {
-                  "type": "double",
-                  "id": 5
-                },
-                "cruiseWeight": {
-                  "type": "double",
-                  "id": 6
-                },
-                "regularizationWeight": {
-                  "type": "double",
-                  "id": 7,
-                  "options": {
-                    "default": 0.1
-                  }
-                },
-                "followDragDistance": {
-                  "type": "double",
-                  "id": 8
-                }
-              }
-            },
-            "QpStSpeedConfig": {
-              "fields": {
-                "preferredMaxAcceleration": {
-                  "type": "double",
-                  "id": 1,
-                  "options": {
-                    "default": 1.2
-                  }
-                },
-                "preferredMinDeceleration": {
-                  "type": "double",
-                  "id": 2,
-                  "options": {
-                    "default": -1.8
-                  }
-                },
-                "maxAcceleration": {
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "default": 2
-                  }
+                "colSize": {
+                  "type": "int32",
+                  "id": 2
                 },
-                "minDeceleration": {
+                "element": {
+                  "rule": "repeated",
                   "type": "double",
-                  "id": 4,
+                  "id": 3,
                   "options": {
-                    "default": -4.5
+                    "packed": false
                   }
-                },
-                "qpSplineConfig": {
-                  "type": "QpSplineConfig",
-                  "id": 5
-                },
-                "qpPiecewiseConfig": {
-                  "type": "QpPiecewiseConfig",
-                  "id": 6
+                }
+              }
+            },
+            "QuadraticProgrammingProblemSet": {
+              "fields": {
+                "problem": {
+                  "rule": "repeated",
+                  "type": "QuadraticProgrammingProblem",
+                  "id": 1
                 }
               }
             },
@@ -6782,46 +6339,81 @@
             },
             "CosThetaSmootherConfig": {
               "fields": {
+                "printLevel": {
+                  "type": "int32",
+                  "id": 1,
+                  "options": {
+                    "default": 0
+                  }
+                },
                 "maxPointDeviation": {
                   "type": "double",
-                  "id": 1,
+                  "id": 2,
                   "options": {
                     "default": 5
                   }
                 },
-                "numOfIteration": {
+                "maxNumOfIterations": {
                   "type": "int32",
-                  "id": 2,
+                  "id": 3,
                   "options": {
                     "default": 10000
                   }
                 },
                 "weightCosIncludedAngle": {
                   "type": "double",
-                  "id": 3,
+                  "id": 4,
                   "options": {
                     "default": 10000
                   }
                 },
+                "weightAnchorPoints": {
+                  "type": "double",
+                  "id": 5,
+                  "options": {
+                    "default": 1
+                  }
+                },
+                "weightLength": {
+                  "type": "double",
+                  "id": 6,
+                  "options": {
+                    "default": 1
+                  }
+                },
+                "tol": {
+                  "type": "double",
+                  "id": 7,
+                  "options": {
+                    "default": 1e-8
+                  }
+                },
                 "acceptableTol": {
                   "type": "double",
-                  "id": 4,
+                  "id": 8,
                   "options": {
-                    "default": 0.1
+                    "default": 0.000001
+                  }
+                },
+                "acceptableNumOfIterations": {
+                  "type": "int32",
+                  "id": 9,
+                  "options": {
+                    "default": 15
                   }
                 },
                 "relax": {
                   "type": "double",
-                  "id": 5,
+                  "id": 10,
                   "options": {
                     "default": 0.2
                   }
                 },
-                "reoptQpBound": {
-                  "type": "double",
-                  "id": 6,
+                "useAutomaticDifferentiation": {
+                  "type": "bool",
+                  "id": 11,
                   "options": {
-                    "default": 0.05
+                    "default": false
                   }
                 }
               }
@@ -7280,7 +6872,7 @@
                     "default": 2
                   }
                 },
-                "stopStrickLDistance": {
+                "stopStrictLDistance": {
                   "type": "double",
                   "id": 7,
                   "options": {
@@ -7305,26 +6897,12 @@
             },
             "DestinationConfig": {
               "fields": {
-                "enablePullOver": {
-                  "type": "bool",
-                  "id": 1,
-                  "options": {
-                    "default": false
-                  }
-                },
                 "stopDistance": {
                   "type": "double",
-                  "id": 2,
+                  "id": 1,
                   "options": {
                     "default": 0.5
                   }
-                },
-                "pullOverPlanDistance": {
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "default": 35
-                  }
                 }
               }
             },
@@ -7353,80 +6931,6 @@
                 }
               }
             },
-            "PullOverConfig": {
-              "fields": {
-                "stopDistance": {
-                  "type": "double",
-                  "id": 1,
-                  "options": {
-                    "default": 0.5
-                  }
-                },
-                "maxStopSpeed": {
-                  "type": "double",
-                  "id": 2,
-                  "options": {
-                    "default": 0.3
-                  }
-                },
-                "maxValidStopDistance": {
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "default": 3
-                  }
-                },
-                "maxStopDeceleration": {
-                  "type": "double",
-                  "id": 4,
-                  "options": {
-                    "default": 2.5
-                  }
-                },
-                "minPassSDistance": {
-                  "type": "double",
-                  "id": 5,
-                  "options": {
-                    "default": 1
-                  }
-                },
-                "bufferToBoundary": {
-                  "type": "double",
-                  "id": 6,
-                  "options": {
-                    "default": 0.5
-                  }
-                },
-                "planDistance": {
-                  "type": "double",
-                  "id": 7,
-                  "options": {
-                    "default": 35
-                  }
-                },
-                "operationLength": {
-                  "type": "double",
-                  "id": 8,
-                  "options": {
-                    "default": 30
-                  }
-                },
-                "maxCheckDistance": {
-                  "type": "double",
-                  "id": 9,
-                  "options": {
-                    "default": 60
-                  }
-                },
-                "maxFailureCount": {
-                  "type": "uint32",
-                  "id": 10,
-                  "options": {
-                    "default": 10
-                  }
-                }
-              }
-            },
             "ReferenceLineEndConfig": {
               "fields": {
                 "stopDistance": {
@@ -7515,7 +7019,6 @@
                     "crosswalk",
                     "destination",
                     "keepClear",
-                    "pullOver",
                     "referenceLineEnd",
                     "rerouting",
                     "stopSign",
@@ -7552,25 +7055,21 @@
                   "type": "KeepClearConfig",
                   "id": 7
                 },
-                "pullOver": {
-                  "type": "PullOverConfig",
-                  "id": 8
-                },
                 "referenceLineEnd": {
                   "type": "ReferenceLineEndConfig",
-                  "id": 9
+                  "id": 8
                 },
                 "rerouting": {
                   "type": "ReroutingConfig",
-                  "id": 10
+                  "id": 9
                 },
                 "stopSign": {
                   "type": "StopSignConfig",
-                  "id": 11
+                  "id": 10
                 },
                 "trafficLight": {
                   "type": "TrafficLightConfig",
-                  "id": 12
+                  "id": 11
                 }
               },
               "nested": {
@@ -7581,11 +7080,10 @@
                     "CROSSWALK": 3,
                     "DESTINATION": 4,
                     "KEEP_CLEAR": 5,
-                    "PULL_OVER": 6,
-                    "REFERENCE_LINE_END": 7,
-                    "REROUTING": 8,
-                    "STOP_SIGN": 9,
-                    "TRAFFIC_LIGHT": 10
+                    "REFERENCE_LINE_END": 6,
+                    "REROUTING": 7,
+                    "STOP_SIGN": 8,
+                    "TRAFFIC_LIGHT": 9
                   }
                 }
               }
@@ -7598,53 +7096,6 @@
                   "id": 1
                 }
               }
-            },
-            "WaypointSamplerConfig": {
-              "fields": {
-                "samplePointsNumEachLevel": {
-                  "type": "uint32",
-                  "id": 1,
-                  "options": {
-                    "default": 9
-                  }
-                },
-                "stepLengthMax": {
-                  "type": "double",
-                  "id": 2,
-                  "options": {
-                    "default": 15
-                  }
-                },
-                "stepLengthMin": {
-                  "type": "double",
-                  "id": 3,
-                  "options": {
-                    "default": 8
-                  }
-                },
-                "lateralSampleOffset": {
-                  "type": "double",
-                  "id": 4,
-                  "options": {
-                    "default": 0.5
-                  }
-                },
-                "lateralAdjustCoeff": {
-                  "type": "double",
-                  "id": 5,
-                  "options": {
-                    "default": 0.5
-                  }
-                },
-                "sidepassDistance": {
-                  "type": "double",
-                  "id": 6
-                },
-                "navigatorSampleNumEachLevel": {
-                  "type": "uint32",
-                  "id": 7
-                }
-              }
             }
           }
         },
@@ -8011,6 +7462,44 @@
                 "isProtected": {
                   "type": "bool",
                   "id": 6
+                },
+                "isOffroad": {
+                  "type": "bool",
+                  "id": 7
+                },
+                "minimumBoundary": {
+                  "type": "double",
+                  "id": 8
+                },
+                "averageKappa": {
+                  "type": "double",
+                  "id": 9,
+                  "options": {
+                    "deprecated": true
+                  }
+                },
+                "averageDkappa": {
+                  "type": "double",
+                  "id": 10,
+                  "options": {
+                    "deprecated": true
+                  }
+                },
+                "kappaRms": {
+                  "type": "double",
+                  "id": 11
+                },
+                "dkappaRms": {
+                  "type": "double",
+                  "id": 12
+                },
+                "kappaMaxAbs": {
+                  "type": "double",
+                  "id": 13
+                },
+                "dkappaMaxAbs": {
+                  "type": "double",
+                  "id": 14
                 }
               }
             },
@@ -8144,6 +7633,14 @@
                 "fallbackTrajectory": {
                   "type": "apollo.planning_internal.Trajectories",
                   "id": 15
+                },
+                "trajectoryStitchingPoint": {
+                  "type": "apollo.common.TrajectoryPoint",
+                  "id": 16
+                },
+                "futureCollisionPoint": {
+                  "type": "apollo.common.TrajectoryPoint",
+                  "id": 17
                 }
               }
             },
@@ -10166,6 +9663,19 @@
                 }
               }
             },
+            "Trajectory": {
+              "fields": {
+                "probability": {
+                  "type": "double",
+                  "id": 1
+                },
+                "trajectoryPoint": {
+                  "rule": "repeated",
+                  "type": "apollo.common.TrajectoryPoint",
+                  "id": 2
+                }
+              }
+            },
             "Feature": {
               "fields": {
                 "id": {
@@ -10315,6 +9825,16 @@
                   "rule": "repeated",
                   "type": "common.TrajectoryPoint",
                   "id": 32
+                },
+                "predictedTrajectory": {
+                  "rule": "repeated",
+                  "type": "Trajectory",
+                  "id": 33
+                },
+                "adcTrajectoryPoint": {
+                  "rule": "repeated",
+                  "type": "common.TrajectoryPoint",
+                  "id": 34
                 }
               }
             },
diff --git a/modules/dreamview/frontend/src/components/PNCMonitor/PlanningMonitor.js b/modules/dreamview/frontend/src/components/PNCMonitor/PlanningMonitor.js
index e206e06e4f..7cc16faaa7 100644
--- a/modules/dreamview/frontend/src/components/PNCMonitor/PlanningMonitor.js
+++ b/modules/dreamview/frontend/src/components/PNCMonitor/PlanningMonitor.js
@@ -10,7 +10,7 @@ import { timestampMsToTimeString } from "utils/misc";
 export default class PlanningMonitor extends React.Component {
     generateStGraph(stGraph) {
         const graphs = [];
-        const names = ['DpStSpeedOptimizer', 'QpSplineStSpeedOptimizer'];
+        const names = ['DpStSpeedOptimizer', 'PiecewiseJerkSpeedOptimizer'];
         for (const name of names) {
             const graph = stGraph[name];
             const polygons = graph ? graph.obstaclesBoundary : [];
@@ -48,11 +48,10 @@ export default class PlanningMonitor extends React.Component {
                 {generateScatterGraph(SETTING.accelerationGraph, data.accelerationGraph)}
                 {generateScatterGraph(SETTING.thetaGraph, data.thetaGraph)}
                 {generateScatterGraph(SETTING.kappaGraph, data.kappaGraph)}
-                {generateScatterGraph(SETTING.dpPolyGraph, data.dpPolyGraph)}
                 {this.generateStGraph(data.stGraph)}
                 {generateScatterGraph(
                     SETTING.stSpeedGraph,
-                    data.stSpeedGraph.QpSplineStSpeedOptimizer
+                    data.stSpeedGraph.PiecewiseJerkSpeedOptimizer
                 )}
                 {generateScatterGraph(SETTING.dkappaGraph, data.dkappaGraph)}
             </div>
diff --git a/modules/dreamview/frontend/src/renderer/map.js b/modules/dreamview/frontend/src/renderer/map.js
index f9db8df5cc..2123b37fea 100644
--- a/modules/dreamview/frontend/src/renderer/map.js
+++ b/modules/dreamview/frontend/src/renderer/map.js
@@ -169,8 +169,11 @@ export default class Map {
         const text = this.textRender.drawText(
             lane.id.id, scene, colorMapping.WHITE, TEXT_ALIGN.LEFT);
         if (text) {
-            text.position.set(position.x, position.y, position.z);
-            text.rotation.set(rotation.x, rotation.y, rotation.z);
+            const textPosition = position || _.get(points, '[0]');
+            if (textPosition) {
+                text.position.set(textPosition.x, textPosition.y, textPosition.z);
+                text.rotation.set(rotation.x, rotation.y, rotation.z);
+            }
             text.visible = false;
             scene.add(text);
         }
diff --git a/modules/dreamview/frontend/src/store/config/PlanningGraph.yml b/modules/dreamview/frontend/src/store/config/PlanningGraph.yml
index b0c7dac274..6192bdb385 100644
--- a/modules/dreamview/frontend/src/store/config/PlanningGraph.yml
+++ b/modules/dreamview/frontend/src/store/config/PlanningGraph.yml
@@ -170,7 +170,7 @@ speedGraph:
                 pointRadius: 0
                 fill: false
                 showLine: true
-            QpSplineStSpeedOptimizer:
+            PiecewiseJerkSpeedOptimizer:
                 color: 'rgba(54, 162, 235, 1)' # blue
                 borderWidth: 2
                 pointRadius: 0
@@ -218,18 +218,6 @@ kappaGraph:
                 pointRadius: 0
                 fill: false
                 showLine: true
-            DpPolyPathOptimizer:
-                color: 'rgba(27, 249, 105, 0.5)' # green
-                borderWidth: 2
-                pointRadius: 0
-                fill: false
-                showLine: true
-            QpSplinePathOptimizer:
-                color: 'rgba(54, 162, 235, 1)' # blue
-                borderWidth: 5
-                pointRadius: 0
-                fill: false
-                showLine: true
 dkappaGraph:
     title: 'Planning Dkappa'
     options:
@@ -250,7 +238,7 @@ dkappaGraph:
                 pointRadius: 0
                 fill: false
                 showLine: true
-            QpSplinePathOptimizer:
+            PiecewiseJerkSpeedOptimizer:
                 color: 'rgba(54, 162, 235, 1)' # blue
                 borderWidth: 5
                 pointRadius: 0
@@ -273,28 +261,4 @@ thetaGraph:
                 borderWidth: 2
                 pointRadius: 0
                 fill: false
-                showLine: true
-dpPolyGraph:
-    title: 'DP Path'
-    options:
-        legend:
-            display: false
-        axes:
-            x:
-                labelString: 's (m)'
-            y:
-                labelString: 'l (m)'
-    properties:
-        lines:
-            minCostPoint:
-                color: 'rgba(255, 0, 0, 0.8)' # red
-                borderWidth: 2
-                pointRadius: 2
-                fill: false
-                showLine: true
-            sampleLayer:
-                color: 'rgba(225, 225, 225, 0.5)' # white
-                borderWidth: 0
-                pointRadius: 4
-                fill: false
-                showLine: false
\ No newline at end of file
+                showLine: true
\ No newline at end of file
diff --git a/modules/dreamview/frontend/src/store/planning_data.js b/modules/dreamview/frontend/src/store/planning_data.js
index cf5b99b1e9..a4d1ab551f 100644
--- a/modules/dreamview/frontend/src/store/planning_data.js
+++ b/modules/dreamview/frontend/src/store/planning_data.js
@@ -27,7 +27,6 @@ export default class PlanningData {
       thetaGraph: {},
       kappaGraph: {},
       dkappaGraph: {},
-      dpPolyGraph: {},
     };
   }
 
@@ -203,23 +202,6 @@ export default class PlanningData {
     }
   }
 
-  updateDpPolyGraph(dpPolyData) {
-    const graph = this.data.dpPolyGraph;
-
-    if (dpPolyData.sampleLayer) {
-      graph.sampleLayer = [];
-      for (const sample of dpPolyData.sampleLayer) {
-        sample.slPoint.map(({s, l}) => {
-          graph.sampleLayer.push({x:s, y:l});
-        });
-      }
-    }
-
-    if (dpPolyData.minCostPoint) {
-      graph.minCostPoint = this.extractDataPoints(dpPolyData.minCostPoint, 's', 'l');
-    }
-  }
-
   updateScenario(newScenario, newTime) {
     if (!newScenario) {
       return;
@@ -290,10 +272,6 @@ export default class PlanningData {
         this.updateThetaGraph(planningData.path);
       }
 
-      if (planningData.dpPolyGraph) {
-        this.updateDpPolyGraph(planningData.dpPolyGraph);
-      }
-
       this.updatePlanningTime(newPlanningTime);
     }
   }
diff --git a/modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc b/modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc
index d34c790ade..70a4962d4b 100644
--- a/modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc
+++ b/modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc
@@ -45,8 +45,7 @@ using apollo::common::TrajectoryPoint;
 PiecewiseJerkSpeedOptimizer::PiecewiseJerkSpeedOptimizer(
     const TaskConfig& config)
     : SpeedOptimizer(config) {
-  // TODO(Hongyi): recover this hacked task_name for dreamview
-  SetName("QpSplineStSpeedOptimizer");
+  SetName("PiecewiseJerkSpeedOptimizer");
   CHECK(config_.has_piecewise_jerk_speed_config());
 }