C++ library for integrating Responsibility Sensitive Safety (RSS) with automated driving maps

Table of contents

  1. Introduction
  2. High Level Design
  3. API documentation
  4. Python Binding


This ad_rss_map_integration library provides a C++ implementation for integrating Responsibility Sensitive Safety (RSS) with automated driving maps. When RSS is to be integrated into a larger system it is usually up to the user implementation to provide the required input into RSS based on the environment information available within the system.

Integration of RSS into a system
Integration of RSS into an AD system with its general Sense, Plan and Act main components

To calculate such input to RSS, the ad::rss::world::WorldModel, usually a-priori knowledge on the environment and especially on map information is required: Given the positions of all of the traffic participants, a map matched position has to be calculated and a combination of route planning and prediction based on the road topology has to be performed. Then, the route connecting the ego-vehicle and the other vehicle has to be analyzed to deduce the kind of RSS-situation between those two: driving on same road in same direction, in opposite direction or being faced with an intersection with respective priority rules. If the kind of situation is derived, the relevant road areas and object/vehicle information have to be transformed into the suitable world model format expected by the ‘C++ library for RSS’ (ad_rss) for further analysis.

These steps are not trivial. To enable the community to understand and evaluate RSS further, this library provides an exemplary implementation of these steps. The implementation within this library neither can be seen to be complete, fully correct or final, nor it is claiming to be the only way of doing that. It's rather a piece of software required to perform more thoroughly analysis within a simulation framework like e.g. CARLA driving simulator.

This library makes use of the ad_map_access interface to interact with AD map data: read the AD map data from the OpenDRIVE maps provided with CARLA, perform required matching, planning and analysis operations.

High Level Design

The high level design documentation provides more insights on the architecture and functionality of this library.

  1. Construction of the RSS Scenes
  2. Handling of road boundaries

API documentation

Detailed documentation on API level is available via Doxygen documentation within the code.

Python Binding

There is also a python binding for the ad_map_access library available: ad_rss_map_integration_python