RssFormulas.hpp

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// ----------------- BEGIN LICENSE BLOCK ---------------------------------
//
// Copyright (C) 2018-2021 Intel Corporation
//
// SPDX-License-Identifier: LGPL-2.1-only
//
// ----------------- END LICENSE BLOCK -----------------------------------
 
#pragma once
 
#include "ad/rss/situation/VehicleState.hpp"
 
namespace ad {
namespace rss {
namespace situation {
 
bool calculateLongitudinalDistanceOffsetAfterStatedBrakingPattern(physics::Speed const &currentLongitudinalSpeed,
                                                                  physics::Speed const &maxSpeedOnAcceleration,
                                                                  physics::Duration const &responseTime,
                                                                  physics::Acceleration const &acceleration,
                                                                  physics::Acceleration const &deceleration,
                                                                  physics::Distance &distanceOffset);
 
bool calculateLateralDistanceOffsetAfterStatedBrakingPattern(physics::Speed const &currentLateralSpeed,
                                                             physics::Duration const &responseTime,
                                                             physics::Acceleration const &acceleration,
                                                             physics::Acceleration const &deceleration,
                                                             physics::Distance &distanceOffset);
bool calculateSafeLongitudinalDistanceSameDirection(VehicleState const &leadingVehicle,
                                                    VehicleState const &followingVehicle,
                                                    physics::Distance &safeDistance);
 
bool checkSafeLongitudinalDistanceSameDirection(VehicleState const &leadingVehicle,
                                                VehicleState const &followingVehicle,
                                                physics::Distance const &vehicleDistance,
                                                physics::Distance &safeDistance,
                                                bool &isDistanceSafe);
 
bool calculateSafeLongitudinalDistanceOppositeDirection(VehicleState const &correctVehicle,
                                                        VehicleState const &oppositeVehicle,
                                                        physics::Distance &safeDistance);
 
bool checkSafeLongitudinalDistanceOppositeDirection(VehicleState const &correctVehicle,
                                                    VehicleState const &oppositeVehicle,
                                                    physics::Distance const &vehicleDistance,
                                                    physics::Distance &safeDistance,
                                                    bool &isDistanceSafe);
 
bool checkStopInFrontIntersection(VehicleState const &vehicle, physics::Distance &safeDistance, bool &isDistanceSafe);
 
bool calculateSafeLateralDistance(VehicleState const &leftVehicle,
                                  VehicleState const &rightVehicle,
                                  physics::Distance &safeDistance);
 
bool checkSafeLateralDistance(VehicleState const &leftVehicle,
                              VehicleState const &rightVehicle,
                              physics::Distance const &vehicleDistance,
                              physics::Distance &safeDistance,
                              bool &isDistanceSafe);
 
} // namespace situation
} // namespace rss
} // namespace ad