ad::rss::structured::RssIntersectionConstellationChecker Class Reference

Class to check whether an intersection is safe and to determine the proper response for the constellation. More...

#include <ad/rss/structured/RssIntersectionConstellationChecker.hpp>

Public Types
enum class	IntersectionState : std::uint32_t { NonPrioAbleToBreak = 0u , SafeLongitudinalDistance = 1u , NoTimeOverlap = 2u }
	Enum LongitudinalResponse. More...

Public Member Functions
	RssIntersectionConstellationChecker ()=default
	Constructor.
	~RssIntersectionConstellationChecker ()=default
	Destructor.
bool	calculateRssStateIntersection (world::TimeIndex const &time_index, core::RelativeConstellation const &constellation, state::RssState &rssState)
	Calculate safety checks and determine required rssState for intersection constellations. More...

Detailed Description

Class to check whether an intersection is safe and to determine the proper response for the constellation.

Note: Implements the checks and responses given by the definitions 16-18 of the RSS paper (arXiv:1708.06374v6) The more detailed lateral intersection handling according to definitions 14 and 15 is not considered, yet. Instead, the current implementation always considers a lateral conflict within intersections and doesn't trigger any lateral response.

Class performs required check to if constellation is safe Class will maintain the previous state of the constellation in order to provide the proper response.

Member Enumeration Documentation

IntersectionState

enum ad::rss::structured::RssIntersectionConstellationChecker::IntersectionState : std::uint32_t

strong

Enum LongitudinalResponse.

Enumeration defining the possible longitudinal responses

Be aware: there has to be a strict order of the enumeration values according to the strictness of the response

Enumerator
NonPrioAbleToBreak	NonPrio-Vehicle can stop in front intersection
SafeLongitudinalDistance	There is a safe longitudinal distance between the vehicles
NoTimeOverlap	There is no time overlap between the paths of the two vehicles

Member Function Documentation

calculateRssStateIntersection()

bool ad::rss::structured::RssIntersectionConstellationChecker::calculateRssStateIntersection	(	world::TimeIndex const &	time_index,
		core::RelativeConstellation const &	constellation,
		state::RssState &	rssState
	)

Calculate safety checks and determine required rssState for intersection constellations.

Parameters

[in]	time_index	the time index of the constellation
[in]	constellation	constellation to analyze
[out]	rssState	rssState of the ego vehicle

Returns

false if a failure occurred during calculations, true otherwise

---

The documentation for this class was generated from the following file:

• include/ad/rss/structured/RssIntersectionConstellationChecker.hpp