supporting class for implementing the RSS checks More...

#include <ad/rss/map/RssRouteChecker.hpp>

Public Types
typedef std::shared_ptr< RssRouteChecker >	Ptr
	Smart pointer on RssVehicleAdapter.

typedef std::shared_ptr< RssRouteChecker const >	ConstPtr
	Smart pointer on constant RssObjectAdapter.

using	ArtificialObjectInjectionCallbackFunctionType = std::function< RssArtificialObjectAdapterList< OBJECT_INSTANCE_TYPE >(RssRouteCheckerEgoVehicleDataMap< OBJECT_INSTANCE_TYPE > const &egoVehicleMap, RssRouteCheckerVehicleDataMap< OBJECT_INSTANCE_TYPE > const &vehicleMap, RssRouteCheckerPedestrianDataMap< OBJECT_INSTANCE_TYPE > const &pedestrianMap)>
	defines the type for callback to inject artificial objects More...

using	CalculateTrajectorySetsCallbackFunctionType = std::function< bool(RssRouteCheckerEgoVehicleData< OBJECT_INSTANCE_TYPE > const &egoVehicle, ::ad::rss::map::RssRouteId const &routeId, ::ad::rss::core::RelativeConstellation const &constellation, ::ad::rss::world::ObjectId const &objectId, ::ad::rss::core::RelativeObjectState const &vehicleState, ::ad::geometry::Polygon &brakePolygon, ::ad::geometry::Polygon &continueForwardPolygon)>
	Function callback type for unstructured trajectory set calculation. More...

Public Member Functions
	RssRouteChecker (::ad::physics::Duration const dropOutdatedObjecstDuration)
	default constructor

virtual	~RssRouteChecker ()=default
	destructor

void	registerArtificialObjectInjectionCallback (::ad::physics::Distance const artificialObjectSamplingDistance, ArtificialObjectInjectionCallbackFunctionType artificialObjectsInjectionCallback)
	register a callback to inject artificial objects More...

void	registerCalculateTrajectorySetsCallback (world::ObjectType objectType, CalculateTrajectorySetsCallbackFunctionType calculateTrajectorySetsCallback)
	Register a callback for unstructured trajectory set calculation. More...

virtual RssObjectResultList	checkObjects (std::chrono::system_clock::time_point const &currentTime, ::ad::physics::Distance const vehicleSamplingDistance, RssEgoVehicleAdapterList< OBJECT_INSTANCE_TYPE > &egoVehicles, RssVehicleAdapterList< OBJECT_INSTANCE_TYPE > &vehicles, ::ad::physics::Distance const pedestrianSamplingDistance, RssPedestrianAdapterList< OBJECT_INSTANCE_TYPE > &pedestrians, typename RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >::RouteExtensionMode routeExtensionMode)
	perform the RSS check of the objects More...

bool	isEgoVehicleAvailable (::ad::rss::world::ObjectId ego_object_id)
	check if the ego vehicle object is still present. More...

bool	isEgoVehicleActive (::ad::rss::world::ObjectId ego_object_id)
	check if the ego vehicle object is still present and currently active. More...


void	restrictOperationToMapArea (::ad::map::lane::LaneIdSet const &lanesToConsider)
	These group of functions restrict the operation of this class to a certain map area. More...

bool	restrictOperationToMapArea (::ad::map::point::BoundingSphere const &bounding_sphere)
	restriction of the map area to a bounding sphere More...

bool	restrictOperationToMapArea (std::vector< ad::map::lane::MapAreaPredictionStartPoint > const &predictionStartPoints)
	restriction of the map area to a set of reachable lanes More...

bool	restrictOperationToIntersectionArea (::ad::map::point::ENUPoint const &intersectionPoint, ::ad::physics::Distance const &intersectionDistance)
	restriction of the map area around an intersection to a set of reachable lanes More...

void	clearOperationToMapAreaRestriction ()
	clear the restriction to a certain map area More...

Protected Member Functions

virtual void	objectDataUpdated (RssRouteCheckerEgoVehicleDataMap< OBJECT_INSTANCE_TYPE > &egoVehicleMap)
	callback after object data of the ego vehicles has been updated More...

virtual void	objectDataUpdated (RssRouteCheckerVehicleDataMap< OBJECT_INSTANCE_TYPE > &vehicleMap)
	callback after object data of the vehicles has been updated

virtual void	objectDataUpdated (RssRouteCheckerPedestrianDataMap< OBJECT_INSTANCE_TYPE > &pedestrianMap)
	callback after object data of the pedestrians has been updated

virtual void	objectDataUpdated (RssRouteCheckerArtificialObjectDataMap< OBJECT_INSTANCE_TYPE > &artificialObjectMap)
	callback after object data of the artificial objects has been updated

virtual void	routesUpdated (RssRouteCheckerEgoVehicleDataMap< OBJECT_INSTANCE_TYPE > &egoVehicleMap)
	callback after the routes of the ego vehicles have been updated

virtual void	routesUpdated (RssRouteCheckerVehicleDataMap< OBJECT_INSTANCE_TYPE > &vehicleMap)
	callback after the routes of the vehicles have been updated

virtual void	situationCreated (RssRouteCheckerEgoVehicleData< OBJECT_INSTANCE_TYPE > const &ego_vehicle, RssRouteCheckResult &rssRouteCheckResult)
	callback after the rssRouteCheckResult situations has been created for the respective ego vehicle More...

virtual void	situationsCreated (RssRouteCheckerEgoVehicleData< OBJECT_INSTANCE_TYPE > const &ego_vehicle, RssObjectResult &rssObjectResult)
	callback after all rssRouteCheckResult situations have been created for the respective ego vehicle More...

virtual void	situationsCreated (RssObjectResultList &objectResultList)
	callback after all situations for all ego vehicles have been created

virtual void	checksPerformed (RssObjectResultList &objectResultList)
	callback after all constellations for all ego vehicles have been checked

Detailed Description

template<class OBJECT_INSTANCE_TYPE>
class ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >

supporting class for implementing the RSS checks

Member Typedef Documentation

◆ ArtificialObjectInjectionCallbackFunctionType

template<class OBJECT_INSTANCE_TYPE >

using ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::ArtificialObjectInjectionCallbackFunctionType = std::function<RssArtificialObjectAdapterList<OBJECT_INSTANCE_TYPE>( RssRouteCheckerEgoVehicleDataMap<OBJECT_INSTANCE_TYPE> const &egoVehicleMap, RssRouteCheckerVehicleDataMap<OBJECT_INSTANCE_TYPE> const &vehicleMap, RssRouteCheckerPedestrianDataMap<OBJECT_INSTANCE_TYPE> const &pedestrianMap)>

defines the type for callback to inject artificial objects

The provided parameters to the function can be used to re-use already pre-proccessed data on vehicles and pedestrians at the current point in time.

◆ CalculateTrajectorySetsCallbackFunctionType

template<class OBJECT_INSTANCE_TYPE >

using ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::CalculateTrajectorySetsCallbackFunctionType = std::function<bool(RssRouteCheckerEgoVehicleData<OBJECT_INSTANCE_TYPE> const &egoVehicle, ::ad::rss::map::RssRouteId const &routeId, ::ad::rss::core::RelativeConstellation const &constellation, ::ad::rss::world::ObjectId const &objectId, ::ad::rss::core::RelativeObjectState const &vehicleState, ::ad::geometry::Polygon &brakePolygon, ::ad::geometry::Polygon &continueForwardPolygon)>

Function callback type for unstructured trajectory set calculation.

Parameters

[in]	egoVehicle	The ego-vehicle data the calculation is performed for
[in]	routedId	The route id of the ego-vehicle the calculation is performed for
[in]	constellation	The relative constellation the calculation is based on
[in]	objectId	The id of the object the calculation is based on (one of the two constellation objects)
[in]	vehicleState	The relative object state of the object the calculation is based on (one of the two constellation vehicle states)
[out]	brakePolygon	The calculated brake polygon
[out]	continueForwardPolygon	The calculated continue forward polygon

Returns: false if a failure occurred during calculations, true otherwise

Member Function Documentation

◆ checkObjects()

template<class OBJECT_INSTANCE_TYPE >

RssObjectResultList ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::checkObjects	(	std::chrono::system_clock::time_point const &	currentTime,
		::ad::physics::Distance const	vehicleSamplingDistance,
		RssEgoVehicleAdapterList< OBJECT_INSTANCE_TYPE > &	egoVehicles,
		RssVehicleAdapterList< OBJECT_INSTANCE_TYPE > &	vehicles,
		::ad::physics::Distance const	pedestrianSamplingDistance,
		RssPedestrianAdapterList< OBJECT_INSTANCE_TYPE > &	pedestrians,
		typename RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >::RouteExtensionMode	routeExtensionMode
	)

virtual

perform the RSS check of the objects

This function performs the following steps:

update the object data of egoVehicles, vehicles, pedestrians (i.e. data of RssObjectAdapter class including map matching)
update the route data of the egoVehicles and vehicles
trigger artificial object injection callback if registered (see also registerArtificialObjectInjectionCallback()) and update
keep track of the ::ad::rss::core::RssCheck objects for each route of each ego vehicle (which defines the input situation to be checked; one checker for one situation)
create the world model for each situation (each route of each ego vehicle)
extract the situation for each situation (each route of each ego vehicle)
check the constellation for each situation (each route of each ego vehicle)
provide a proper response for each situation (each route of each ego vehicle)

The protected callback functions allow to interact with the calculation process and e.g. allow to override intermediate results.

Returns: a RSS result list of all considered egoVehicles, vehicles, pedestrians and artificialObjects within this calculations

◆ clearOperationToMapAreaRestriction()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::clearOperationToMapAreaRestriction

clear the restriction to a certain map area

This function clears the lanes to consider for all map operations.

◆ isEgoVehicleActive()

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::isEgoVehicleActive ( ::ad::rss::world::ObjectId ego_object_id )

inline

check if the ego vehicle object is still present and currently active.

Check if the ego vehicle is available and still listed as active. The vehicles are active if they have been part of the latest check.

◆ isEgoVehicleAvailable()

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::isEgoVehicleAvailable ( ::ad::rss::world::ObjectId ego_object_id )

inline

check if the ego vehicle object is still present.

ego vehicles are dropped from the internal list if there is not update on it for longer than the constructor parameter dropOutdatedObjecstDuration.

◆ objectDataUpdated()

template<class OBJECT_INSTANCE_TYPE >

virtual void ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::objectDataUpdated ( RssRouteCheckerEgoVehicleDataMap< OBJECT_INSTANCE_TYPE > & egoVehicleMap )

inlineprotectedvirtual

callback after object data of the ego vehicles has been updated

Callback functions called after the respective functionality is processed

The following set of callback functions are intentionally non const to allow derived classes to adapt intermediate results. Depending on the research activities conducted, this might be useful to quickly log and/or test out the effects of smaller changes to the complete proceessing chain.

◆ registerArtificialObjectInjectionCallback()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::registerArtificialObjectInjectionCallback	(	::ad::physics::Distance const	artificialObjectSamplingDistance,
		ArtificialObjectInjectionCallbackFunctionType	artificialObjectsInjectionCallback
	)

register a callback to inject artificial objects

This function allows to register a callback to inject artificial objects into the procssing of the checkObjects() function. The callback is triggered after the object and route data of the vehicles and pedestrians is updated to allow the injection function the reuse of already available data like map matched positions and future routes.

Parameters

[in]	artificialObjectSamplingDistance	the sampling distance used for map matching of artificial objects (see ad::map::match::AdMapMatching::getMapMatchedBoundingBox() for a detailed description of this
[in]	artificialObjectsInjectionCallback	the actual callback function to register (use nullptr to unregister)

◆ registerCalculateTrajectorySetsCallback()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::registerCalculateTrajectorySetsCallback	(	world::ObjectType	objectType,
		CalculateTrajectorySetsCallbackFunctionType	calculateTrajectorySetsCallback
	)

Register a callback for unstructured trajectory set calculation.

Parameters

[in]	objectType	The object type this trajectory set calculation should be applied
[in]	calculateTrajectorySetsCallback	The actual callback function to perform the trajectory set calculation

◆ restrictOperationToIntersectionArea()

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::restrictOperationToIntersectionArea	(	::ad::map::point::ENUPoint const &	intersectionPoint,
		::ad::physics::Distance const &	intersectionDistance
	)

restriction of the map area around an intersection to a set of reachable lanes

This function collects all reachable lanes from the intersection at the given intersectionPoint to consider for all map operations. Reachable in the sense of all inner intersection lanes plus all entry/exit arms of the intersection until the given intersectionDistance is reached.

Parameters

[in]	intersectionPoint	the start points used to check for an intersection to be used
[in]	intersectionDistance	distance to be used for a directionless prediction from all intersection border points

Returns: true if the map area is filled

◆ restrictOperationToMapArea() [1/3]

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::restrictOperationToMapArea ( ::ad::map::lane::LaneIdSet const & lanesToConsider )

These group of functions restrict the operation of this class to a certain map area.

The computations within this class are heavily depending on the size and complexity of the used ad map. Especially use cases with many ego vehicles suffer from this. On the other hand, the use-cases with many vehicles are often restricted to specific locations on a map with a certain extend.

The following functions provide different means of restricting the lanes of the map that actually are being considered for internal computations like:

::ad::map::match::AdMapMatching()
::ad::map::route::extendRouteToDistance()
::ad::map::route::planning::predictRoutesOnDistance() If the map area is restricted by one of the following functions, all the map based operations will be performed as if the rest of the map would not exist at all.

restriction of the map area to an explicit list of lanes

This function sets the lane to consider for all map operations.

Parameters

[in] lanesToConsider the lanes of the map to be considered

◆ restrictOperationToMapArea() [2/3]

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::restrictOperationToMapArea ( ::ad::map::point::BoundingSphere const & bounding_sphere )

restriction of the map area to a bounding sphere

This function collects all lane within the given bounding sphere in a LaneIdSet to consider for all map operations. For collecting the lanes ::ad::map::lane::isNear() is called that checks for overlapping of the bounding sphere of the lane and the given bounding sphere.

Parameters

[in] bounding_sphere the bounding sphere of the map area to be considered

Returns: true if the map area is filled

◆ restrictOperationToMapArea() [3/3]

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::restrictOperationToMapArea ( std::vector< ad::map::lane::MapAreaPredictionStartPoint > const & predictionStartPoints )

restriction of the map area to a set of reachable lanes

This function collects all reachable lanes from the given list of input MapAreaPredictionStartPoint to consider for all map operations.

Parameters

[in] predictionStartPoints the start points used to perform route prediction with respective prediction distance and route creation mode

Returns: true if the map area is filled

◆ situationCreated()

template<class OBJECT_INSTANCE_TYPE >

virtual void ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::situationCreated	(	RssRouteCheckerEgoVehicleData< OBJECT_INSTANCE_TYPE > const &	ego_vehicle,
		RssRouteCheckResult &	rssRouteCheckResult
	)

inlineprotectedvirtual

callback after the rssRouteCheckResult situations has been created for the respective ego vehicle

Filled members of rssRouteCheckResult:

rss_route
world_model

◆ situationsCreated()

template<class OBJECT_INSTANCE_TYPE >

virtual void ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >::situationsCreated	(	RssRouteCheckerEgoVehicleData< OBJECT_INSTANCE_TYPE > const &	ego_vehicle,
		RssObjectResult &	rssObjectResult
	)

inlineprotectedvirtual

callback after all rssRouteCheckResult situations have been created for the respective ego vehicle

Filled members of respective rssRouteCheckResult:

rss_route
world_model

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

include/ad/rss/map/RssRouteChecker.hpp
include/ad/rss/map/detail/RssRouteCheckerDetail.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<class OBJECT_INSTANCE_TYPE> class ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >

Member Typedef Documentation

◆ ArtificialObjectInjectionCallbackFunctionType

◆ CalculateTrajectorySetsCallbackFunctionType

Member Function Documentation

◆ checkObjects()

◆ clearOperationToMapAreaRestriction()

◆ isEgoVehicleActive()

◆ isEgoVehicleAvailable()

◆ objectDataUpdated()

◆ registerArtificialObjectInjectionCallback()

◆ registerCalculateTrajectorySetsCallback()

◆ restrictOperationToIntersectionArea()

◆ restrictOperationToMapArea() [1/3]

◆ restrictOperationToMapArea() [2/3]

◆ restrictOperationToMapArea() [3/3]

◆ situationCreated()

◆ situationsCreated()

template<class OBJECT_INSTANCE_TYPE>
class ad::rss::map::RssRouteChecker< OBJECT_INSTANCE_TYPE >