ad::rss::map::RssSceneCreation Class Reference

class providing supporting functions to create a world model and its scenes. More...

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

Public Types
enum	RestrictSpeedLimitMode { RestrictSpeedLimitMode::None, RestrictSpeedLimitMode::ExactSpeedLimit, RestrictSpeedLimitMode::IncreasedSpeedLimit5, RestrictSpeedLimitMode::IncreasedSpeedLimit10 }
	enumeration defining the modes of speed limit consideration within RSS accelerated movement. More...
enum	AppendRoadBoundariesMode { AppendRoadBoundariesMode::RouteOnly, AppendRoadBoundariesMode::ExpandRouteToOppositeLanes, AppendRoadBoundariesMode::ExpandRouteToAllNeighbors }
	enumeration defining the operation modes of appendRoadBoundaries() function. More...

Public Member Functions
	RssSceneCreation (::ad::rss::world::TimeIndex const &timeIndex, ::ad::rss::world::RssDynamics const &defaultEgoRssDynamics)
	create a scene creation object More...
bool	appendScenes (RssObjectData const &egoObjectData, ::ad::map::route::FullRoute const &egoRoute, RssObjectData const &otherObjectData, RestrictSpeedLimitMode const &restrictSpeedLimitMode, ::ad::map::landmark::LandmarkIdSet const &greenTrafficLights, ::ad::rss::map::RssMode const &mode)
	create possible scenes between ego vehicle and the object More...
bool	appendRoadBoundaries (RssObjectData const &egoObjectData, ::ad::map::route::FullRoute const &route, AppendRoadBoundariesMode const operationMode)
	create scenes between ego vehicle and road boundaries More...
::ad::rss::world::WorldModel	getWorldModel ()
	get the final world model object More...

Friends
class	RssSceneCreator

Detailed Description

class providing supporting functions to create a world model and its scenes.

The appendScenes() and appendRoadBoundaries() are multi-thread safe

Member Enumeration Documentation

AppendRoadBoundariesMode

enum ad::rss::map::RssSceneCreation::AppendRoadBoundariesMode

strong

enumeration defining the operation modes of appendRoadBoundaries() function.

Enumerator
RouteOnly	The borders are created at the left border of the leftmost and the right border righmost lane of the provided route.
ExpandRouteToOppositeLanes	the incoming route is expanded with all parallel lanes of the opposite direction to ensure the whole driveable road is within the boundaries
ExpandRouteToAllNeighbors	the incoming route is expanded with all parallel neighbor lanes including the opposite direction and shoulder lanes to ensure the whole road is within the boundaries

RestrictSpeedLimitMode

enum ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode

strong

enumeration defining the modes of speed limit consideration within RSS accelerated movement.

Depending on this mode the objectRssDynamics are calculated dynamically or not.

Enumerator
None	Do not change the objects maxSpeedOnAcceleration parameter of objectRssDynamics.
ExactSpeedLimit	Set the objects maxSpeedOnAcceleration parameter of objectRssDynamics to the maximal allowed speed of the relevant road section
IncreasedSpeedLimit5	Set the objects maxSpeedOnAcceleration parameter of objectRssDynamics to the maximal allowed speed of the relevant road section 5 percent
IncreasedSpeedLimit10	Set the objects maxSpeedOnAcceleration parameter of objectRssDynamics to the maximal allowed speed of the relevant road section 10 percent

Constructor & Destructor Documentation

RssSceneCreation()

ad::rss::map::RssSceneCreation::RssSceneCreation	(	::ad::rss::world::TimeIndex const &	timeIndex,
		::ad::rss::world::RssDynamics const &	defaultEgoRssDynamics
	)

create a scene creation object

A world model object is created and initialized with given timeIndex and default ego dynamics

Parameters

[in]	timeIndex	the time index to be applied
[in]	defaultEgoRssDynamics	the default ego vehicles' RssDynamics to be applied

Member Function Documentation

appendRoadBoundaries()

bool ad::rss::map::RssSceneCreation::appendRoadBoundaries	(	RssObjectData const &	egoObjectData,
		::ad::map::route::FullRoute const &	route,
		AppendRoadBoundariesMode const	operationMode
	)

create scenes between ego vehicle and road boundaries

Based on the map information static object scenes at the borders of the driveable lanes are created. For detailed operation modes see the operation modes at AppendRoadBoundariesMode.

Parameters

[in]	egoObjectData	the ego vehicle's data
[in]	egoRoute	the route the ego vehicle intends to take.
[in]	operationMode	the mode how the road boundaries shall be handled

Returns

true if the operation succeeded.

appendScenes()

bool ad::rss::map::RssSceneCreation::appendScenes	(	RssObjectData const &	egoObjectData,
		::ad::map::route::FullRoute const &	egoRoute,
		RssObjectData const &	otherObjectData,
		RestrictSpeedLimitMode const &	restrictSpeedLimitMode,
		::ad::map::landmark::LandmarkIdSet const &	greenTrafficLights,
		::ad::rss::map::RssMode const &	mode
	)

create possible scenes between ego vehicle and the object

Based on the map information a connecting route between ego vehicle and the object is created.

Parameters

[in]	egoObjectData	the ego vehicle's data
[in]	egoRoute	the route the ego vehicle intends to take. If the given route is empty, all potential route predictions of the ego vehicle are taken into account if required.
[in]	otherObjectData	the other object's data
[in]	restrictSpeedLimitMode	the mode to select the behavior of objectRssDynamics.maxSpeedOnAcceleration and egoRssDynamics.maxSpeedOnAcceleration parameter
[in]	greenTrafficLights	the list of known green traffic lights. Required to derive the correct priority rule for the ego vehicle when approaching a traffic light intersection.
[in]	mode	the mode of this scene

Returns

true if the operation succeeded.

getWorldModel()

::ad::rss::world::WorldModel ad::rss::map::RssSceneCreation::getWorldModel

(

)

get the final world model object

After the call of this function the world model is treated as finalized. No further operation will succeed. Successive calls to this will return an empty default initialized world model.

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

• include/ad/rss/map/RssSceneCreation.hpp