A class for computation of the geometric information required to perform lane changes. The class name contains the term "independent", as it computes its own smooth baseline function instead of using the smooth baseline function of the lane following geometry. Downside of the independence is an increase computational effort. Upside is an improved projection in cases where target lane steeply separates after the gate. In contrast to the "normal" lc-geometry, which uses a baseline in the center of the source lane, the independent smooth baseline is situated between source and target lane. There is still a minor dependence to the lane following geometry: To compute the lane change geometry, the borders collected by the lane following geometry have to be provided. More...

#include <independentlanechangegeometry.h>

Collaboration diagram for adore::env::BorderBased::IndependentLaneChangeGeometry:

Public Types
using	function_type_scalar = adore::mad::function_type_scalar

Public Member Functions
void	setSmoothness (double value)

void	setMaximumNavCostIncrease (double value)

void	setLookAhead (double value)

void	setLookBehind (double value)

bool	isValid () const

double	getProgressGateOpen () const

double	getProgressGateClosed () const

bool	isNavigationCostFcnAvailable () const

function_type_scalar &	getLeftOffsetFct ()

function_type_scalar &	getRightOffsetFct ()

function_type_scalar &	getOffsetSourceOuterBordersFct ()

function_type_scalar &	getOffsetTargetOuterBordersFct ()

	IndependentLaneChangeGeometry (bool lc_direction_left, BorderSet borderSet, BorderCostMap borderCostMap)

template<typename Iterator >
void	update (double position_on_current, Iterator current_lf, Iterator first_lf, Iterator last_lf)
	constructs a lane change geometry if a gate is available More...

bool	sanityTest ()
	a set of tests making sure that lane change geometry is drivable in real conditions More...

double	getMaximumTargetLaneWidth ()
	returns the maximum width of the lane change More...

bool	computeGateInterval ()
	compute gate open and close in the domain of the baseline function More...

bool	computeGateInterval_v2 ()
	compute gate open and close in the domain of the baseline function. this version uses offset functions instead of lcbs. More...

bool	computeNavigationCostFunction ()
	projects navigation cost of borders in navigationCostBorders_ unto baseline More...

bool	collectSeparatingBorders ()
	collects points describing the inner, separating border The separating borders are defined as a sequence of Border objects: If the lane change direction is left, it starts with the lane-following-view left Border objects, otherwise with the right Border Objects. At the end of the gate region, it switches to the target lanes right Border objects for a lane change left and to the left Border objects for a lane change right. More...

bool	collectTargetOuterBorders ()
	collects points describing the target-side outer border More...

bool	collectSourceOuterBorders ()
	collects points describing the source-side outer border More...

bool	collectNavigationCostBorders ()
	collects points describing the navigation cost reference borders More...

Private Attributes
BorderSet *	borderSet_

BorderCostMap *	borderCostMap_

bool	valid_

double	progressGateOpen_

double	progressGateClosed_

Detailed Description

A class for computation of the geometric information required to perform lane changes. The class name contains the term "independent", as it computes its own smooth baseline function instead of using the smooth baseline function of the lane following geometry. Downside of the independence is an increase computational effort. Upside is an improved projection in cases where target lane steeply separates after the gate. In contrast to the "normal" lc-geometry, which uses a baseline in the center of the source lane, the independent smooth baseline is situated between source and target lane. There is still a minor dependence to the lane following geometry: To compute the lane change geometry, the borders collected by the lane following geometry have to be provided.

Member Typedef Documentation

◆ function_type_scalar

using adore::env::BorderBased::IndependentLaneChangeGeometry::function_type_scalar = adore::mad::function_type_scalar

Constructor & Destructor Documentation

◆ IndependentLaneChangeGeometry()

adore::env::BorderBased::IndependentLaneChangeGeometry::IndependentLaneChangeGeometry	(	bool	lc_direction_left,
		BorderSet *	borderSet,
		BorderCostMap *	borderCostMap
	)

inline

Member Function Documentation

◆ collectNavigationCostBorders()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::collectNavigationCostBorders ( )

inline

collects points describing the navigation cost reference borders

Returns: true if successful

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◆ collectSeparatingBorders()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::collectSeparatingBorders ( )

inline

collects points describing the inner, separating border The separating borders are defined as a sequence of Border objects: If the lane change direction is left, it starts with the lane-following-view left Border objects, otherwise with the right Border Objects. At the end of the gate region, it switches to the target lanes right Border objects for a lane change left and to the left Border objects for a lane change right.

Returns: true if successful

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◆ collectSourceOuterBorders()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::collectSourceOuterBorders ( )

inline

collects points describing the source-side outer border

Returns: true if successful

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◆ collectTargetOuterBorders()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::collectTargetOuterBorders ( )

inline

collects points describing the target-side outer border

Returns: true if successful

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◆ computeGateInterval()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::computeGateInterval ( )

inline

compute gate open and close in the domain of the baseline function

Returns: true if successful

Todo:: This method of computation encounters a problem, when lcbs look further behind than baseline and track circles around. First border of lcb and thus gate open may match to the end of baseline.

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◆ computeGateInterval_v2()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::computeGateInterval_v2 ( )

inline

compute gate open and close in the domain of the baseline function. this version uses offset functions instead of lcbs.

Returns: true if successful

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◆ computeNavigationCostFunction()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::computeNavigationCostFunction ( )

inline

projects navigation cost of borders in navigationCostBorders_ unto baseline

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◆ getLeftOffsetFct()

function_type_scalar& adore::env::BorderBased::IndependentLaneChangeGeometry::getLeftOffsetFct ( )

inline

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◆ getMaximumTargetLaneWidth()

double adore::env::BorderBased::IndependentLaneChangeGeometry::getMaximumTargetLaneWidth ( )

inline

returns the maximum width of the lane change

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◆ getOffsetSourceOuterBordersFct()

function_type_scalar& adore::env::BorderBased::IndependentLaneChangeGeometry::getOffsetSourceOuterBordersFct ( )

inline

◆ getOffsetTargetOuterBordersFct()

function_type_scalar& adore::env::BorderBased::IndependentLaneChangeGeometry::getOffsetTargetOuterBordersFct ( )

inline

◆ getProgressGateClosed()

double adore::env::BorderBased::IndependentLaneChangeGeometry::getProgressGateClosed ( ) const

inline

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◆ getProgressGateOpen()

double adore::env::BorderBased::IndependentLaneChangeGeometry::getProgressGateOpen ( ) const

inline

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◆ getRightOffsetFct()

function_type_scalar& adore::env::BorderBased::IndependentLaneChangeGeometry::getRightOffsetFct ( )

inline

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◆ isNavigationCostFcnAvailable()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::isNavigationCostFcnAvailable ( ) const

inline

◆ isValid()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::isValid ( ) const

inline

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◆ sanityTest()

bool adore::env::BorderBased::IndependentLaneChangeGeometry::sanityTest ( )

inline

a set of tests making sure that lane change geometry is drivable in real conditions

Returns: true if sane

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◆ setLookAhead()

void adore::env::BorderBased::IndependentLaneChangeGeometry::setLookAhead ( double value )

inline

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◆ setLookBehind()

void adore::env::BorderBased::IndependentLaneChangeGeometry::setLookBehind ( double value )

inline

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◆ setMaximumNavCostIncrease()

void adore::env::BorderBased::IndependentLaneChangeGeometry::setMaximumNavCostIncrease ( double value )

inline

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◆ setSmoothness()

void adore::env::BorderBased::IndependentLaneChangeGeometry::setSmoothness ( double value )

inline

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◆ update()

template<typename Iterator >

void adore::env::BorderBased::IndependentLaneChangeGeometry::update	(	double	position_on_current,
		Iterator	current_lf,
		Iterator	first_lf,
		Iterator	last_lf
	)

inline

constructs a lane change geometry if a gate is available

Parameters

Iterator	iterator for std::vector<Border>, std::list<Border>, etc.
position_on_current	location of vehicle on current border, used for lookahead and lookbehind measurement
current_lf	iterator pointing to current border in lane following borders
first_lf	start of the lane following borders
last_lf	end of the lane following borders (last valid entry)

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Member Data Documentation

◆ baseline_

Baseline adore::env::BorderBased::IndependentLaneChangeGeometry::baseline_

◆ borderCostMap_

BorderCostMap* adore::env::BorderBased::IndependentLaneChangeGeometry::borderCostMap_

private

◆ borderSet_

BorderSet* adore::env::BorderBased::IndependentLaneChangeGeometry::borderSet_

private

◆ lcb_

LaneChangeBorders adore::env::BorderBased::IndependentLaneChangeGeometry::lcb_

◆ maximum_navcost_increase_

double adore::env::BorderBased::IndependentLaneChangeGeometry::maximum_navcost_increase_

◆ navigationCost_fcn_available_

bool adore::env::BorderBased::IndependentLaneChangeGeometry::navigationCost_fcn_available_

◆ navigationCost_fct_

function_type_scalar adore::env::BorderBased::IndependentLaneChangeGeometry::navigationCost_fct_

◆ navigationCostBorders_

BorderSequence adore::env::BorderBased::IndependentLaneChangeGeometry::navigationCostBorders_

lcl: source-right, gate-start,target-right

◆ offsetSeparatingBorders_

function_type_scalar adore::env::BorderBased::IndependentLaneChangeGeometry::offsetSeparatingBorders_

◆ offsetSourceOuterBorders_

function_type_scalar adore::env::BorderBased::IndependentLaneChangeGeometry::offsetSourceOuterBorders_

◆ offsetTargetOuterBorders_

function_type_scalar adore::env::BorderBased::IndependentLaneChangeGeometry::offsetTargetOuterBorders_

◆ progressGateClosed_

double adore::env::BorderBased::IndependentLaneChangeGeometry::progressGateClosed_

private

◆ progressGateOpen_

double adore::env::BorderBased::IndependentLaneChangeGeometry::progressGateOpen_

private

◆ separatingBorders_

BorderSequence adore::env::BorderBased::IndependentLaneChangeGeometry::separatingBorders_

lcl: source-left, gate-end, target-right

◆ sourceOuterBorders_

BorderSequence adore::env::BorderBased::IndependentLaneChangeGeometry::sourceOuterBorders_

lcl: source-right,gate-end, target-right

◆ speedLimit_fct_

function_type_scalar adore::env::BorderBased::IndependentLaneChangeGeometry::speedLimit_fct_

◆ targetOuterBorders_

BorderSequence adore::env::BorderBased::IndependentLaneChangeGeometry::targetOuterBorders_

lcl: source-left, gate-start,target-left

◆ valid_

bool adore::env::BorderBased::IndependentLaneChangeGeometry::valid_

private

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

/home/fascar/temp/adore/libadore/libadore/adore/env/include/adore/env/borderbased/independentlanechangegeometry.h

Public Attributes
BorderSequence	separatingBorders_

BorderSequence	sourceOuterBorders_

BorderSequence	targetOuterBorders_

BorderSequence	navigationCostBorders_

LaneChangeBorders	lcb_

Baseline	baseline_

function_type_scalar	offsetSeparatingBorders_

function_type_scalar	offsetSourceOuterBorders_

function_type_scalar	offsetTargetOuterBorders_

function_type_scalar	navigationCost_fct_

function_type_scalar	speedLimit_fct_

bool	navigationCost_fcn_available_

double	maximum_navcost_increase_

Public Types

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ function_type_scalar

Constructor & Destructor Documentation

◆ IndependentLaneChangeGeometry()

Member Function Documentation

◆ collectNavigationCostBorders()

◆ collectSeparatingBorders()

◆ collectSourceOuterBorders()

◆ collectTargetOuterBorders()

◆ computeGateInterval()

◆ computeGateInterval_v2()

◆ computeNavigationCostFunction()

◆ getLeftOffsetFct()

◆ getMaximumTargetLaneWidth()

◆ getOffsetSourceOuterBordersFct()

◆ getOffsetTargetOuterBordersFct()

◆ getProgressGateClosed()

◆ getProgressGateOpen()

◆ getRightOffsetFct()

◆ isNavigationCostFcnAvailable()

◆ isValid()

◆ sanityTest()

◆ setLookAhead()

◆ setLookBehind()

◆ setMaximumNavCostIncrease()

◆ setSmoothness()

◆ update()

Member Data Documentation

◆ baseline_

◆ borderCostMap_

◆ borderSet_

◆ lcb_

◆ maximum_navcost_increase_

◆ navigationCost_fcn_available_

◆ navigationCost_fct_

◆ navigationCostBorders_

◆ offsetSeparatingBorders_

◆ offsetSourceOuterBorders_

◆ offsetTargetOuterBorders_

◆ progressGateClosed_

◆ progressGateOpen_

◆ separatingBorders_

◆ sourceOuterBorders_

◆ speedLimit_fct_

◆ targetOuterBorders_

◆ valid_