adore::env::OCRoadBasedPrediction Class Reference

#include <ocroadbasedprediction.h>

Inheritance diagram for adore::env::OCRoadBasedPrediction:

Collaboration diagram for adore::env::OCRoadBasedPrediction:

Classes
struct	SearchState

Public Member Functions
void	setAngleErrorMax (double value)
void	setTMaxUTC (double value)
void	setLatPrecision (double value)
void	setLatError (double value)
void	setLonError (double value)
void	setVMax (double value)
void	setAMax (double value)
void	setAMin (double value)
void	setTimeHeadway (double value)
void	setTimeLeeway (double value)
void	setDelay (double value)
void	setLaneWidthPredictions (bool value)
void	setLateralPredictions (bool value)
void	setWidthUB (double value)
void	setWidthLB (double value)
	OCRoadBasedPrediction (adore::env::traffic::TrafficMap *trafficMap)
virtual bool	predict (const traffic::Participant &p, OccupancyCylinderPredictionSet &set) const override
void	setAngleErrorMax (double value)
void	setTMaxUTC (double value)
void	setLatPrecision (double value)
void	setLatError (double value)
void	setLonError (double value)
void	setVMax (double value)
void	setAMax (double value)
void	setAMin (double value)
void	setTimeHeadway (double value)
void	setTimeLeeway (double value)
	OCRoadBasedPrediction (adore::env::traffic::TrafficMap *trafficMap)
virtual bool	predict (const traffic::Participant &p, OccupancyCylinderPredictionSet &set) const override

Private Attributes
double	t_max_utc_
double	lat_precision_
double	lat_error_
double	lon_error_
double	v_max_
double	a_max_
double	a_min_
double	angle_error_max_
double	time_headway_
double	time_leeway_
double	delay_
bool	lane_width_predictions_
bool	lateral_predictions_
double	width_ub_
double	width_lb_
adore::env::traffic::TrafficMap *	trafficMap_

Detailed Description

A prediction along a given road-graph. Challenges:

• splits in road graph: continue each arm
• merges in road graph: continue target arm
• priorities: do not follow arms, which are rated lower priority than arm followed by ego vehicle
• narrowing lanes: keep width of object. typically extend object into parallel traffic lane (not head-on) Approach:
• one border generates one prediction branch
• objects associated with multiple borders (during lane change) fill initial set with all borders
• prevent cycles and multi-predictions due to consecutive borders with unordered_set<BorderID> explored
• compute boundary functions for fastest and slowest travel s->t, so that smax is known and [t0,t1] can be computed for cylinders
• process a border:
  • retrieve a border from the open list
  • compute centerline between border and left neighbor
  • create a new prediction, which references predecessor prediction
  • generate cylinders along centerline, add to occupancy of prediction
  • add prediction to set
  • add all continuous successors of border to open list

Constructor & Destructor Documentation

OCRoadBasedPrediction() [1/2]

adore::env::OCRoadBasedPrediction::OCRoadBasedPrediction ( adore::env::traffic::TrafficMap *  trafficMap )

inline

OCRoadBasedPrediction() [2/2]

adore::env::OCRoadBasedPrediction::OCRoadBasedPrediction ( adore::env::traffic::TrafficMap *  trafficMap )

inline

Member Function Documentation

predict() [1/2]

virtual bool adore::env::OCRoadBasedPrediction::predict ( const traffic::Participant &  p, OccupancyCylinderPredictionSet &  set  ) const

inlineoverridevirtual

formulate one or more predictions for Participant p as an OccupancyCylinderTree (a set of cylinders in xyz and t)

Parameters

p	the participant state information
set	the resulting occupancy prediction is placed in set

Returns

true if prediction is successful

Implements adore::env::OCPredictionStrategy< traffic::Participant >.

Here is the call graph for this function:

Here is the caller graph for this function:

predict() [2/2]

virtual bool adore::env::OCRoadBasedPrediction::predict ( const traffic::Participant &  p, OccupancyCylinderPredictionSet &  set  ) const

inlineoverridevirtual

formulate one or more predictions for Participant p as an OccupancyCylinderTree (a set of cylinders in xyz and t)

Parameters

p	the participant state information
set	the resulting occupancy prediction is placed in set

Returns

true if prediction is successful

Implements adore::env::OCPredictionStrategy< traffic::Participant >.

Here is the call graph for this function:

setAMax() [1/2]

void adore::env::OCRoadBasedPrediction::setAMax ( double  value )

inline

Here is the caller graph for this function:

setAMax() [2/2]

void adore::env::OCRoadBasedPrediction::setAMax ( double  value )

inline

setAMin() [1/2]

void adore::env::OCRoadBasedPrediction::setAMin ( double  value )

inline

Here is the caller graph for this function:

setAMin() [2/2]

void adore::env::OCRoadBasedPrediction::setAMin ( double  value )

inline

setAngleErrorMax() [1/2]

void adore::env::OCRoadBasedPrediction::setAngleErrorMax ( double  value )

inline

Here is the caller graph for this function:

setAngleErrorMax() [2/2]

void adore::env::OCRoadBasedPrediction::setAngleErrorMax ( double  value )

inline

setDelay()

void adore::env::OCRoadBasedPrediction::setDelay ( double  value )

inline

Here is the caller graph for this function:

setLaneWidthPredictions()

void adore::env::OCRoadBasedPrediction::setLaneWidthPredictions ( bool  value )

inline

Here is the caller graph for this function:

setLateralPredictions()

void adore::env::OCRoadBasedPrediction::setLateralPredictions ( bool  value )

inline

Here is the caller graph for this function:

setLatError() [1/2]

void adore::env::OCRoadBasedPrediction::setLatError ( double  value )

inline

Here is the caller graph for this function:

setLatError() [2/2]

void adore::env::OCRoadBasedPrediction::setLatError ( double  value )

inline

setLatPrecision() [1/2]

void adore::env::OCRoadBasedPrediction::setLatPrecision ( double  value )

inline

Here is the caller graph for this function:

setLatPrecision() [2/2]

void adore::env::OCRoadBasedPrediction::setLatPrecision ( double  value )

inline

setLonError() [1/2]

void adore::env::OCRoadBasedPrediction::setLonError ( double  value )

inline

Here is the caller graph for this function:

setLonError() [2/2]

void adore::env::OCRoadBasedPrediction::setLonError ( double  value )

inline

setTimeHeadway() [1/2]

void adore::env::OCRoadBasedPrediction::setTimeHeadway ( double  value )

inline

Here is the caller graph for this function:

setTimeHeadway() [2/2]

void adore::env::OCRoadBasedPrediction::setTimeHeadway ( double  value )

inline

setTimeLeeway() [1/2]

void adore::env::OCRoadBasedPrediction::setTimeLeeway ( double  value )

inline

Here is the caller graph for this function:

setTimeLeeway() [2/2]

void adore::env::OCRoadBasedPrediction::setTimeLeeway ( double  value )

inline

setTMaxUTC() [1/2]

void adore::env::OCRoadBasedPrediction::setTMaxUTC ( double  value )

inline

Here is the caller graph for this function:

setTMaxUTC() [2/2]

void adore::env::OCRoadBasedPrediction::setTMaxUTC ( double  value )

inline

setVMax() [1/2]

void adore::env::OCRoadBasedPrediction::setVMax ( double  value )

inline

Here is the caller graph for this function:

setVMax() [2/2]

void adore::env::OCRoadBasedPrediction::setVMax ( double  value )

inline

setWidthLB()

void adore::env::OCRoadBasedPrediction::setWidthLB ( double  value )

inline

Here is the caller graph for this function:

setWidthUB()

void adore::env::OCRoadBasedPrediction::setWidthUB ( double  value )

inline

Here is the caller graph for this function:

Member Data Documentation

a_max_

double adore::env::OCRoadBasedPrediction::a_max_

private

maximum acceleration. set a_max_=a_min_ to get no divergence.

a_min_

double adore::env::OCRoadBasedPrediction::a_min_

private

minimum acceleration. set a_max_=a_min_ to get no divergence.

angle_error_max_

double adore::env::OCRoadBasedPrediction::angle_error_max_

private

maximum angle error, which is permitted to associate with a border

delay_

double adore::env::OCRoadBasedPrediction::delay_

private

delay after which acceleration is applied

lane_width_predictions_

bool adore::env::OCRoadBasedPrediction::lane_width_predictions_

private

select whether to predict motion of objects up to lane border or only the width of objects relative to lane center

lat_error_

double adore::env::OCRoadBasedPrediction::lat_error_

private

lat_precision_

double adore::env::OCRoadBasedPrediction::lat_precision_

private

maximum lateral overapproximation of the vehicle body

lateral_predictions_

bool adore::env::OCRoadBasedPrediction::lateral_predictions_

private

select whether to predict radius based on lateral motion up to lane width

lon_error_

double adore::env::OCRoadBasedPrediction::lon_error_

private

initial (and constant) (measurement) error to the side of the vehicle

t_max_utc_

double adore::env::OCRoadBasedPrediction::t_max_utc_

private

time at which the prediction ends. (prediciton starts at time stamp of object.)

time_headway_

double adore::env::OCRoadBasedPrediction::time_headway_

private

arriving earlier than expected

time_leeway_

double adore::env::OCRoadBasedPrediction::time_leeway_

private

leaving later than expected

trafficMap_

adore::env::traffic::TrafficMap * adore::env::OCRoadBasedPrediction::trafficMap_

private

a data object, which allows to map between borders and traffic participants

v_max_

double adore::env::OCRoadBasedPrediction::v_max_

private

initial (measurement) error in movement direction of the vehicle maximum speed up until which participant could accelerate. only relevant, if a_max>0

width_lb_

double adore::env::OCRoadBasedPrediction::width_lb_

private

lower bound on prediction width

width_ub_

double adore::env::OCRoadBasedPrediction::width_ub_

private

upper bound on prediction width

---

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

• /home/fascar/temp/adore/libadore/libadore/adore/env/include/adore/env/traffic/ocroadbasedprediction.h
• /home/fascar/temp/adore/libadore/libadore/adore/env/include/adore/env/traffic/ocroadbasedprediction_test.h