lane_change clarification
I have some questions regarding the lane_change after reading the standard document.
- Shouldn't rate_peak be acceleration instead of speed?
- What are the default values ("Changes one (1) lane to the left (using default values)")? --> The defaults should also be part of the user guide and none seems not to be an appropriate default for rate_profile to acchieve reasonable concrete sceanrios, which should be exchangable between tools.
- Does one really require lane_section, lane_type and lane_use to be set for performing a lane_change to a certain lane? --> Wouldn't the better solution be to use the laneId of the current road of either the entity itself or the referenced entity?
- duration and rate_peak can be contradicting like duration = 10s and rate_peak = 10m/s with rate_profile constant, so they should be XOR.
- The Distance in which a lane_change needs to be performed seems to be missing?
- The "most natural dynamic profile" (sinusoidal) is missing in rate_profile.
- Constant first derivative means linear dynamic profile. A constant dynamic profile would mean that it stays like it is, so there will be no change performed.
- lane_change_side: player2 wants to do a lange_change relative to player1. Where is left, right, inside, outside in this example? Is left/right relative to the coordinate system of player1 or player2 or the road? Where is inside/outside of player1 for RHT in this example?
------------------- laneIds
<-- player2 -3
-------------------
-2
-------------------
-1
-------------------
player1 --> +1
-------------------
+2
-------------------
+3
-------------------