[Redmine #7711] Condition allowing for check of free lane?
Bugzilla Link | 4046 |
Created on | May 24, 2019 09:30 |
Version | 0.9.1 |
Extended Description
https://redmine.vires.com/issues/7711
René Weidling wrote:
Is there a way to properly model a maneuver, where a vehicle is supposed to change its lane if the neighboring lane is empty? The action itself (Lateral -> LaneChange) is easy, but I can't figure out how I would model the condition.
Can I somehow use TriggerinEntity = List of all vehicles in the scenario, TriggeringEntity rule = any together with RelativeDistance type=lateral (and maybe a clever combination with another condition RelativeDistance type=longitudinal or inertial to check for a safe area)?
Marius Dupuis wrote:
As of now, there is no such concept but for a future version, we would see the following:
Solution 1
place a perception object at a tbd. location (e.g. in the neighbor lane of the ego vehicle)
check for TTC of any other vehicle with this object within the lane
check for the result of previous test and execute the action as applicable
Solution 2
allow for relative addressing of objects (e.g. Ego$+1$+2 - the 1st object in front of "Ego" and 2 lanes left)
perform standard tests with these objects (e.g. TTC)
Solution 2 is preferred.
René Weidling wrote:
Ok, sounds fine to me. Please add these "usage descriptions" (i.e. specific syntax not defined by the OSC xsd format) to the OSC User manual once they are discussed, so that everyone will follow the same OSC rules, regardless of modelling or simulation tool used.