Closed BoChang11 closed 2 years ago
Hi,
I have been going through Cost evaluator and having hard time in understanding how the front lateral distance cost is calculated in the below code snippet.
double CostEvaluator::FrontLateralDistanceCost( const double obstacle_length, const double obstacle_width, const LaneSequence& lane_sequence) { if (lane_sequence.lane_segment_size() == 0 || lane_sequence.lane_segment(0).lane_point_size() == 0) { AWARN << "Empty lane sequence."; return 0.0; } const LanePoint& lane_point = lane_sequence.lane_segment(0).lane_point(0); double lane_l = -lane_point.relative_l(); ADEBUG << "Cost Evaluator - lane_l value : " << lane_l; double distance = std::abs( lane_l - obstacle_length / 2.0 * std::sin(lane_point.angle_diff())); ADEBUG << "Cost Evaluator - distance : " << distance; double half_lane_width = lane_point.width() / 2.0; ADEBUG << "Cost Evaluator - Half Lane Width : " << half_lane_width; double temp = half_lane_width - distance; ADEBUG << "Cost Evaluator - Return half_lane_width : " << temp; return half_lane_width - distance; }
Could you please give more explanation on this. For example Mathematical formulae/proof, reference paper used to implement the prediction module.
BR, Chang
Closed due to inactivity. If the problem persists, pls feel free to reopen it or create a new one and refer to it.
Hi,
I have been going through Cost evaluator and having hard time in understanding how the front lateral distance cost is calculated in the below code snippet.
Could you please give more explanation on this. For example Mathematical formulae/proof, reference paper used to implement the prediction module.
BR, Chang