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intel / ad-rss-lib

Library implementing the Responsibility Sensitive Safety model (RSS) for Autonomous Vehicles
https://intel.github.io/ad-rss-lib/
GNU Lesser General Public License v2.1
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lateral safe distance #76

Closed MA-JIE closed 4 years ago

MA-JIE commented 4 years ago

Description

Fixes #

Where has this been tested?

Possible Drawbacks

This change is Reviewable

berndgassmann commented 4 years ago

If in a specific use-case there is strong need to not take an additional acceleration while the reaction time into account, there is always the possibility to pass from outside an accel_max (either lateral or longitudinal) as RssDynamics for the specific situation towards the calculation. Look e.g. to the CARLA RssSensor where this is currently done like that as a workaround in the case that other vehicles are standing still. There the longitudinal accel_max parameter is set to zero to prevent these vehicles to enter the intersection when waiting very near to the intersection. https://github.com/carla-simulator/carla/blob/0.9.9.3/LibCarla/source/carla/rss/RssCheck.cpp#L659

But such things should not be done by default inside the core RSS checking functionality. One has to analyse an evaluate the safety implications of such decisions. Also in the current CARLA implementation this special handling would not be required if the RSS core library would provide actual lateral checks within the intersection according to definitions 14 and 15 (arXiv:1708.06374v6). But these are not implemented yet.

MA-JIE commented 4 years ago

thanks for your replay