private bool CheckGeneralShape(LinePath rndfPath, CarTimestamp rndfPathTimestamp, LocalLaneModel centerLaneModel)
{
// bad newz bears
if (centerLaneModel.LanePath == null || centerLaneModel.LanePath.Count < 2)
{
return(false);
}
// project the lane model's path into the rndf path's timestamp
RelativeTransform relTransform = Services.RelativePose.GetTransform(localRoadModel.Timestamp, rndfPathTimestamp);
LinePath laneModelPath = centerLaneModel.LanePath.Transform(relTransform);
// get the zero point of the lane model path
LinePath.PointOnPath laneZeroPoint = laneModelPath.ZeroPoint;
// get the first waypoint on the RNDF path
LinePath.PointOnPath rndfZeroPoint = rndfPath.ZeroPoint;
Coordinates firstWaypoint = rndfPath[rndfZeroPoint.Index + 1];
// get the projection of the first waypoint onto the lane path
LinePath.PointOnPath laneFirstWaypoint = laneModelPath.GetClosestPoint(firstWaypoint);
// get the offset vector
Coordinates offsetVector = laneFirstWaypoint.Location - firstWaypoint;
// start iterating through the waypoints forward and project them onto the rndf path
for (int i = rndfZeroPoint.Index + 1; i < rndfPath.Count; i++)
{
// get the waypoint
Coordinates waypoint = rndfPath[i];
// adjust by the first waypoint offset
waypoint += offsetVector;
// project onto the lane model
LinePath.PointOnPath laneWaypoint = laneModelPath.GetClosestPoint(waypoint);
// check the distance from the zero point on the lane model
if (laneModelPath.DistanceBetween(laneZeroPoint, laneWaypoint) > road_model_max_dist)
{
break;
}
// check the devation from the rndf
double deviation = waypoint.DistanceTo(laneWaypoint.Location);
// if the deviation is over some threshold, then we reject the model
if (deviation > road_deviation_reject_threshold)
{
return(false);
}
}
// we got this far, so this stuff is OK
return(true);
}
public static void CalculateMaxPathSpeed(LinePath path, LinePath.PointOnPath startPoint, LinePath.PointOnPath endPoint, ref double maxSpeed)
{
// get the angles
List<Pair<int, double>> angles = path.GetIntersectionAngles(startPoint.Index, endPoint.Index);
foreach (Pair<int, double> angleValue in angles) {
// calculate the desired speed to take the point
double dist = path.DistanceBetween(startPoint, path.GetPointOnPath(angleValue.Left));
// calculate the desired speed at the intersection
double desiredSpeed = 1.5/(angleValue.Right/(Math.PI/2));
// limit the desired speed to 2.5
desiredSpeed = Math.Max(2.5, desiredSpeed);
// calculate the speed we would be allowed to go right now
double desiredMaxSpeed = Math.Sqrt(desiredSpeed*desiredSpeed + 2*target_decel*dist);
// check if the desired max speed is lower
if (desiredMaxSpeed < maxSpeed) {
maxSpeed = desiredMaxSpeed;
}
}
}
public static void CalculateMaxPathSpeed(LinePath path, LinePath.PointOnPath startPoint, LinePath.PointOnPath endPoint, ref double maxSpeed)
{
// get the angles
List <Pair <int, double> > angles = path.GetIntersectionAngles(startPoint.Index, endPoint.Index);
foreach (Pair <int, double> angleValue in angles)
{
// calculate the desired speed to take the point
double dist = path.DistanceBetween(startPoint, path.GetPointOnPath(angleValue.Left));
// calculate the desired speed at the intersection
double desiredSpeed = 1.5 / (angleValue.Right / (Math.PI / 2));
// limit the desired speed to 2.5
desiredSpeed = Math.Max(2.5, desiredSpeed);
// calculate the speed we would be allowed to go right now
double desiredMaxSpeed = Math.Sqrt(desiredSpeed * desiredSpeed + 2 * target_decel * dist);
// check if the desired max speed is lower
if (desiredMaxSpeed < maxSpeed)
{
maxSpeed = desiredMaxSpeed;
}
}
}
private ILaneModel GetLaneModel(LocalLaneModel laneModel, LinePath rndfPath, double rndfPathWidth, CarTimestamp rndfPathTimestamp)
{
// check the lane model probability
if (laneModel.Probability < lane_probability_reject_threshold)
{
// we're rejecting this, just return a path lane model
return(new PathLaneModel(rndfPathTimestamp, rndfPath, rndfPathWidth));
}
// project the lane model's path into the rndf path's timestamp
RelativeTransform relTransform = Services.RelativePose.GetTransform(localRoadModel.Timestamp, rndfPathTimestamp);
LinePath laneModelPath = laneModel.LanePath.Transform(relTransform);
// iterate through the waypoints in the RNDF path and project onto the lane model
// the first one that is over the threshold, we consider the waypoint before as a potential ending point
LinePath.PointOnPath laneModelDeviationEndPoint = new LinePath.PointOnPath();
// flag indicating if any of the waypoint tests failed because of the devation was too high
bool anyDeviationTooHigh = false;
// number of waypoints accepted
int numWaypointsAccepted = 0;
// get the vehicle's position on the rndf path
LinePath.PointOnPath rndfZeroPoint = rndfPath.ZeroPoint;
// get the vehicle's position on the lane model
LinePath.PointOnPath laneModelZeroPoint = laneModelPath.ZeroPoint;
// get the last point we want to consider on the lane model
LinePath.PointOnPath laneModelFarthestPoint = laneModelPath.AdvancePoint(laneModelZeroPoint, lane_model_max_dist);
// start walking forward through the waypoints on the rndf path
// this loop will implicitly exit when we're past the end of the lane model as the waypoints
// will stop being close to the lane model (GetClosestPoint returns the end point if we're past the
// end of the path)
for (int i = rndfZeroPoint.Index + 1; i < rndfPath.Count; i++)
{
// get the waypoint
Coordinates rndfWaypoint = rndfPath[i];
// get the closest point on the lane model
LinePath.PointOnPath laneModelClosestPoint = laneModelPath.GetClosestPoint(rndfWaypoint);
// compute the distance between the two
double deviation = rndfWaypoint.DistanceTo(laneModelClosestPoint.Location);
// if this is above the deviation threshold, leave the loop
if (deviation > lane_deviation_reject_threshold || laneModelClosestPoint > laneModelFarthestPoint)
{
// if we're at the end of the lane model path, we don't want to consider this a rejection
if (laneModelClosestPoint < laneModelFarthestPoint)
{
// mark that at least on deviation was too high
anyDeviationTooHigh = true;
}
break;
}
// increment the number of waypoint accepted
numWaypointsAccepted++;
// update the end point of where we're valid as the local road model was OK up to this point
laneModelDeviationEndPoint = laneModelClosestPoint;
}
// go through and figure out how far out the variance is within tolerance
LinePath.PointOnPath laneModelVarianceEndPoint = new LinePath.PointOnPath();
// walk forward from this point until the end of the lane mode path
for (int i = laneModelZeroPoint.Index + 1; i < laneModelPath.Count; i++)
{
// check if we're within the variance toleration
if (laneModel.LaneYVariance[i] <= y_var_reject_threshold)
{
// we are, update the point on path
laneModelVarianceEndPoint = laneModelPath.GetPointOnPath(i);
}
else
{
// we are out of tolerance, break out of the loop
break;
}
}
// now figure out everything out
// determine waypoint rejection status
WaypointRejectionResult waypointRejectionResult;
if (laneModelDeviationEndPoint.Valid)
{
// if the point is valid, that we had at least one waypoint that was ok
// check if any waypoints were rejected
if (anyDeviationTooHigh)
{
// some waypoint was ok, so we know that at least one waypoint was accepted
waypointRejectionResult = WaypointRejectionResult.SomeWaypointsAccepted;
}
else
{
// no waypoint triggered a rejection, but at least one was good
waypointRejectionResult = WaypointRejectionResult.AllWaypointsAccepted;
}
}
else
{
// the point is not valid, so we either had no waypoints or we had all rejections
if (anyDeviationTooHigh)
{
// the first waypoint was rejected, so all are rejected
waypointRejectionResult = WaypointRejectionResult.AllWaypointsRejected;
}
else
{
// the first waypoint (if any) was past the end of the lane model
waypointRejectionResult = WaypointRejectionResult.NoWaypoints;
}
}
// criteria for determining if this path is valid:
// - if some or all waypoints were accepted, than this is probably a good path
// - if some of the waypoints were accepted, we go no farther than the last waypoint that was accepted
// - if there were no waypoints, this is a potentially dangerous situation since we can't reject
// or confirm the local road model. for now, we'll assume that it is correct but this may need to change
// if we start handling intersections in this framework
// - if all waypoints were rejected, than we don't use the local road model
// - go no farther than the laneModelVarianceEndPoint, which is the last point where the y-variance of
// the lane model was in tolerance
// now build out the lane model
ILaneModel finalLaneModel;
// check if we rejected all waypoints or no lane model points satisified the variance threshold
if (waypointRejectionResult == WaypointRejectionResult.AllWaypointsRejected || !laneModelVarianceEndPoint.Valid)
{
// want to just use the path lane model
finalLaneModel = new PathLaneModel(rndfPathTimestamp, rndfPath, rndfPathWidth);
}
else
{
// we'll use the lane model
// need to build up the center line as well as left and right bounds
// to build up the center line, use the lane model as far as we feel comfortable (limited by either variance
// or by rejections) and then use the rndf lane after that.
LinePath centerLine = new LinePath();
// figure out the max distance
// if there were no waypoints, set the laneModelDeviationEndPoint to the end of the lane model
if (waypointRejectionResult == WaypointRejectionResult.NoWaypoints)
{
laneModelDeviationEndPoint = laneModelFarthestPoint;
}
// figure out the closer of the end points
LinePath.PointOnPath laneModelEndPoint = (laneModelDeviationEndPoint < laneModelVarianceEndPoint) ? laneModelDeviationEndPoint : laneModelVarianceEndPoint;
bool endAtWaypoint = laneModelEndPoint == laneModelDeviationEndPoint;
// add the lane model to the center line
centerLine.AddRange(laneModelPath.GetSubpathEnumerator(laneModelZeroPoint, laneModelEndPoint));
// create a list to hold the width expansion values
List <double> widthValue = new List <double>();
// make the width expansion values the width of the path plus the 1-sigma values
for (int i = laneModelZeroPoint.Index; i < laneModelZeroPoint.Index + centerLine.Count; i++)
{
widthValue.Add(laneModel.Width / 2.0 + Math.Sqrt(laneModel.LaneYVariance[i]));
}
// now figure out how to add the rndf path
// get the projection of the lane model end point on the rndf path
LinePath.PointOnPath rndfPathStartPoint = rndfPath.GetClosestPoint(laneModelEndPoint.Location);
// if the closest point is past the end of rndf path, then we don't want to tack anything on
if (rndfPathStartPoint != rndfPath.EndPoint)
{
// get the last segment of the new center line
Coordinates centerLineEndSegmentVec = centerLine.EndSegment.UnitVector;
// get the last point of the new center line
Coordinates laneModelEndLoc = laneModelEndPoint.Location;
// now figure out the distance to the next waypoint
LinePath.PointOnPath rndfNextPoint = new LinePath.PointOnPath();
// figure out if we're ending at a waypoint or not
if (endAtWaypoint)
{
rndfNextPoint = rndfPath.GetPointOnPath(rndfPathStartPoint.Index + 1);
// if the distance from the start point to the next point is less than rndf_dist_min, then
// use the waypont after
double dist = rndfPath.DistanceBetween(rndfPathStartPoint, rndfNextPoint);
if (dist < rndf_dist_min)
{
if (rndfPathStartPoint.Index < rndfPath.Count - 2)
{
rndfNextPoint = rndfPath.GetPointOnPath(rndfPathStartPoint.Index + 2);
}
else if (rndfPath.DistanceBetween(rndfPathStartPoint, rndfPath.EndPoint) < rndf_dist_min)
{
rndfNextPoint = LinePath.PointOnPath.Invalid;
}
else
{
rndfNextPoint = rndfPath.AdvancePoint(rndfPathStartPoint, rndf_dist_min * 2);
}
}
}
else
{
// track the last angle we had
double lastAngle = double.NaN;
// walk down the rndf path until we find a valid point
for (double dist = rndf_dist_min; dist <= rndf_dist_max; dist += rndf_dist_step)
{
// advance from the start point by dist
double distTemp = dist;
rndfNextPoint = rndfPath.AdvancePoint(rndfPathStartPoint, ref distTemp);
// if the distTemp is > 0, then we're past the end of the path
if (distTemp > 0)
{
// if we're immediately past the end, we don't want to tack anything on
if (dist == rndf_dist_min)
{
rndfNextPoint = LinePath.PointOnPath.Invalid;
}
break;
}
// check the angle made by the last segment of center line and the segment
// formed between the end point of the center line and this new point
double angle = Math.Acos(centerLineEndSegmentVec.Dot((rndfNextPoint.Location - laneModelEndLoc).Normalize()));
// check if the angle satisfies the threshold or we're increasing the angle
if (Math.Abs(angle) < rndf_angle_threshold || (!double.IsNaN(lastAngle) && angle > lastAngle))
{
// break out of the loop, we're done searching
break;
}
lastAngle = angle;
}
}
// tack on the rndf starting at next point going to the end
if (rndfNextPoint.Valid)
{
LinePath subPath = rndfPath.SubPath(rndfNextPoint, rndfPath.EndPoint);
centerLine.AddRange(subPath);
// insert the lane model end point into the sub path
subPath.Insert(0, laneModelEndLoc);
// get the angles
List <Pair <int, double> > angles = subPath.GetIntersectionAngles(0, subPath.Count - 1);
// add the width of the path inflated by the angles
for (int i = 0; i < angles.Count; i++)
{
// calculate the width expansion factor
// 90 deg, 3x width
// 45 deg, 1.5x width
// 0 deg, 1x width
double widthFactor = Math.Pow(angles[i].Right / (Math.PI / 2.0), 2) * 2 + 1;
// add the width value
widthValue.Add(widthFactor * laneModel.Width / 2);
}
// add the final width
widthValue.Add(laneModel.Width / 2);
}
// set the rndf path start point to be the point we used
rndfPathStartPoint = rndfNextPoint;
}
// for now, calculate the left and right bounds the same way we do for the path lane model
// TODO: figure out if we want to do this more intelligently using knowledge of the lane model uncertainty
LinePath leftBound = centerLine.ShiftLateral(widthValue.ToArray());
// get the next shifts
for (int i = 0; i < widthValue.Count; i++)
{
widthValue[i] = -widthValue[i];
}
LinePath rightBound = centerLine.ShiftLateral(widthValue.ToArray());
// build the final lane model
finalLaneModel = new CombinedLaneModel(centerLine, leftBound, rightBound, laneModel.Width, rndfPathTimestamp);
}
SendLaneModelToUI(finalLaneModel, rndfPathTimestamp);
// output the fit result
return(finalLaneModel);
}
private LaneModelTestResult TestLane(LinePath rndfPath, CarTimestamp rndfPathTimestamp, LocalLaneModel laneModel)
{
// construct the result object to hold stuff
LaneModelTestResult result = new LaneModelTestResult();
// project the lane model's path into the rndf path's timestamp
RelativeTransform relTransform = Services.RelativePose.GetTransform(localRoadModel.Timestamp, rndfPathTimestamp);
LinePath laneModelPath = laneModel.LanePath.Transform(relTransform);
// get the zero point of the lane model path
LinePath.PointOnPath laneZeroPoint = laneModelPath.ZeroPoint;
// get the first waypoint on the RNDF path
LinePath.PointOnPath rndfZeroPoint = rndfPath.ZeroPoint;
// get the heading of the rndf path at its zero point and the heading of the lane model at
// the rndf's zero point
LinePath.PointOnPath laneStartPoint = laneModelPath.GetClosestPoint(rndfZeroPoint.Location);
Coordinates laneModelHeading = laneModelPath.GetSegment(laneStartPoint.Index).UnitVector;
Coordinates rndfHeading = rndfPath.GetSegment(rndfZeroPoint.Index).UnitVector;
double angle = Math.Acos(laneModelHeading.Dot(rndfHeading));
// check if the angle is within limits for comparing offset
if (angle < 30 * Math.PI / 180.0)
{
// get the deviation between lane zero point and rndf zero point
result.rndf_deviation = rndfZeroPoint.Location.DistanceTo(laneZeroPoint.Location);
}
// now start check for how many waypoints are accepted
for (int i = rndfZeroPoint.Index + 1; i < rndfPath.Count; i++)
{
// check the distance along the rndf path
double rndfDistAlong = rndfPath.DistanceBetween(rndfZeroPoint, rndfPath.GetPointOnPath(i));
// break out if we're too far along the rndf
if (rndfDistAlong > 50)
{
break;
}
// get the waypoint
Coordinates waypoint = rndfPath[i];
// project on to lane path
LinePath.PointOnPath laneWaypoint = laneModelPath.GetClosestPoint(waypoint);
// check if we're too far along the lane path
double distAlong = laneModelPath.DistanceBetween(laneZeroPoint, laneWaypoint);
if (distAlong > lane_model_max_dist || distAlong < 0)
{
break;
}
// check if the deviation
double dist = waypoint.DistanceTo(laneWaypoint.Location);
// increment appropriate counts
if (dist < lane_deviation_reject_threshold)
{
result.forward_match_count++;
}
else
{
result.forward_rejection_count++;
}
}
// return the result
return(result);
}
private LaneModelTestResult TestLane(LinePath rndfPath, CarTimestamp rndfPathTimestamp, LocalLaneModel laneModel)
{
// construct the result object to hold stuff
LaneModelTestResult result = new LaneModelTestResult();
// project the lane model's path into the rndf path's timestamp
RelativeTransform relTransform = Services.RelativePose.GetTransform(localRoadModel.Timestamp, rndfPathTimestamp);
LinePath laneModelPath = laneModel.LanePath.Transform(relTransform);
// get the zero point of the lane model path
LinePath.PointOnPath laneZeroPoint = laneModelPath.ZeroPoint;
// get the first waypoint on the RNDF path
LinePath.PointOnPath rndfZeroPoint = rndfPath.ZeroPoint;
// get the heading of the rndf path at its zero point and the heading of the lane model at
// the rndf's zero point
LinePath.PointOnPath laneStartPoint = laneModelPath.GetClosestPoint(rndfZeroPoint.Location);
Coordinates laneModelHeading = laneModelPath.GetSegment(laneStartPoint.Index).UnitVector;
Coordinates rndfHeading = rndfPath.GetSegment(rndfZeroPoint.Index).UnitVector;
double angle = Math.Acos(laneModelHeading.Dot(rndfHeading));
// check if the angle is within limits for comparing offset
if (angle < 30*Math.PI/180.0) {
// get the deviation between lane zero point and rndf zero point
result.rndf_deviation = rndfZeroPoint.Location.DistanceTo(laneZeroPoint.Location);
}
// now start check for how many waypoints are accepted
for (int i = rndfZeroPoint.Index + 1; i < rndfPath.Count; i++) {
// check the distance along the rndf path
double rndfDistAlong = rndfPath.DistanceBetween(rndfZeroPoint, rndfPath.GetPointOnPath(i));
// break out if we're too far along the rndf
if (rndfDistAlong > 50) {
break;
}
// get the waypoint
Coordinates waypoint = rndfPath[i];
// project on to lane path
LinePath.PointOnPath laneWaypoint = laneModelPath.GetClosestPoint(waypoint);
// check if we're too far along the lane path
double distAlong = laneModelPath.DistanceBetween(laneZeroPoint, laneWaypoint);
if (distAlong > lane_model_max_dist || distAlong < 0) {
break;
}
// check if the deviation
double dist = waypoint.DistanceTo(laneWaypoint.Location);
// increment appropriate counts
if (dist < lane_deviation_reject_threshold) {
result.forward_match_count++;
}
else {
result.forward_rejection_count++;
}
}
// return the result
return result;
}
private ILaneModel GetLaneModel(LocalLaneModel laneModel, LinePath rndfPath, double rndfPathWidth, CarTimestamp rndfPathTimestamp)
{
// check the lane model probability
if (laneModel.Probability < lane_probability_reject_threshold) {
// we're rejecting this, just return a path lane model
return new PathLaneModel(rndfPathTimestamp, rndfPath, rndfPathWidth);
}
// project the lane model's path into the rndf path's timestamp
RelativeTransform relTransform = Services.RelativePose.GetTransform(localRoadModel.Timestamp, rndfPathTimestamp);
LinePath laneModelPath = laneModel.LanePath.Transform(relTransform);
// iterate through the waypoints in the RNDF path and project onto the lane model
// the first one that is over the threshold, we consider the waypoint before as a potential ending point
LinePath.PointOnPath laneModelDeviationEndPoint = new LinePath.PointOnPath();
// flag indicating if any of the waypoint tests failed because of the devation was too high
bool anyDeviationTooHigh = false;
// number of waypoints accepted
int numWaypointsAccepted = 0;
// get the vehicle's position on the rndf path
LinePath.PointOnPath rndfZeroPoint = rndfPath.ZeroPoint;
// get the vehicle's position on the lane model
LinePath.PointOnPath laneModelZeroPoint = laneModelPath.ZeroPoint;
// get the last point we want to consider on the lane model
LinePath.PointOnPath laneModelFarthestPoint = laneModelPath.AdvancePoint(laneModelZeroPoint, lane_model_max_dist);
// start walking forward through the waypoints on the rndf path
// this loop will implicitly exit when we're past the end of the lane model as the waypoints
// will stop being close to the lane model (GetClosestPoint returns the end point if we're past the
// end of the path)
for (int i = rndfZeroPoint.Index+1; i < rndfPath.Count; i++) {
// get the waypoint
Coordinates rndfWaypoint = rndfPath[i];
// get the closest point on the lane model
LinePath.PointOnPath laneModelClosestPoint = laneModelPath.GetClosestPoint(rndfWaypoint);
// compute the distance between the two
double deviation = rndfWaypoint.DistanceTo(laneModelClosestPoint.Location);
// if this is above the deviation threshold, leave the loop
if (deviation > lane_deviation_reject_threshold || laneModelClosestPoint > laneModelFarthestPoint) {
// if we're at the end of the lane model path, we don't want to consider this a rejection
if (laneModelClosestPoint < laneModelFarthestPoint) {
// mark that at least on deviation was too high
anyDeviationTooHigh = true;
}
break;
}
// increment the number of waypoint accepted
numWaypointsAccepted++;
// update the end point of where we're valid as the local road model was OK up to this point
laneModelDeviationEndPoint = laneModelClosestPoint;
}
// go through and figure out how far out the variance is within tolerance
LinePath.PointOnPath laneModelVarianceEndPoint = new LinePath.PointOnPath();
// walk forward from this point until the end of the lane mode path
for (int i = laneModelZeroPoint.Index+1; i < laneModelPath.Count; i++) {
// check if we're within the variance toleration
if (laneModel.LaneYVariance[i] <= y_var_reject_threshold) {
// we are, update the point on path
laneModelVarianceEndPoint = laneModelPath.GetPointOnPath(i);
}
else {
// we are out of tolerance, break out of the loop
break;
}
}
// now figure out everything out
// determine waypoint rejection status
WaypointRejectionResult waypointRejectionResult;
if (laneModelDeviationEndPoint.Valid) {
// if the point is valid, that we had at least one waypoint that was ok
// check if any waypoints were rejected
if (anyDeviationTooHigh) {
// some waypoint was ok, so we know that at least one waypoint was accepted
waypointRejectionResult = WaypointRejectionResult.SomeWaypointsAccepted;
}
else {
// no waypoint triggered a rejection, but at least one was good
waypointRejectionResult = WaypointRejectionResult.AllWaypointsAccepted;
}
}
else {
// the point is not valid, so we either had no waypoints or we had all rejections
if (anyDeviationTooHigh) {
// the first waypoint was rejected, so all are rejected
waypointRejectionResult = WaypointRejectionResult.AllWaypointsRejected;
}
else {
// the first waypoint (if any) was past the end of the lane model
waypointRejectionResult = WaypointRejectionResult.NoWaypoints;
}
}
// criteria for determining if this path is valid:
// - if some or all waypoints were accepted, than this is probably a good path
// - if some of the waypoints were accepted, we go no farther than the last waypoint that was accepted
// - if there were no waypoints, this is a potentially dangerous situation since we can't reject
// or confirm the local road model. for now, we'll assume that it is correct but this may need to change
// if we start handling intersections in this framework
// - if all waypoints were rejected, than we don't use the local road model
// - go no farther than the laneModelVarianceEndPoint, which is the last point where the y-variance of
// the lane model was in tolerance
// now build out the lane model
ILaneModel finalLaneModel;
// check if we rejected all waypoints or no lane model points satisified the variance threshold
if (waypointRejectionResult == WaypointRejectionResult.AllWaypointsRejected || !laneModelVarianceEndPoint.Valid) {
// want to just use the path lane model
finalLaneModel = new PathLaneModel(rndfPathTimestamp, rndfPath, rndfPathWidth);
}
else {
// we'll use the lane model
// need to build up the center line as well as left and right bounds
// to build up the center line, use the lane model as far as we feel comfortable (limited by either variance
// or by rejections) and then use the rndf lane after that.
LinePath centerLine = new LinePath();
// figure out the max distance
// if there were no waypoints, set the laneModelDeviationEndPoint to the end of the lane model
if (waypointRejectionResult == WaypointRejectionResult.NoWaypoints) {
laneModelDeviationEndPoint = laneModelFarthestPoint;
}
// figure out the closer of the end points
LinePath.PointOnPath laneModelEndPoint = (laneModelDeviationEndPoint < laneModelVarianceEndPoint) ? laneModelDeviationEndPoint : laneModelVarianceEndPoint;
bool endAtWaypoint = laneModelEndPoint == laneModelDeviationEndPoint;
// add the lane model to the center line
centerLine.AddRange(laneModelPath.GetSubpathEnumerator(laneModelZeroPoint, laneModelEndPoint));
// create a list to hold the width expansion values
List<double> widthValue = new List<double>();
// make the width expansion values the width of the path plus the 1-sigma values
for (int i = laneModelZeroPoint.Index; i < laneModelZeroPoint.Index+centerLine.Count; i++) {
widthValue.Add(laneModel.Width/2.0 + Math.Sqrt(laneModel.LaneYVariance[i]));
}
// now figure out how to add the rndf path
// get the projection of the lane model end point on the rndf path
LinePath.PointOnPath rndfPathStartPoint = rndfPath.GetClosestPoint(laneModelEndPoint.Location);
// if the closest point is past the end of rndf path, then we don't want to tack anything on
if (rndfPathStartPoint != rndfPath.EndPoint) {
// get the last segment of the new center line
Coordinates centerLineEndSegmentVec = centerLine.EndSegment.UnitVector;
// get the last point of the new center line
Coordinates laneModelEndLoc = laneModelEndPoint.Location;
// now figure out the distance to the next waypoint
LinePath.PointOnPath rndfNextPoint = new LinePath.PointOnPath();
// figure out if we're ending at a waypoint or not
if (endAtWaypoint) {
rndfNextPoint = rndfPath.GetPointOnPath(rndfPathStartPoint.Index+1);
// if the distance from the start point to the next point is less than rndf_dist_min, then
// use the waypont after
double dist = rndfPath.DistanceBetween(rndfPathStartPoint, rndfNextPoint);
if (dist < rndf_dist_min) {
if (rndfPathStartPoint.Index < rndfPath.Count-2) {
rndfNextPoint = rndfPath.GetPointOnPath(rndfPathStartPoint.Index + 2);
}
else if (rndfPath.DistanceBetween(rndfPathStartPoint, rndfPath.EndPoint) < rndf_dist_min) {
rndfNextPoint = LinePath.PointOnPath.Invalid;
}
else {
rndfNextPoint = rndfPath.AdvancePoint(rndfPathStartPoint, rndf_dist_min*2);
}
}
}
else {
// track the last angle we had
double lastAngle = double.NaN;
// walk down the rndf path until we find a valid point
for (double dist = rndf_dist_min; dist <= rndf_dist_max; dist += rndf_dist_step) {
// advance from the start point by dist
double distTemp = dist;
rndfNextPoint = rndfPath.AdvancePoint(rndfPathStartPoint, ref distTemp);
// if the distTemp is > 0, then we're past the end of the path
if (distTemp > 0) {
// if we're immediately past the end, we don't want to tack anything on
if (dist == rndf_dist_min) {
rndfNextPoint = LinePath.PointOnPath.Invalid;
}
break;
}
// check the angle made by the last segment of center line and the segment
// formed between the end point of the center line and this new point
double angle = Math.Acos(centerLineEndSegmentVec.Dot((rndfNextPoint.Location-laneModelEndLoc).Normalize()));
// check if the angle satisfies the threshold or we're increasing the angle
if (Math.Abs(angle) < rndf_angle_threshold || (!double.IsNaN(lastAngle) && angle > lastAngle)) {
// break out of the loop, we're done searching
break;
}
lastAngle = angle;
}
}
// tack on the rndf starting at next point going to the end
if (rndfNextPoint.Valid) {
LinePath subPath = rndfPath.SubPath(rndfNextPoint, rndfPath.EndPoint);
centerLine.AddRange(subPath);
// insert the lane model end point into the sub path
subPath.Insert(0, laneModelEndLoc);
// get the angles
List<Pair<int, double>> angles = subPath.GetIntersectionAngles(0, subPath.Count-1);
// add the width of the path inflated by the angles
for (int i = 0; i < angles.Count; i++) {
// calculate the width expansion factor
// 90 deg, 3x width
// 45 deg, 1.5x width
// 0 deg, 1x width
double widthFactor = Math.Pow(angles[i].Right/(Math.PI/2.0), 2)*2 + 1;
// add the width value
widthValue.Add(widthFactor*laneModel.Width/2);
}
// add the final width
widthValue.Add(laneModel.Width/2);
}
// set the rndf path start point to be the point we used
rndfPathStartPoint = rndfNextPoint;
}
// for now, calculate the left and right bounds the same way we do for the path lane model
// TODO: figure out if we want to do this more intelligently using knowledge of the lane model uncertainty
LinePath leftBound = centerLine.ShiftLateral(widthValue.ToArray());
// get the next shifts
for (int i = 0; i < widthValue.Count; i++) { widthValue[i] = -widthValue[i]; }
LinePath rightBound = centerLine.ShiftLateral(widthValue.ToArray());
// build the final lane model
finalLaneModel = new CombinedLaneModel(centerLine, leftBound, rightBound, laneModel.Width, rndfPathTimestamp);
}
SendLaneModelToUI(finalLaneModel, rndfPathTimestamp);
// output the fit result
return finalLaneModel;
}
private PlanningPhase PlanStartingLane(LinePath curStartingLane, LinePath curEndingLane)
{
ILaneModel startingLaneModel = Services.RoadModelProvider.GetLaneModel(curStartingLane, startingLaneWidth + extraWidth, curTimestamp, startingLanesLeft, startingLanesRight);
// figure out where we are along the starting lane path
LinePath.PointOnPath startingLanePoint = curStartingLane.ZeroPoint;
// calculate the planning distance
double planningDistance = GetPlanningDistance();
if (sparse && planningDistance > 10) {
planningDistance = 10;
}
// get the distance to the end point of the lane from our current point
double remainingDistance = curStartingLane.DistanceBetween(startingLanePoint, curStartingLane.EndPoint);
double? boundStartDistMin;
double? boundEndDistMax;
DetermineSparseStarting(planningDistance, out boundStartDistMin, out boundEndDistMax);
double avoidanceExtra = sparse ? 5 : 7.5;
// linearize the lane model
LinePath centerLine, leftBound, rightBound;
if (boundEndDistMax != null || boundStartDistMin != null) {
if (boundEndDistMax != null) {
boundEndDistMax = Math.Min(boundEndDistMax.Value, remainingDistance - starting_lane_trim_dist);
}
else {
boundEndDistMax = remainingDistance - starting_lane_trim_dist;
}
LinearizeStayInLane(startingLaneModel, planningDistance + avoidanceExtra, null, boundEndDistMax, boundStartDistMin, null, curTimestamp, out centerLine, out leftBound, out rightBound);
}
else {
LinearizeStayInLane(startingLaneModel, planningDistance + avoidanceExtra, null, remainingDistance - starting_lane_trim_dist, null, curTimestamp,
out centerLine, out leftBound, out rightBound);
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in stay in lane, center line count: {0}, left bound count: {1}, right bound count: {2}", centerLine.Count, leftBound.Count, rightBound.Count);
// add to the planning setup
avoidanceBasePath = centerLine;
double targetDist = Math.Max(centerLine.PathLength-avoidanceExtra, planningDistance);
smootherBasePath = centerLine.SubPath(centerLine.StartPoint, targetDist);
// calculate time to collision of opposing obstacle if it exists
LinePath targetLine = centerLine;
double targetWeight = default_lane_alpha_w;
if (sparse) {
targetWeight = 0.00000025;
}
else if (oncomingVehicleExists) {
double shiftDist = -(TahoeParams.T + 1);
targetLine = centerLine.ShiftLateral(shiftDist);
targetWeight = 0.01;
}
else if (opposingLaneVehicleExists) {
double timeToCollision = opposingLaneVehicleDist/(Math.Abs(vs.speed)+Math.Abs(opposingLaneVehicleSpeed));
Services.Dataset.ItemAs<double>("time to collision").Add(timeToCollision, curTimestamp);
if (timeToCollision < 5) {
// shift to the right
double laneWidth = startingLaneModel.Width;
double shiftDist = -Math.Min(TahoeParams.T/2.0, laneWidth/2.0 - TahoeParams.T/2.0);
targetLine = centerLine.ShiftLateral(shiftDist);
}
}
// set up the planning
AddTargetPath(targetLine, targetWeight);
if (!sparse || boundStartDistMin != null || boundEndDistMax != null) {
// add the lane bounds
AddLeftBound(leftBound, true);
if (!oncomingVehicleExists) {
AddRightBound(rightBound, false);
}
}
Services.UIService.PushLineList(centerLine, curTimestamp, "subpath", true);
Services.UIService.PushLineList(leftBound, curTimestamp, "left bound", true);
Services.UIService.PushLineList(rightBound, curTimestamp, "right bound", true);
// calculate max speed for the path over the next 120 meters
double advanceDist = speed_path_advance_dist;
LinePath.PointOnPath startingLaneEndPoint = curStartingLane.AdvancePoint(startingLanePoint, ref advanceDist);
LinePath combinedPath = curStartingLane.SubPath(startingLanePoint, startingLaneEndPoint);
Coordinates endingLaneFirstPoint = curEndingLane[0];
Coordinates startingLaneLastPoint = curStartingLane.EndPoint.Location;
double intersectionDist = startingLaneLastPoint.DistanceTo(endingLaneFirstPoint);
// add a portion of the ending lane of the appropriate length
LinePath.PointOnPath endingLanePoint = curEndingLane.AdvancePoint(curEndingLane.StartPoint, Math.Max(advanceDist - intersectionDist, 5));
int endIndex = endingLanePoint.Index + 1;
combinedPath.AddRange(curEndingLane.GetSubpathEnumerator(0, endIndex));
// add to the planning setup
settings.maxSpeed = GetMaxSpeed(combinedPath, combinedPath.StartPoint);
settings.maxEndingSpeed = GetMaxSpeed(combinedPath, combinedPath.AdvancePoint(combinedPath.StartPoint, planningDistance));
if (sparse) {
// limit to 5 mph
laneWidthAtPathEnd = 20;
pathAngleCheckMax = 50;
pathAngleMax = 5 * Math.PI / 180.0;
settings.maxSpeed = Math.Min(settings.maxSpeed, 2.2352);
LinePath leftEdge = RoadEdge.GetLeftEdgeLine();
LinePath rightEdge = RoadEdge.GetRightEdgeLine();
if (leftEdge != null) {
leftLaneBounds.Add(new Boundary(leftEdge, 0.1, 1, 100, false));
}
if (rightEdge != null) {
rightLaneBounds.Add(new Boundary(rightEdge, 0.1, 1, 100, false));
}
maxAvoidanceBasePathAdvancePoint = avoidanceBasePath.AdvancePoint(avoidanceBasePath.EndPoint, -2);
//maxSmootherBasePathAdvancePoint = smootherBasePath.AdvancePoint(smootherBasePath.EndPoint, -2);
PlanningResult result = new PlanningResult();
ISteeringCommandGenerator commandGenerator = SparseArcVoting.SparcVote(ref prevCurvature, goalPoint);
if (commandGenerator == null) {
// we have a block, report dynamically infeasible
result = OnDynamicallyInfeasible(null, null);
}
else {
result.steeringCommandGenerator = commandGenerator;
result.commandLabel = commandLabel;
}
Track(result, commandLabel);
if (planningDistance > remainingDistance) {
return PlanningPhase.BeginEnteringTurn;
}
else {
return PlanningPhase.StartingLane;
}
}
else if (oncomingVehicleExists) {
laneWidthAtPathEnd = 10;
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "max speed set to {0}", settings.maxSpeed);
SmoothAndTrack(commandLabel, true);
if (cancelled) return PlanningPhase.StartingLane;
// check if we need to transition to the turn phase for the next iteration
// if the planning distance is greater than the remaining distance, i.e. we want to plan into the intersection, then
// we want to partially run the turn behavior next iteration
if (planningDistance > remainingDistance) {
return PlanningPhase.BeginEnteringTurn;
}
else {
return PlanningPhase.StartingLane;
}
}
private PlanningPhase PlanEnteringTurn(LinePath curStartingLane, LinePath curEndingLane)
{
// figure out where we are along the starting lane path
LinePath.PointOnPath startingLanePoint = curStartingLane.ZeroPoint;
// get the distance to the end point of the lane from our current point
double remainingDistance = curStartingLane.DistanceBetween(startingLanePoint, curStartingLane.EndPoint);
// immediately switch to the mid turn mode if the remaining distance is less than the front-length
// this prevents problems with the lane linearization extending out past the end of the lane
if (remainingDistance < TahoeParams.FL) {
return PlanMidTurn(curStartingLane, curEndingLane);
}
// get the lane mode for the starting lane
ILaneModel startingLaneModel = Services.RoadModelProvider.GetLaneModel(curStartingLane, startingLaneWidth + extraWidth, curTimestamp, startingLanesLeft, startingLanesRight);
double? boundStartDistMin;
double? boundEndDistMax;
DetermineSparseStarting(remainingDistance - starting_lane_trim_dist, out boundStartDistMin, out boundEndDistMax);
// linearize the lane model
LinePath centerLine, leftBound, rightBound;
if (boundEndDistMax != null || boundStartDistMin != null) {
if (boundEndDistMax != null) {
boundEndDistMax = Math.Min(boundEndDistMax.Value, remainingDistance - starting_lane_trim_dist);
}
else {
boundEndDistMax = remainingDistance - starting_lane_trim_dist;
}
LinearizeStayInLane(startingLaneModel, remainingDistance, 0, boundEndDistMax, boundStartDistMin, null, curTimestamp, out centerLine, out leftBound, out rightBound);
}
else {
LinearizeStayInLane(startingLaneModel, remainingDistance, 0, remainingDistance - starting_lane_trim_dist, null, curTimestamp,
out centerLine, out leftBound, out rightBound);
}
// create a copy so when we add to the center line later we don't change this version
LinePath startingCenterLine = centerLine.Clone();
// calculate time to collision of opposing obstacle if it exists
LinePath targetLine = startingCenterLine;
double targetWeight = default_lane_alpha_w;
if (oncomingVehicleExists) {
double shiftDist = -(TahoeParams.T + 1);
targetLine = centerLine.ShiftLateral(shiftDist);
targetWeight = 0.01;
}
if (opposingLaneVehicleExists) {
double timeToCollision = opposingLaneVehicleDist/(Math.Abs(vs.speed)+Math.Abs(opposingLaneVehicleSpeed));
Services.Dataset.ItemAs<double>("time to collision").Add(timeToCollision, curTimestamp);
if (timeToCollision < 5) {
// shift to the right
double laneWidth = startingLaneModel.Width;
double shiftDist = -Math.Min(TahoeParams.T/2.0, laneWidth/2.0 - TahoeParams.T/2.0);
targetLine = centerLine.ShiftLateral(shiftDist);
}
}
// set up the planning
AddTargetPath(targetLine, targetWeight);
// add the lane bounds
if (!sparse || boundStartDistMin != null || boundEndDistMax != null) {
// add the lane bounds
AddLeftBound(leftBound, true);
if (!oncomingVehicleExists) {
AddRightBound(rightBound, false);
}
}
LinePath endingCenterLine, endingLeftBound, endingRightBound;
LinearizeLane(curEndingLane, endingLaneWidth, 0, 5, 2, 6, out endingCenterLine, out endingLeftBound, out endingRightBound);
// add the ending lane center line to the target paths
AddTargetPath(endingCenterLine, 0.001);
// add the lane bounds
AddLeftBound(endingLeftBound, false);
AddRightBound(endingRightBound, false);
// intert a small portion of the ending lane
centerLine.AddRange(endingCenterLine);
// get the intersection pull path
LinePath intersectionPullPath = new LinePath();
double pullWeighting = 0;
GetIntersectionPullPath(startingCenterLine, endingCenterLine, intersectionPolygon, true, true, intersectionPullPath, ref pullWeighting);
if (intersectionPullPath.Count > 0) {
// add as a weighting term
AddTargetPath(intersectionPullPath, pullWeighting);
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in stay in lane, center line count: {0}, left bound count: {1}, right bound count: {2}", centerLine.Count, leftBound.Count, rightBound.Count);
Services.UIService.PushLineList(centerLine, curTimestamp, "subpath", true);
Services.UIService.PushLineList(leftBound, curTimestamp, "left bound", true);
Services.UIService.PushLineList(rightBound, curTimestamp, "right bound", true);
// calculate max speed for the path over the next 120 meters
double advanceDist = speed_path_advance_dist;
LinePath.PointOnPath startingLaneEndPoint = curStartingLane.AdvancePoint(startingLanePoint, ref advanceDist);
LinePath combinedPath = curStartingLane.SubPath(startingLanePoint, startingLaneEndPoint);
if (advanceDist > 0) {
Coordinates endingLaneFirstPoint = curEndingLane[0];
Coordinates startingLaneLastPoint = curStartingLane.EndPoint.Location;
double intersectionDist = startingLaneLastPoint.DistanceTo(endingLaneFirstPoint);
double addDist = Math.Max(advanceDist - intersectionDist, 5);
// add a portion of the ending lane of the appropriate length
LinePath.PointOnPath endingLanePoint = curEndingLane.AdvancePoint(curEndingLane.StartPoint, addDist);
int endIndex = endingLanePoint.Index + 1;
combinedPath.AddRange(curEndingLane.GetSubpathEnumerator(0, endIndex));
}
settings.maxSpeed = GetMaxSpeed(combinedPath, combinedPath.StartPoint);
if (sparse) {
// limit to 5 mph
//laneWidthAtPathEnd = 20;
settings.maxSpeed = Math.Min(settings.maxSpeed, 2.2352);
LinePath leftEdge = RoadEdge.GetLeftEdgeLine();
LinePath rightEdge = RoadEdge.GetRightEdgeLine();
if (leftEdge != null) {
additionalLeftBounds.Add(new Boundary(leftEdge, 0.1, 1, 100, false));
}
if (rightEdge != null) {
additionalRightBounds.Add(new Boundary(rightEdge, 0.1, 1, 100, false));
}
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "max speed set to {0}", settings.maxSpeed);
// set the avoidance path to be the previously smoothed path
AbsoluteTransformer absTransform = Services.StateProvider.GetAbsoluteTransformer(curTimestamp);
avoidanceBasePath = turnBasePath.Transform(absTransform);
avoidanceBasePath = avoidanceBasePath.SubPath(avoidanceBasePath.ZeroPoint, avoidanceBasePath.EndPoint);
smootherBasePath = avoidanceBasePath.Clone();
maxSmootherBasePathAdvancePoint = smootherBasePath.GetClosestPoint(startingCenterLine.EndPoint.Location);
// set auxillary settings
settings.endingHeading = centerLine.EndSegment.UnitVector.ArcTan;
//useAvoidancePath = true;
SmoothAndTrack(commandLabel, true);
if (cancelled) return PlanningPhase.EnteringTurn;
// check if the remaining distance on the starting lane is less than some small tolerance.
// if it is, switch to the mid-turn phase
if (remainingDistance <= TahoeParams.FL) {
return PlanningPhase.MidTurn;
}
else {
return PlanningPhase.EnteringTurn;
}
}
private PlanningPhase PlanBeginningTurn(LinePath curStartingLane, LinePath curEndingLane)
{
// figure out where we are along the starting lane path
LinePath.PointOnPath startingLanePoint = curStartingLane.ZeroPoint;
// get the distance to the end point of the lane from our current point
double remainingDistance = curStartingLane.DistanceBetween(startingLanePoint, curStartingLane.EndPoint);
// get the lane mode for the starting lane
ILaneModel startingLaneModel = Services.RoadModelProvider.GetLaneModel(curStartingLane, startingLaneWidth + extraWidth, curTimestamp, startingLanesLeft, startingLanesRight);
double? boundStartDistMin;
double? boundEndDistMax;
DetermineSparseStarting(remainingDistance - starting_lane_trim_dist, out boundStartDistMin, out boundEndDistMax);
// linearize the lane model
LinePath centerLine, leftBound, rightBound;
if (boundEndDistMax != null || boundStartDistMin != null) {
if (boundEndDistMax != null) {
boundEndDistMax = Math.Min(boundEndDistMax.Value, remainingDistance - starting_lane_trim_dist);
}
else {
boundEndDistMax = remainingDistance - starting_lane_trim_dist;
}
LinearizeStayInLane(startingLaneModel, remainingDistance, 0, boundEndDistMax, boundStartDistMin, null, curTimestamp, out centerLine, out leftBound, out rightBound);
}
else {
LinearizeStayInLane(startingLaneModel, remainingDistance, 0, remainingDistance - starting_lane_trim_dist, null, curTimestamp,
out centerLine, out leftBound, out rightBound);
}
//LinearizeLane(curStartingLane, startingLaneWidth, TahoeParams.FL, remainingDistance, 5, remainingDistance - 5, out centerLine, out leftBound, out rightBound);
// create a copy so when we add to the center line later we don't change this version
LinePath startingCenterLine = centerLine.Clone();
// calculate time to collision of opposing obstacle if it exists
LinePath targetLine = startingCenterLine;
if (opposingLaneVehicleExists) {
double timeToCollision = opposingLaneVehicleDist/(Math.Abs(vs.speed)+Math.Abs(opposingLaneVehicleSpeed));
if (timeToCollision < 3) {
// shift to the right
double shiftDist = -TahoeParams.T/2.0;
targetLine = centerLine.ShiftLateral(shiftDist);
}
}
// set up the planning
AddTargetPath(targetLine, default_lane_alpha_w);
if (!sparse || boundStartDistMin != null || boundEndDistMax != null) {
// add the lane bounds
AddLeftBound(leftBound, true);
if (!oncomingVehicleExists) {
AddRightBound(rightBound, false);
}
}
LinePath endingCenterLine, endingLeftBound, endingRightBound;
LinearizeLane(curEndingLane, endingLaneWidth, 0, 5, 2, 6, out endingCenterLine, out endingLeftBound, out endingRightBound);
// add the ending lane center line to the target paths
AddTargetPath(endingCenterLine, default_lane_alpha_w);
// add the lane bounds
AddLeftBound(endingLeftBound, false);
AddRightBound(endingRightBound, false);
// intert a small portion of the ending lane
centerLine.AddRange(endingCenterLine);
// add to the planning setup
smootherBasePath = centerLine;
maxSmootherBasePathAdvancePoint = smootherBasePath.GetClosestPoint(startingCenterLine.EndPoint.Location);
// get the intersection pull path
LinePath intersectionPullPath = new LinePath();
double pullWeighting = 0;
GetIntersectionPullPath(startingCenterLine, endingCenterLine, intersectionPolygon, true, true, intersectionPullPath, ref pullWeighting);
if (intersectionPullPath.Count > 0) {
// add as a weighting term
AddTargetPath(intersectionPullPath, pullWeighting);
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in stay in lane, center line count: {0}, left bound count: {1}, right bound count: {2}", centerLine.Count, leftBound.Count, rightBound.Count);
// calculate max speed for the path over the next 120 meters
double advanceDist = speed_path_advance_dist;
LinePath.PointOnPath startingLaneEndPoint = curStartingLane.AdvancePoint(startingLanePoint, ref advanceDist);
LinePath combinedPath = curStartingLane.SubPath(startingLanePoint, startingLaneEndPoint);
if (advanceDist > 0) {
Coordinates endingLaneFirstPoint = curEndingLane[0];
Coordinates startingLaneLastPoint = curStartingLane.EndPoint.Location;
double intersectionDist = startingLaneLastPoint.DistanceTo(endingLaneFirstPoint);
double addDist = Math.Max(advanceDist - intersectionDist, 5);
// add a portion of the ending lane of the appropriate length
LinePath.PointOnPath endingLanePoint = curEndingLane.AdvancePoint(curEndingLane.StartPoint, addDist);
int endIndex = endingLanePoint.Index + 1;
combinedPath.AddRange(curEndingLane.GetSubpathEnumerator(0, endIndex));
}
// set the planning settings max speed
settings.maxSpeed = GetMaxSpeed(combinedPath, combinedPath.StartPoint);
if (sparse) {
// limit to 5 mph
//laneWidthAtPathEnd = 20;
settings.maxSpeed = Math.Min(settings.maxSpeed, 2.2352);
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "max speed set to {0}", settings.maxSpeed);
// set auxillary settings
settings.endingHeading = centerLine.EndSegment.UnitVector.ArcTan;
PlanningResult planningResult = Smooth(false);
if (!planningResult.pathBlocked && !planningResult.dynamicallyInfeasible) {
AbsoluteTransformer absTransform = Services.StateProvider.GetAbsoluteTransformer(curTimestamp);
turnBasePath = planningResult.smoothedPath.Transform(absTransform.Invert());
return PlanningPhase.EnteringTurn;
}
else {
// keep trying I guess
return PlanningPhase.BeginEnteringTurn;
}
}
/// <summary>
/// Gets primary maneuver given our position and the turn we are traveling upon
/// </summary>
/// <param name="vehicleState"></param>
/// <returns></returns>
public Maneuver PrimaryManeuver(VehicleState vehicleState, List <ITacticalBlockage> blockages, TurnState turnState)
{
#region Check are planning over the correct turn
if (CoreCommon.CorePlanningState is TurnState)
{
TurnState ts = (TurnState)CoreCommon.CorePlanningState;
if (this.turn == null || !this.turn.Equals(ts.Interconnect))
{
this.turn = ts.Interconnect;
this.forwardMonitor = new TurnForwardMonitor(ts.Interconnect, null);
}
else if (this.forwardMonitor.turn == null || !this.forwardMonitor.turn.Equals(ts.Interconnect))
{
this.forwardMonitor = new TurnForwardMonitor(ts.Interconnect, null);
}
}
#endregion
#region Blockages
// check blockages
if (blockages != null && blockages.Count > 0 && blockages[0] is TurnBlockage)
{
// create the blockage state
EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
// check not at highest level already
if (turnState.Saudi != SAUDILevel.L1 || turnState.UseTurnBounds)
{
// check not from a dynamicly moving vehicle
if (blockages[0].BlockageReport.BlockageType != BlockageType.Dynamic ||
(TacticalDirector.ValidVehicles.ContainsKey(blockages[0].BlockageReport.TrackID) &&
TacticalDirector.ValidVehicles[blockages[0].BlockageReport.TrackID].IsStopped))
{
// go to a blockage handling tactical
return(new Maneuver(new NullBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
else
{
ArbiterOutput.Output("Turn blockage reported for moving vehicle, ignoring");
}
}
else
{
ArbiterOutput.Output("Turn blockage, but recovery escalation already at highest state, ignoring report");
}
}
#endregion
#region Intersection Check
if (!this.CanGo(vehicleState))
{
if (turn.FinalGeneric is ArbiterWaypoint)
{
TravelingParameters tp = this.GetParameters(0.0, 0.0, (ArbiterWaypoint)turn.FinalGeneric, vehicleState, false);
return(new Maneuver(tp.Behavior, CoreCommon.CorePlanningState, tp.NextState.DefaultStateDecorators, vehicleState.Timestamp));
}
else
{
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.ZoneTurnInfo(this.turn, (ArbiterPerimeterWaypoint)this.turn.FinalGeneric, out finalPath, out leftLL, out rightLL);
// hold brake
IState nextState = new TurnState(this.turn, this.turn.TurnDirection, null, finalPath, leftLL, rightLL, new ScalarSpeedCommand(0.0));
TurnBehavior b = new TurnBehavior(null, finalPath, leftLL, rightLL, new ScalarSpeedCommand(0.0), this.turn.InterconnectId);
return(new Maneuver(b, CoreCommon.CorePlanningState, nextState.DefaultStateDecorators, vehicleState.Timestamp));
}
}
#endregion
#region Final is Lane Waypoint
if (turn.FinalGeneric is ArbiterWaypoint)
{
// final point
ArbiterWaypoint final = (ArbiterWaypoint)turn.FinalGeneric;
// plan down entry lane
RoadPlan rp = navigation.PlanNavigableArea(final.Lane, final.Position,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId], new List <ArbiterWaypoint>());
// point of interest downstream
DownstreamPointOfInterest dpoi = rp.BestPlan.laneWaypointOfInterest;
// get path this represents
List <Coordinates> pathCoordinates = new List <Coordinates>();
pathCoordinates.Add(vehicleState.Position);
foreach (ArbiterWaypoint aw in final.Lane.WaypointsInclusive(final, final.Lane.WaypointList[final.Lane.WaypointList.Count - 1]))
{
pathCoordinates.Add(aw.Position);
}
LinePath lp = new LinePath(pathCoordinates);
// list of all parameterizations
List <TravelingParameters> parameterizations = new List <TravelingParameters>();
// get lane navigation parameterization
TravelingParameters navigationParameters = this.NavigationParameterization(vehicleState, dpoi, final, lp);
parameterizations.Add(navigationParameters);
// update forward tracker and get vehicle parameterizations if forward vehicle exists
this.forwardMonitor.Update(vehicleState, final, lp);
if (this.forwardMonitor.ShouldUseForwardTracker())
{
// get vehicle parameterization
TravelingParameters vehicleParameters = this.VehicleParameterization(vehicleState, lp, final);
parameterizations.Add(vehicleParameters);
}
// sort and return funal
parameterizations.Sort();
// get the final behavior
TurnBehavior tb = (TurnBehavior)parameterizations[0].Behavior;
// get vehicles to ignore
tb.VehiclesToIgnore = this.forwardMonitor.VehiclesToIgnore;
// add persistent information about saudi level
if (turnState.Saudi == SAUDILevel.L1)
{
tb.Decorators = new List <BehaviorDecorator>(tb.Decorators.ToArray());
tb.Decorators.Add(new ShutUpAndDoItDecorator(SAUDILevel.L1));
}
// add persistent information about turn bounds
if (!turnState.UseTurnBounds)
{
tb.LeftBound = null;
tb.RightBound = null;
}
// return the behavior
return(new Maneuver(tb, CoreCommon.CorePlanningState, tb.Decorators, vehicleState.Timestamp));
}
#endregion
#region Final is Zone Waypoint
else if (turn.FinalGeneric is ArbiterPerimeterWaypoint)
{
// get inteconnect path
Coordinates entryVec = ((ArbiterPerimeterWaypoint)turn.FinalGeneric).Perimeter.PerimeterPolygon.BoundingCircle.center -
turn.FinalGeneric.Position;
entryVec = entryVec.Normalize(TahoeParams.VL / 2.0);
LinePath ip = new LinePath(new Coordinates[] { turn.InitialGeneric.Position, turn.FinalGeneric.Position, entryVec + this.turn.FinalGeneric.Position });
// get distance from end
double d = ip.DistanceBetween(
ip.GetClosestPoint(vehicleState.Front),
ip.EndPoint);
// get speed command
SpeedCommand sc = null;
if (d < TahoeParams.VL)
{
sc = new StopAtDistSpeedCommand(d);
}
else
{
sc = new ScalarSpeedCommand(SpeedTools.GenerateSpeed(d - TahoeParams.VL, 1.7, turn.MaximumDefaultSpeed));
}
// final perimeter waypoint
ArbiterPerimeterWaypoint apw = (ArbiterPerimeterWaypoint)this.turn.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.ZoneTurnInfo(this.turn, (ArbiterPerimeterWaypoint)this.turn.FinalGeneric, out finalPath, out leftLL, out rightLL);
// hold brake
IState nextState = new TurnState(this.turn, this.turn.TurnDirection, null, finalPath, leftLL, rightLL, sc);
TurnBehavior tb = new TurnBehavior(null, finalPath, leftLL, rightLL, sc, null, new List <int>(), this.turn.InterconnectId);
// add persistent information about saudi level
if (turnState.Saudi == SAUDILevel.L1)
{
tb.Decorators = new List <BehaviorDecorator>(tb.Decorators.ToArray());
tb.Decorators.Add(new ShutUpAndDoItDecorator(SAUDILevel.L1));
}
// add persistent information about turn bounds
if (!turnState.UseTurnBounds)
{
tb.LeftBound = null;
tb.RightBound = null;
}
// return maneuver
return(new Maneuver(tb, CoreCommon.CorePlanningState, tb.Decorators, vehicleState.Timestamp));
}
#endregion
#region Unknown
else
{
throw new Exception("unrecognized type: " + turn.FinalGeneric.ToString());
}
#endregion
}
/// <summary>
/// Check if we can go
/// </summary>
/// <param name="vs"></param>
private bool CanGo(VehicleState vs)
{
#region Moving Vehicles Inside Turn
// check if we can still go through this turn
if (TacticalDirector.VehicleAreas.ContainsKey(this.turn))
{
// get the subpath of the interconnect we care about
LinePath.PointOnPath frontPos = this.turn.InterconnectPath.GetClosestPoint(vs.Front);
LinePath aiSubpath = this.turn.InterconnectPath.SubPath(frontPos, this.turn.InterconnectPath.EndPoint);
if (aiSubpath.PathLength > 4.0)
{
aiSubpath = aiSubpath.SubPath(aiSubpath.StartPoint, aiSubpath.PathLength - 2.0);
// get vehicles
List <VehicleAgent> turnVehicles = TacticalDirector.VehicleAreas[this.turn];
// loop vehicles
foreach (VehicleAgent va in turnVehicles)
{
// check if inside turn
LinePath.PointOnPath vaPop = aiSubpath.GetClosestPoint(va.ClosestPosition);
if (!va.IsStopped && this.turn.TurnPolygon.IsInside(va.ClosestPosition) && !vaPop.Equals(aiSubpath.StartPoint) && !vaPop.Equals(aiSubpath.EndPoint))
{
ArbiterOutput.Output("Vehicle seen inside our turn: " + va.ToString() + ", stopping");
return(false);
}
}
}
}
#endregion
// test if this turn is part of an intersection
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(this.turn.InitialGeneric.AreaSubtypeWaypointId))
{
// intersection
ArbiterIntersection inter = CoreCommon.RoadNetwork.IntersectionLookup[this.turn.InitialGeneric.AreaSubtypeWaypointId];
// check if priority lanes exist for this interconnect
if (inter.PriorityLanes.ContainsKey(this.turn))
{
// get all the default priority lanes
List <IntersectionInvolved> priorities = inter.PriorityLanes[this.turn];
// get the subpath of the interconnect we care about
//LinePath.PointOnPath frontPos = this.turn.InterconnectPath.GetClosestPoint(vs.Front);
LinePath aiSubpath = new LinePath(new List <Coordinates>(new Coordinates[] { vs.Front, this.turn.FinalGeneric.Position })); //this.turn.InterconnectPath.SubPath(frontPos, this.turn.InterconnectPath.EndPoint);
// check if path ended
if (aiSubpath.Count < 2)
{
return(true);
}
// determine all of the new priority lanes
List <IntersectionInvolved> updatedPriorities = new List <IntersectionInvolved>();
#region Determine new priority areas given position
// loop through old priorities
foreach (IntersectionInvolved ii in priorities)
{
// check ii lane
if (ii.Area is ArbiterLane)
{
#region Lane Intersects Turn Path w/ Point of No Return
// check if the waypoint is not the last waypoint in the lane
if (ii.Exit == null || ((ArbiterWaypoint)ii.Exit).NextPartition != null)
{
// check where line intersects path
Coordinates?intersect = this.LaneIntersectsPath(ii, aiSubpath, this.turn.FinalGeneric);
// check for an intersection
if (intersect.HasValue)
{
// distance to intersection
double distanceToIntersection = (intersect.Value.DistanceTo(vs.Front) + ((ArbiterLane)ii.Area).LanePath().GetClosestPoint(vs.Front).Location.DistanceTo(vs.Front)) / 2.0;
// determine if we can stop before or after the intersection
double distanceToStoppage = RoadToolkit.DistanceToStop(CoreCommon.Communications.GetVehicleSpeed().Value);
// check dist to intersection > distance to stoppage
if (distanceToIntersection > distanceToStoppage)
{
// add updated priority
updatedPriorities.Add(new IntersectionInvolved(new ArbiterWaypoint(intersect.Value, new ArbiterWaypointId(0, ((ArbiterLane)ii.Area).LaneId)),
ii.Area, ArbiterTurnDirection.Straight));
}
else
{
ArbiterOutput.Output("Passed point of No Return for Lane: " + ii.Area.ToString());
}
}
}
#endregion
// we know there is an exit and it is the last waypoint of the segment, fuxk!
else
{
#region Turns Intersect
// get point to look at if exists
ArbiterInterconnect interconnect;
Coordinates? intersect = this.TurnIntersects(aiSubpath, ii.Exit, out interconnect);
// check for the intersect
if (intersect.HasValue)
{
ArbiterLane al = (ArbiterLane)ii.Area;
LinePath lp = al.LanePath().SubPath(al.LanePath().StartPoint, al.LanePath().GetClosestPoint(ii.Exit.Position));
lp.Add(interconnect.InterconnectPath.EndPoint.Location);
// get our time to the intersection point
//double ourTime = Math.Min(4.0, Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.001 ? aiSubpath.PathLength / 1.0 : aiSubpath.PathLength / Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value));
// get our time to the intersection point
double ourSpeed = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value);
double stoppedTime = ourSpeed < 1.0 ? 1.5 : 0.0;
double extraTime = 1.5;
double interconnectTime = aiSubpath.PathLength / this.turn.MaximumDefaultSpeed;
double ourTime = Math.Min(6.5, stoppedTime + extraTime + interconnectTime);
// get closest vehicle in that lane to the intersection
List <VehicleAgent> toLook = new List <VehicleAgent>();
if (TacticalDirector.VehicleAreas.ContainsKey(ii.Area))
{
foreach (VehicleAgent tmpVa in TacticalDirector.VehicleAreas[ii.Area])
{
double upstreamDist = al.DistanceBetween(tmpVa.ClosestPosition, ii.Exit.Position);
if (upstreamDist > 0 && tmpVa.PassedDelayedBirth)
{
toLook.Add(tmpVa);
}
}
}
if (TacticalDirector.VehicleAreas.ContainsKey(interconnect))
{
toLook.AddRange(TacticalDirector.VehicleAreas[interconnect]);
}
// check length of stuff to look at
if (toLook.Count > 0)
{
foreach (VehicleAgent va in toLook)
{
// distance along path to location of intersect
double distToIntersect = lp.DistanceBetween(lp.GetClosestPoint(va.ClosestPosition), lp.GetClosestPoint(aiSubpath.GetClosestPoint(va.ClosestPosition).Location));
double speed = va.Speed == 0.0 ? 0.01 : va.Speed;
double vaTime = distToIntersect / Math.Abs(speed);
if (vaTime > 0 && vaTime < ourTime)
{
ArbiterOutput.Output("va: " + va.ToString() + " CollisionTimer: " + vaTime.ToString("f2") + " < TimeUs: " + ourTime.ToString("F2") + ", NOGO");
return(false);
}
}
}
}
#endregion
}
}
}
#endregion
#region Updated Priority Intersection Code
// loop through updated priorities
bool updatedPrioritiesClear = true;
foreach (IntersectionInvolved ii in updatedPriorities)
{
// lane
ArbiterLane al = (ArbiterLane)ii.Area;
// get our time to the intersection point
double ourSpeed = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value);
double stoppedTime = ourSpeed < 1.0 ? 1.5 : 0.0;
double extraTime = 1.5;
double interconnectTime = aiSubpath.PathLength / this.turn.MaximumDefaultSpeed;
double ourTime = Math.Min(6.5, stoppedTime + extraTime + interconnectTime);
// double outTime = Math.Min(4.0, Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.001 ? aiSubpath.PathLength / 1.0 : aiSubpath.PathLength / Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value));
// get closest vehicle in that lane to the intersection
if (TacticalDirector.VehicleAreas.ContainsKey(ii.Area))
{
// get lane vehicles
List <VehicleAgent> vas = TacticalDirector.VehicleAreas[ii.Area];
// determine for all
VehicleAgent closestLaneVa = null;
double closestDistanceVa = Double.MaxValue;
double closestTime = Double.MaxValue;
foreach (VehicleAgent testVa in vas)
{
// check upstream
double distance = al.DistanceBetween(testVa.ClosestPosition, ii.Exit.Position);
// get speed
double speed = testVa.Speed;
double time = testVa.StateMonitor.Observed.speedValid ? distance / Math.Abs(speed) : distance / al.Way.Segment.SpeedLimits.MaximumSpeed;
// check distance > 0
if (distance > 0)
{
// check if closer or none other exists
if (closestLaneVa == null || time < closestTime)
{
closestLaneVa = testVa;
closestDistanceVa = distance;
closestTime = time;
}
}
}
// check if closest exists
if (closestLaneVa != null)
{
// set va
VehicleAgent va = closestLaneVa;
double distance = closestDistanceVa;
// check dist and birth time
if (distance > 0 && va.PassedDelayedBirth)
{
// check time
double speed = va.Speed == 0.0 ? 0.01 : va.Speed;
double time = va.StateMonitor.Observed.speedValid ? distance / Math.Abs(speed) : distance / al.Way.Segment.SpeedLimits.MaximumSpeed;
// too close
if (!al.LanePolygon.IsInside(CoreCommon.Communications.GetVehicleState().Front) &&
distance < 25 && (!va.StateMonitor.Observed.speedValid || !va.StateMonitor.Observed.isStopped) &&
CoreCommon.Communications.GetVehicleState().Front.DistanceTo(va.ClosestPosition) < 20)
{
ArbiterOutput.Output("Turn, NOGO, Lane: " + al.ToString() + " vehicle: " + va.ToString() + " possibly moving to close, stopping");
//return false;
updatedPrioritiesClear = false;
return(false);
}
else if (time > 0 && time < ourTime)
{
ArbiterOutput.Output("Turn, NOGO, Lane: " + al.ToString() + ", va: " + va.ToString() + ", stopped: " + va.IsStopped.ToString() + ", timeUs: " + ourTime.ToString("f2") + ", timeThem: " + time.ToString("f2"));
//return false;
updatedPrioritiesClear = false;
return(false);
}
else
{
ArbiterOutput.Output("Turn, CANGO, Lane: " + al.ToString() + ", va: " + va.ToString() + ", stopped: " + va.IsStopped.ToString() + ", timeUs: " + ourTime.ToString("f2") + ", timeThem: " + time.ToString("f2"));
//return true;
}
}
}
else
{
ArbiterOutput.Output("Turn, CANGO, Lane: " + al.ToString() + " has no traffic vehicles");
}
}
}
return(updatedPrioritiesClear);
#endregion
}
}
// fall through fine to go
ArbiterOutput.Output("In Turn, CAN GO, Clear of vehicles upstream");
return(true);
}
public override void Process(object param)
{
// inform the base that we're beginning processing
if (!BeginProcess())
{
return;
}
// check if we were given a parameter
if (param != null && param is StayInLaneBehavior)
{
HandleBehavior((StayInLaneBehavior)param);
}
if (reverseGear)
{
ProcessReverse();
return;
}
// figure out the planning distance
double planningDistance = GetPlanningDistance();
if (sparse && planningDistance > 10)
{
planningDistance = 10;
}
double?boundStartDistMin = null;
double?boundEndDistMax = null;
if (laneID != null && Services.RoadNetwork != null)
{
ArbiterLane lane = Services.RoadNetwork.ArbiterSegments[laneID.SegmentId].Lanes[laneID];
AbsolutePose pose = Services.StateProvider.GetAbsolutePose();
ArbiterLanePartition partition = lane.GetClosestPartition(pose.xy);
LinePath partitionPath = partition.UserPartitionPath;
LinePath.PointOnPath closestPoint = partitionPath.GetClosestPoint(pose.xy);
double remainingDist = planningDistance;
double totalDist = partitionPath.DistanceBetween(closestPoint, partitionPath.EndPoint);
remainingDist -= totalDist;
if (sparse)
{
// walk ahead and determine where sparsity ends
bool nonSparseFound = false;
while (remainingDist > 0)
{
// get the next partition
partition = partition.Final.NextPartition;
if (partition == null)
{
break;
}
if (partition.Type != PartitionType.Sparse)
{
nonSparseFound = true;
break;
}
else
{
double dist = partition.UserPartitionPath.PathLength;
totalDist += dist;
remainingDist -= dist;
}
}
if (nonSparseFound)
{
boundStartDistMin = totalDist;
}
}
else
{
// determine if there is a sparse segment upcoming
bool sparseFound = false;
while (remainingDist > 0)
{
partition = partition.Final.NextPartition;
if (partition == null)
{
break;
}
if (partition.Type == PartitionType.Sparse)
{
sparseFound = true;
break;
}
else
{
double dist = partition.Length;
totalDist += dist;
remainingDist -= dist;
}
}
if (sparseFound)
{
boundEndDistMax = totalDist;
sparse = true;
}
}
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in stay in lane, planning distance {0}", planningDistance);
// update the rndf path
RelativeTransform relTransfrom = Services.RelativePose.GetTransform(behaviorTimestamp, curTimestamp);
LinePath curRndfPath = rndfPath.Transform(relTransfrom);
ILaneModel centerLaneModel = Services.RoadModelProvider.GetLaneModel(curRndfPath, rndfPathWidth + extraWidth, curTimestamp, numLanesLeft, numLanesRight);
double avoidanceExtra = sparse ? 5 : 7.5;
LinePath centerLine, leftBound, rightBound;
if (boundEndDistMax != null || boundStartDistMin != null)
{
LinearizeStayInLane(centerLaneModel, planningDistance + avoidanceExtra, null, boundEndDistMax, boundStartDistMin, null, curTimestamp, out centerLine, out leftBound, out rightBound);
}
else
{
LinearizeStayInLane(centerLaneModel, planningDistance + avoidanceExtra, curTimestamp, out centerLine, out leftBound, out rightBound);
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in stay in lane, center line count: {0}, left bound count: {1}, right bound count: {2}", centerLine.Count, leftBound.Count, rightBound.Count);
// calculate time to collision of opposing obstacle if it exists
LinePath targetLine = centerLine;
double targetWeight = default_lane_alpha_w;
if (sparse)
{
targetWeight = 0.00000025;
}
else if (oncomingVehicleExists)
{
double shiftDist = -(TahoeParams.T + 1);
targetLine = centerLine.ShiftLateral(shiftDist);
targetWeight = 0.01;
}
else if (opposingLaneVehicleExists)
{
double timeToCollision = opposingLaneVehicleDist / (Math.Abs(vs.speed) + Math.Abs(opposingLaneVehicleSpeed));
Services.Dataset.ItemAs <double>("time to collision").Add(timeToCollision, curTimestamp);
if (timeToCollision < 5)
{
// shift to the right
double shiftDist = -TahoeParams.T / 2.0;
targetLine = centerLine.ShiftLateral(shiftDist);
}
}
// set up the planning
AddTargetPath(targetLine, targetWeight);
if (!sparse || boundStartDistMin != null || boundEndDistMax != null)
{
AddLeftBound(leftBound, true);
if (!oncomingVehicleExists)
{
AddRightBound(rightBound, false);
}
}
double targetDist = Math.Max(centerLine.PathLength - avoidanceExtra, planningDistance);
smootherBasePath = centerLine.SubPath(centerLine.StartPoint, targetDist);
maxSmootherBasePathAdvancePoint = smootherBasePath.EndPoint;
double extraDist = (planningDistance + avoidanceExtra) - centerLine.PathLength;
extraDist = Math.Min(extraDist, 5);
if (extraDist > 0)
{
centerLine.Add(centerLine[centerLine.Count - 1] + centerLine.EndSegment.Vector.Normalize(extraDist));
}
avoidanceBasePath = centerLine;
Services.UIService.PushLineList(centerLine, curTimestamp, "subpath", true);
Services.UIService.PushLineList(leftBound, curTimestamp, "left bound", true);
Services.UIService.PushLineList(rightBound, curTimestamp, "right bound", true);
// get the overall max speed looking forward from our current point
settings.maxSpeed = GetMaxSpeed(curRndfPath, curRndfPath.AdvancePoint(curRndfPath.ZeroPoint, vs.speed * TahoeParams.actuation_delay));
// get the max speed at the end point
settings.maxEndingSpeed = GetMaxSpeed(curRndfPath, curRndfPath.AdvancePoint(curRndfPath.ZeroPoint, planningDistance));
useAvoidancePath = false;
if (sparse)
{
// limit to 5 mph
laneWidthAtPathEnd = 20;
pathAngleCheckMax = 50;
pathAngleMax = 5 * Math.PI / 180.0;
settings.maxSpeed = Math.Min(settings.maxSpeed, 2.2352);
maxAvoidanceBasePathAdvancePoint = avoidanceBasePath.AdvancePoint(avoidanceBasePath.EndPoint, -2);
//maxSmootherBasePathAdvancePoint = smootherBasePath.AdvancePoint(smootherBasePath.EndPoint, -2);
LinePath leftEdge = RoadEdge.GetLeftEdgeLine();
LinePath rightEdge = RoadEdge.GetRightEdgeLine();
if (leftEdge != null)
{
leftLaneBounds.Add(new Boundary(leftEdge, 0.1, 1, 100, false));
}
if (rightEdge != null)
{
rightLaneBounds.Add(new Boundary(rightEdge, 0.1, 1, 100, false));
}
PlanningResult result = new PlanningResult();
ISteeringCommandGenerator commandGenerator = SparseArcVoting.SparcVote(ref prevCurvature, goalPoint);
if (commandGenerator == null)
{
// we have a block, report dynamically infeasible
result = OnDynamicallyInfeasible(null, null);
}
else
{
result.steeringCommandGenerator = commandGenerator;
result.commandLabel = commandLabel;
}
Track(result, commandLabel);
return;
}
else if (oncomingVehicleExists)
{
laneWidthAtPathEnd = 10;
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "max speed set to {0}", settings.maxSpeed);
disablePathAngleCheck = false;
SmoothAndTrack(commandLabel, true);
}
public override void Process(object param)
{
if (!base.BeginProcess())
{
return;
}
if (param is ZoneTravelingBehavior)
{
HandleBaseBehavior((ZoneTravelingBehavior)param);
}
extraObstacles = GetPerimeterObstacles();
if (reverseGear)
{
ProcessReverse();
return;
}
AbsoluteTransformer absTransform = Services.StateProvider.GetAbsoluteTransformer(curTimestamp);
// get the vehicle relative path
LinePath relRecommendedPath = recommendedPath.Transform(absTransform);
LinePath.PointOnPath zeroPoint = relRecommendedPath.ZeroPoint;
// get the distance to the end point
double distToEnd = relRecommendedPath.DistanceBetween(zeroPoint, relRecommendedPath.EndPoint);
// get the planning distance
double planningDist = GetPlanningDistance();
planningDist = Math.Max(planningDist, 20);
planningDist -= zeroPoint.Location.Length;
if (planningDist < 2.5)
{
planningDist = 2.5;
}
if (distToEnd < planningDist)
{
// make the speed command at stop speed command
behaviorTimestamp = curTimestamp;
speedCommand = new StopAtDistSpeedCommand(distToEnd - TahoeParams.FL);
planningDist = distToEnd;
approachSpeed = recommendedSpeed.Speed;
settings.endingHeading = relRecommendedPath.EndSegment.UnitVector.ArcTan;
settings.endingPositionFixed = true;
settings.endingPositionMax = 2;
settings.endingPositionMin = -2;
}
else
{
speedCommand = new ScalarSpeedCommand(recommendedSpeed.Speed);
}
// get the distance of the path segment we care about
LinePath pathSegment = relRecommendedPath.SubPath(zeroPoint, planningDist);
double avoidanceDist = planningDist + 5;
avoidanceBasePath = relRecommendedPath.SubPath(zeroPoint, ref avoidanceDist);
if (avoidanceDist > 0)
{
avoidanceBasePath.Add(avoidanceBasePath.EndPoint.Location + avoidanceBasePath.EndSegment.Vector.Normalize(avoidanceDist));
}
// test if we should clear out of arc mode
if (arcMode)
{
if (TestNormalModeClear(relRecommendedPath, zeroPoint))
{
prevCurvature = double.NaN;
arcMode = false;
}
}
if (Math.Abs(zeroPoint.AlongtrackDistance(Coordinates.Zero)) > 1)
{
pathSegment.Insert(0, Coordinates.Zero);
}
else
{
if (pathSegment[0].DistanceTo(pathSegment[1]) < 1)
{
pathSegment.RemoveAt(0);
}
pathSegment[0] = Coordinates.Zero;
}
if (arcMode)
{
Coordinates relativeGoalPoint = relRecommendedPath.EndPoint.Location;
ArcVoteZone(relativeGoalPoint, extraObstacles);
return;
}
double pathLength = pathSegment.PathLength;
if (pathLength < 6)
{
double additionalDist = 6.25 - pathLength;
pathSegment.Add(pathSegment.EndPoint.Location + pathSegment.EndSegment.Vector.Normalize(additionalDist));
}
// determine if polygons are to the left or right of the path
for (int i = 0; i < zoneBadRegions.Length; i++)
{
Polygon poly = zoneBadRegions[i].Transform(absTransform);
int numLeft = 0;
int numRight = 0;
foreach (LineSegment ls in pathSegment.GetSegmentEnumerator())
{
for (int j = 0; j < poly.Count; j++)
{
if (ls.IsToLeft(poly[j]))
{
numLeft++;
}
else
{
numRight++;
}
}
}
if (numLeft > numRight)
{
// we'll consider this polygon on the left of the path
//additionalLeftBounds.Add(new Boundary(poly, 0.1, 0.1, 0));
}
else
{
//additionalRightBounds.Add(new Boundary(poly, 0.1, 0.1, 0));
}
}
// TODO: add zone perimeter
disablePathAngleCheck = false;
laneWidthAtPathEnd = 7;
settings.Options.w_diff = 3;
smootherBasePath = new LinePath();
smootherBasePath.Add(Coordinates.Zero);
smootherBasePath.Add(pathSegment.EndPoint.Location);
AddTargetPath(pathSegment, 0.005);
settings.maxSpeed = recommendedSpeed.Speed;
useAvoidancePath = false;
SmoothAndTrack(command_label, true);
}
protected virtual double GetMaxSpeed(LinePath rndfPath, LinePath.PointOnPath startingPoint)
{
double maxSpeed;
if (speedCommand is ScalarSpeedCommand) {
maxSpeed = Math.Min(((ScalarSpeedCommand)speedCommand).Speed, 15);
// calculate the swerving max speed
double deltaSteeringSigma = Services.TrackingManager.DeltaSteeringStdDev*180/Math.PI;
if (deltaSteeringSigma > 3) {
double swerveMax = Math.Max(18 - 0.2*deltaSteeringSigma, 2.5);
maxSpeed = Math.Min(maxSpeed, swerveMax);
}
approachSpeed = null;
}
else {
// assume that it's a stop at dist or stop at line
// either way, we do the same thing
if (approachSpeed == null || (double)approachSpeed < 1) {
approachSpeed = Math.Max(vs.speed, 1);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "approach speed set to {0}", approachSpeed.Value);
}
maxSpeed = approachSpeed.Value;
}
if (rndfPath != null) {
// get the angles
List<Pair<int, double>> angles = rndfPath.GetIntersectionAngles(startingPoint.Index, rndfPath.Count-1);
foreach (Pair<int, double> angleValue in angles) {
// calculate the desired speed to take the point
double dist = Math.Max(rndfPath.DistanceBetween(startingPoint, rndfPath.GetPointOnPath(angleValue.Left))-TahoeParams.FL, 0);
// calculate the desired speed at the intersection
double desiredSpeed = 1.5/(angleValue.Right/(Math.PI/2));
// limit the desired speed to 2.5
desiredSpeed = Math.Max(2.5, desiredSpeed);
// calculate the speed we would be allowed to go right now
double desiredMaxSpeed = Math.Sqrt(desiredSpeed*desiredSpeed + 2*target_decel*dist);
// check if the desired max speed is lower
if (desiredMaxSpeed < maxSpeed) {
maxSpeed = desiredMaxSpeed;
}
}
}
return maxSpeed;
}
protected virtual void DetermineBlockageDistancesAndDeceleration(IList<Obstacle> obstacles, LinePath measurePath)
{
LinePath.PointOnPath zeroPoint = measurePath.ZeroPoint;
foreach (Obstacle obs in obstacles) {
if (obs.avoidanceStatus == AvoidanceStatus.Collision && obs.collisionPoints != null && obs.collisionPoints.Count > 0) {
// project each obstacle point onto the measure path and get the distance
double minDist = double.MaxValue;
foreach (Coordinates pt in obs.collisionPoints) {
LinePath.PointOnPath closestPt = measurePath.GetClosestPoint(pt);
double dist = measurePath.DistanceBetween(zeroPoint, closestPt);
if (dist < minDist) {
minDist = dist;
}
}
// the distance will be short by the amount we expanded out the c-space polygon
minDist += TahoeParams.T / 2.0;
// decrease the distance by the length to the front bumper
minDist -= TahoeParams.FL;
obs.obstacleDistance = minDist;
minDist -= stopped_spacing_dist;
// don't have negative distance
if (minDist <= 0.01) {
minDist = 0.01;
}
double decel = vs.speed*vs.speed/(2*minDist);
obs.requiredDeceleration = decel;
}
}
}
