/// <summary> /// Reason about changing lanes /// </summary> /// <param name="previousChangeLanePath">previous change lane path</param> /// <param name="initialLanePath">lane path that vehicle is changing from</param> /// <param name="targetLanePath"> lane path that vehicle is changing to</param> /// <param name="targetType"> type for target lane, left or right</param> /// <param name="observedObstacles">static obstacles</param> /// <param name="observedVehicles">observed vehicles</param> /// <param name="lowerBound"> lower bound point on initial lane (similar to obstacle on target lane)</param> /// <param name="upperBound"> upper bound point on initial lane (similar to obstacle on initial lane)</param> /// <param name="position"> vehicle absolute position in m</param> /// <param name="heading"> vehicle heading as a vector</param> /// <param name="speed"> vehicle speed in m/s</param> /// <param name="aboutPath"> type of path being returned</param> /// <param name="currentChangeLanePath">change lane path</param> public void LaneChangePlanAdvance(Path previousChangeLanePath, Path initialLanePath, Path targetLanePath, TargetLaneChangeType targetType, ObservedObstacles observedObstacles, ObservedVehicle[] observedVehicles, PointOnPath initialLaneLowerBound, PointOnPath initialLaneUpperBound, Coordinates position, Coordinates heading, double speed, out AboutPath aboutPath, out Path currentChangeLanePath) { // check if target lane is to the left or right if (targetType == TargetLaneChangeType.Left) { // set up vehicle and lane information InitialiseInformation(position, heading, speed, null, targetLanePath, initialLanePath); // manage static and dynamic dynamic obstacles InitialiseObstacles(null, targetLanePath, initialLanePath, observedObstacles, observedVehicles); } else { // set up vehicle and lane information InitialiseInformation(position, heading, speed, initialLanePath, targetLanePath, null); // manage static and dynamic dynamic obstacles InitialiseObstacles(initialLanePath, targetLanePath, null, observedObstacles, observedVehicles); } // determine risk of previous spline path, if provided double pathRisk, pathRiskDist, pathSepDist; if (previousChangeLanePath != null) { // check risk of previous spline path CheckPathRisk(previousChangeLanePath, out pathRisk, out pathRiskDist, out pathSepDist); if (pathRisk == 0) { // no risk was found, return previous spline path currentChangeLanePath = previousChangeLanePath; aboutPath = AboutPath.Normal; return; } } PointOnPath targetLaneLowerBound = targetLanePath.GetClosest(initialLaneLowerBound.pt); PointOnPath targetLaneUpperBound = targetLanePath.GetClosest(initialLaneUpperBound.pt); double targetLaneLowerBoundDist = Math.Round(targetLanePath.DistanceBetween(currentLanePosition, targetLaneLowerBound),1); double targetLaneUpperBoundDist = Math.Round(targetLanePath.DistanceBetween(currentLanePosition, targetLaneUpperBound),1); // generate obstacles for lower and upper bound points Coordinates lowerBoundObstacle = targetLaneLowerBound.pt; Coordinates upperBoundObstacle = initialLaneUpperBound.pt; if (targetType == TargetLaneChangeType.Left) { lowerBoundObstacle += targetLaneLowerBound.segment.Tangent(targetLaneLowerBound).RotateM90().Normalize(0.5 * currentLaneWidth - 1.0); upperBoundObstacle += initialLaneUpperBound.segment.Tangent(initialLaneUpperBound).Rotate90().Normalize(0.5 * rightLaneWidth - 1.0); } else { lowerBoundObstacle += targetLaneLowerBound.segment.Tangent(targetLaneLowerBound).Rotate90().Normalize(0.5 * currentLaneWidth - 1.0); upperBoundObstacle += initialLaneUpperBound.segment.Tangent(initialLaneUpperBound).RotateM90().Normalize(0.5 * leftLaneWidth - 1.0); } staticObstaclesFake.Add(lowerBoundObstacle); staticObstaclesFake.Add(upperBoundObstacle); // path projection distance double projectionDist = Math.Max(targetLaneLowerBoundDist, TahoeParams.VL + TahoeParams.FL); double origProjectionDist = projectionDist; do { // lookahead point double lookaheadDist = projectionDist; PointOnPath lookaheadPt = targetLanePath.AdvancePoint(currentLanePosition, ref lookaheadDist); // extend point if at end of path Coordinates offsetVec = new Coordinates(0, 0); if (lookaheadDist > 0.5) offsetVec = lookaheadPt.segment.Tangent(lookaheadPt).Normalize(lookaheadDist); // prepare ctrl points for spline path Coordinates startPoint = vehiclePosition; Coordinates endPoint = lookaheadPt.pt + offsetVec; Coordinates startVec = new Coordinates(1, 0).Rotate(vehicleHeading).Normalize(Math.Max(vehicleSpeed, 2.0)); Coordinates endVec = lookaheadPt.segment.Tangent(lookaheadPt).Normalize(Math.Max(vehicleSpeed, 2.0)); // generate spline path currentChangeLanePath = GenerateBezierPath(startPoint, endPoint, startVec, endVec); // determine risk of spline path CheckPathRisk(currentChangeLanePath, out pathRisk, out pathRiskDist, out pathSepDist); // project further if current spline path has risk if (pathRisk != 0) { if (projectionDist == targetLaneUpperBoundDist + TahoeParams.RL) break; projectionDist = Math.Min(projectionDist + TahoeParams.VL / 2, targetLaneUpperBoundDist + TahoeParams.RL); } } while (pathRisk != 0 && projectionDist <= targetLaneUpperBoundDist + TahoeParams.RL); // check if path without risk was found if (pathRisk == 0) aboutPath = AboutPath.Normal; else aboutPath = AboutPath.Null; }
/// <summary> /// Reason about changing lanes /// </summary> /// <param name="previousChangeLanePath">previous change lane path</param> /// <param name="initialLanePath">lane path that vehicle is changing from</param> /// <param name="targetLanePath"> lane path that vehicle is changing to</param> /// <param name="targetType">type for target lane, left or right</param> /// <param name="initialLaneVehicles">observed vehicles on initial lane</param> /// <param name="initialLaneLowerBound">lower bound point on initial lane (similar to obstacle on target lane)</param> /// <param name="initialLaneUpperBound">upper bound point on initial lane (similar to obstacle on initial lane)</param> /// <param name="vehicleState">vehicle state</param> public Path LaneChangeObstacleReasoning(Path previousChangeLanePath, Path initialLanePath, Path targetLanePath, TargetLaneChangeType targetType, ObservedVehicle[] initialLaneVehicles, PointOnPath initialLaneLowerBound, PointOnPath initialLaneUpperBound, VehicleState vehicleState) { // check if target lane is to the left or right if (targetType == TargetLaneChangeType.Left) { // set up vehicle and lane information InitialiseInformation(vehicleState.xyPosition, vehicleState.heading, vehicleState.speed, null, targetLanePath, initialLanePath); } else { // set up vehicle and lane information InitialiseInformation(vehicleState.xyPosition, vehicleState.heading, vehicleState.speed, initialLanePath, targetLanePath, null); } // set up static obstacles (none for now) staticObstaclesIn.Clear(); staticObstaclesOut.Clear(); staticObstaclesFake.Clear(); // set up dynamic obstacles dynamicObstacles.Clear(); dynamicObstaclesPaths.Clear(); SetDynamicObstacles(initialLanePath, initialLaneVehicles); // determine risk of previous spline path, if provided double pathRisk, pathRiskDist, pathSepDist; if (previousChangeLanePath != null) { // check risk of previous spline path CheckPathRisk(previousChangeLanePath, out pathRisk, out pathRiskDist, out pathSepDist); // if no risk was found, return previous spline path if (pathRisk == 0) return previousChangeLanePath; } // set up number of paths based on lane width double spacing = 0.25; int numPaths = (int)Math.Round(currentLaneWidth / spacing); if ((int)Math.IEEERemainder((double)numPaths, 2.0) == 0) numPaths -= 1; // increase number of drift paths int midPathIndex; numPaths += 12; midPathIndex = (numPaths - 1) / 2; double[] pathsRisk, pathsRiskDist, pathsSepDist, pathsCost; Path[] paths = new Path[numPaths]; int selectedPathIndex; PointOnPath targetLaneLowerBound = targetLanePath.GetClosest(initialLaneLowerBound.pt); PointOnPath targetLaneUpperBound = targetLanePath.GetClosest(initialLaneUpperBound.pt); double targetLaneLowerBoundDist = Math.Round(targetLanePath.DistanceBetween(currentLanePosition, targetLaneLowerBound), 1); double targetLaneUpperBoundDist = Math.Round(targetLanePath.DistanceBetween(currentLanePosition, targetLaneUpperBound), 1); // generate obstacles for lower and upper bound points Coordinates lowerBoundObstacle = targetLaneLowerBound.pt; Coordinates upperBoundObstacle = initialLaneUpperBound.pt; if (targetType == TargetLaneChangeType.Left) { lowerBoundObstacle += targetLaneLowerBound.segment.Tangent(targetLaneLowerBound).RotateM90().Normalize(0.5 * currentLaneWidth - 1.0); upperBoundObstacle += initialLaneUpperBound.segment.Tangent(initialLaneUpperBound).Rotate90().Normalize(0.5 * rightLaneWidth - 1.0); } else { lowerBoundObstacle += targetLaneLowerBound.segment.Tangent(targetLaneLowerBound).Rotate90().Normalize(0.5 * currentLaneWidth - 1.0); upperBoundObstacle += initialLaneUpperBound.segment.Tangent(initialLaneUpperBound).RotateM90().Normalize(0.5 * leftLaneWidth - 1.0); } staticObstaclesFake.Add(lowerBoundObstacle); staticObstaclesFake.Add(upperBoundObstacle); // path projection distance double projectionDist = Math.Max(targetLaneLowerBoundDist, TahoeParams.VL + TahoeParams.FL); double origProjectionDist = projectionDist; Path currentChangeLanePath = new Path(); do { // lookahead point double lookaheadDist = projectionDist; PointOnPath lookaheadPt = targetLanePath.AdvancePoint(currentLanePosition, ref lookaheadDist); // extend point if at end of path Coordinates offsetVec = new Coordinates(0, 0); if (lookaheadDist > 0.5) offsetVec = lookaheadPt.segment.Tangent(lookaheadPt).Normalize(lookaheadDist); // prepare ctrl points for first part of spline path Coordinates startPoint = vehiclePosition; Coordinates midPoint = lookaheadPt.pt + offsetVec; Coordinates startVec = new Coordinates(1, 0).Rotate(vehicleHeading).Normalize(Math.Max(vehicleSpeed, 2.0)); Coordinates midVec = lookaheadPt.segment.Tangent(lookaheadPt).Normalize(Math.Max(vehicleSpeed, 2.0)); // lookahead point (for end point) lookaheadDist = projectionDist + 10; lookaheadPt = targetLanePath.AdvancePoint(currentLanePosition, ref lookaheadDist); // extend point if at end of path (for end point) offsetVec = new Coordinates(0, 0); if (lookaheadDist > 0.5) offsetVec = lookaheadPt.segment.Tangent(lookaheadPt).Normalize(lookaheadDist); // prepare ctrl points for second part of spline path Coordinates endPoint = lookaheadPt.pt + offsetVec; Coordinates endVec = lookaheadPt.segment.Tangent(lookaheadPt).Normalize(Math.Max(vehicleSpeed, 2.0)); ///////////////////////////////// Coordinates shiftedMidPoint, shiftedEndPoint; Coordinates shiftMidVec = midVec.Rotate90(); Coordinates shiftEndVec = endVec.Rotate90(); // generate multiple spline paths for (int i = 0; i < numPaths; i++) { shiftedMidPoint = midPoint - shiftMidVec.Normalize((i - midPathIndex) * spacing); shiftedEndPoint = endPoint - shiftEndVec.Normalize((i - midPathIndex) * spacing); // generate spline path paths[i] = GenerateBezierPath(startPoint, shiftedMidPoint, startVec, midVec); // generate extension to spline path Path extPath = GenerateBezierPath(shiftedMidPoint, shiftedEndPoint, midVec, endVec); // add extension to path paths[i].Add((BezierPathSegment)extPath[0]); } // evaluate paths and select safest path selectedPathIndex = EvaluatePaths(paths, midPathIndex, out pathsRisk, out pathsRiskDist, out pathsSepDist, out pathsCost); // project further if current spline path has risk if (pathsRisk[selectedPathIndex] != 0) { if (projectionDist == targetLaneUpperBoundDist + TahoeParams.RL) break; projectionDist = Math.Min(projectionDist + TahoeParams.VL / 2, targetLaneUpperBoundDist + TahoeParams.RL); } } while (pathsRisk[selectedPathIndex] != 0 && projectionDist <= targetLaneUpperBoundDist + TahoeParams.RL); // check if path without risk was found if (pathsRisk[selectedPathIndex] == 0) return paths[selectedPathIndex]; else return null; }