Vehicle Automation - Revision history

Kristine Roggentien at 16:04, 14 February 2023

2023-02-14T16:04:20Z

Kristine Roggentien at 16:03, 14 February 2023

2023-02-14T16:03:58Z

Show changes

Steve Cable: /* Vehicle Automation Option */

2018-01-07T19:11:55Z

‎Vehicle Automation Option

Steve Cable: /* Vehicle Automation Option */

2018-01-07T19:11:07Z

‎Vehicle Automation Option

Steve Cable at 19:10, 7 January 2018

2018-01-07T19:10:29Z

Steve Cable at 19:08, 7 January 2018

2018-01-07T19:08:30Z

Steve Cable: /* Vehicle Automation Option */

2018-01-07T19:06:36Z

‎Vehicle Automation Option

Steve Cable: /* Vehicle Automation Option */

2018-01-07T19:05:35Z

‎Vehicle Automation Option

Steve Cable at 19:04, 7 January 2018

2018-01-07T19:04:36Z

Steve Cable at 19:00, 7 January 2018

2018-01-07T19:00:58Z

@@ Line 14: / Line 14: @@
 ::The miniSim team have developed a set of low-level behaviors that can be activated by the scenario, by manual action, or by a user-designed external subsystem. There are also functions for transfer of control, high-level driving style parameters, and support for existing scenario control triggering systems.
-:* User-Defined Simulator Subsystem
+:* '''User-Defined Simulator Subsystem'''
 ::The minSim supports linking to user-defined subsystems. The ability to link user developed functions to the subsystem has many applications, including the incorporation of active vehicle safety systems or automation functions into the miniSim driver in the loop simulation environment.

@@ Line 142: / Line 142: @@
 ==Vehicle Automation Option==
 The NADS team have developed a set of low-level behaviors that can be activated by the scenario, by manual action, or by a user-designed external subsystem. There are also functions for transfer of control, high-level driving style parameters, and support for existing scenario control triggering systems.  Along with the logical database API, it provides the user with the tools to develop their own high-level systems for executive control.  The functions are as follows (excerpted from the development document):
 ===Lane Following===
 A low-level controller has been implemented to allow the ownship vehicle to following the lane in which it is traveling.  The controller works over a range of speeds from urban to highway driving, and is able to work on curved roads.  The controller does not manage changing lanes, making turns, etc.  These functions are covered in new functions described below.  The control system that has been implemented in Simulink shall be integrated into the MiniSim software.
@@ Line 166: / Line 164: @@
 ===Triggers===
 The operator shall be able to issue ‘turn-by-turn’ instructions to the automation in order to simulate an automated route navigation feature.  If the route is fixed and pre-determined, then these instructions may be embedded in the scenario as triggered behaviors.  However, they may also be issued manually by the operator as the drive is progressing.  For example, if the operator issues a command to turn right, it shall be understood by the navigation controller that a right turn is requested at the next available opportunity.  An operator interface of some kind shall be provided to allow the operator to interact with the navigation controller.
 ==User-Defined Simulator Subsystem==

@@ Line 143: / Line 143: @@
 The NADS team have developed a set of low-level behaviors that can be activated by the scenario, by manual action, or by a user-designed external subsystem. There are also functions for transfer of control, high-level driving style parameters, and support for existing scenario control triggering systems.  Along with the logical database API, it provides the user with the tools to develop their own high-level systems for executive control.  The functions are as follows (excerpted from the development document):
-<span style="margin-left:20px;">
+<span style="padding-left:20px;">
 ===Lane Following===
 A low-level controller has been implemented to allow the ownship vehicle to following the lane in which it is traveling.  The controller works over a range of speeds from urban to highway driving, and is able to work on curved roads.  The controller does not manage changing lanes, making turns, etc.  These functions are covered in new functions described below.  The control system that has been implemented in Simulink shall be integrated into the MiniSim software.
@@ Line 167: / Line 167: @@
 The operator shall be able to issue ‘turn-by-turn’ instructions to the automation in order to simulate an automated route navigation feature.  If the route is fixed and pre-determined, then these instructions may be embedded in the scenario as triggered behaviors.  However, they may also be issued manually by the operator as the drive is progressing.  For example, if the operator issues a command to turn right, it shall be understood by the navigation controller that a right turn is requested at the next available opportunity.  An operator interface of some kind shall be provided to allow the operator to interact with the navigation controller.
 </span>
 ==User-Defined Simulator Subsystem==
 The miniSim subsystems are state machines, whose current states are controlled through the user interface. A user can create a custom subsystem to run with the rest of the MiniSim simulator. The ability to link user developed functions to the subsystem has many applications, including the incorporation of active vehicle safety systems or automation functions into the miniSim driver in the loop simulation environment.  It is also possible to build custom MatLab functions into static library files, include their accompanying C++ header files in the source code for the custom subsystem, and link the static libraries into the project the same way the libraries for the subsystem base class are linked in.
 Custom subsystems can be added to the miniSim with little change to the rest parts of the system. The custom subsystem can be built from the subsystem base class which provides an inter-subsystem data communication interface and the functionalities of the real-time scheduling core that monitors state changes. The user layer registers input and output data elements, and executes custom functions that based on the current state of the simulator, interpret the input data and generate outputs.
 NADS will provide code for a functioning example subsystem. Included in the package are the required header and library files to write the code for a subsystem, as well the sample source code for a simple subsystem which does data input and output via the element registration scheme and handles state changes. The MiniSim software was written in C++ and built with Microsoft Visual Studio.Net solution and project files for the sample subsystem are included.

@@ Line 143: / Line 143: @@
 The NADS team have developed a set of low-level behaviors that can be activated by the scenario, by manual action, or by a user-designed external subsystem. There are also functions for transfer of control, high-level driving style parameters, and support for existing scenario control triggering systems.  Along with the logical database API, it provides the user with the tools to develop their own high-level systems for executive control.  The functions are as follows (excerpted from the development document):
-:===Lane Following===
+<span style="margin-left:20px;">
-:A low-level controller has been implemented to allow the ownship vehicle to following the lane in which it is traveling.  The controller works over a range of speeds from urban to highway driving, and is able to work on curved roads.  The controller does not manage changing lanes, making turns, etc.  These functions are covered in new functions described below.  The control system that has been implemented in Simulink shall be integrated into the MiniSim software.
+===Lane Following===
-:===Speed Following===
+A low-level controller has been implemented to allow the ownship vehicle to following the lane in which it is traveling.  The controller works over a range of speeds from urban to highway driving, and is able to work on curved roads.  The controller does not manage changing lanes, making turns, etc.  These functions are covered in new functions described below.  The control system that has been implemented in Simulink shall be integrated into the MiniSim software.
-:An adaptive cruise control (ACC) system has been implemented in vehicle dynamics.  This system was designed for an ACC study and modeled after a Toyota Avalon tested at that time.  There is a deceleration limit on the ACC authority; and the system does not work below 25 mph or respond to objects that are moving less than about 5mph.  This system shall be enhanced/modified as needed to work smoothly with the other automated functions.
+===Speed Following===
-:===Lane Change===
+An adaptive cruise control (ACC) system has been implemented in vehicle dynamics.  This system was designed for an ACC study and modeled after a Toyota Avalon tested at that time.  There is a deceleration limit on the ACC authority; and the system does not work below 25 mph or respond to objects that are moving less than about 5mph.  This system shall be enhanced/modified as needed to work smoothly with the other automated functions.
-:A lane change maneuver shall be implemented that is distinct from turns and exits, such that it may occur on any section of roadway, including curved roads.  The lane change may occur to the left or to the right, but shall not intrude into an oncoming lane, and thus shall not accommodate some passing maneuvers.  The lane change maneuver shall be incorporated into high level control logic as needed to accommodate other maneuvers.  For example, a left turn may be specified that would require a lane change into a left turn lane.  The system shall be able to recognize this and request a lane change preceding the left turn.
+===Lane Change===
-:===Brake to Stop===
+A lane change maneuver shall be implemented that is distinct from turns and exits, such that it may occur on any section of roadway, including curved roads.  The lane change may occur to the left or to the right, but shall not intrude into an oncoming lane, and thus shall not accommodate some passing maneuvers.  The lane change maneuver shall be incorporated into high level control logic as needed to accommodate other maneuvers.  For example, a left turn may be specified that would require a lane change into a left turn lane.  The system shall be able to recognize this and request a lane change preceding the left turn.
-:Most intersections have stop lines at which vehicles are expected to stop in the presence of a stop sign or a red light.  The automation controller shall recognize stop lines and be able to bring the vehicle to a complete stop at such locations.  The ability to cause the ownship vehicle to brake to a stop at an arbitrary location shall also be provided.  This function may be used to simulate a system failure or some other experimental manipulation.  The high level logic around this maneuver shall not, at this time, recognize the presence of stop signs or the state of traffic signals; however, that capability may be added at a later time.
+===Brake to Stop===
-:===Merge / Exit===
+Most intersections have stop lines at which vehicles are expected to stop in the presence of a stop sign or a red light.  The automation controller shall recognize stop lines and be able to bring the vehicle to a complete stop at such locations.  The ability to cause the ownship vehicle to brake to a stop at an arbitrary location shall also be provided.  This function may be used to simulate a system failure or some other experimental manipulation.  The high level logic around this maneuver shall not, at this time, recognize the presence of stop signs or the state of traffic signals; however, that capability may be added at a later time.
-:The ownship vehicle shall be able to autonomously merge onto highways and exit off them.  The controller in these situations shall be able to accommodate the interchange types most often encountered in NADS databases (ex: overpasses and cloverleafs).  If there is a choice of turn direction after exiting a highway, then the operator must specify a turn as they normally would at any other intersection.
+===Merge / Exit===
-:===Turning===
+The ownship vehicle shall be able to autonomously merge onto highways and exit off them.  The controller in these situations shall be able to accommodate the interchange types most often encountered in NADS databases (ex: overpasses and cloverleafs).  If there is a choice of turn direction after exiting a highway, then the operator must specify a turn as they normally would at any other intersection.
-:The automation shall be able to make the ownship vehicle turn left or right at an intersection, whether that intersection is a 4-way, 3-way, or Y intersection.  Two variations of turning shall be provided.  The first is a stop, turn, go maneuver in which the vehicle comes to a complete stop before proceeding.  The second is a slow, turn, go maneuver in which the vehicle rolls into the intersection and navigates through it at a comfortable speed.  If there is a choice of destination lanes, then the controller shall choose the rightmost lane on a right turn and the leftmost lane on a left turn.
+===Turning===
 ===Pull Over===
 The automation shall be able to make the ownship pull over to the shoulder or curb of the road to a stop.  The purpose of this behavior is to provide an acceptable ‘default’ behavior in cases where the driver is disabled or unable to act.
-:===Abort===
+===Abort===
-:The automation shall allow the occupant to abort an action and revert to the previous valid action.  For example, if the car is attempting a lane change and the passenger wishes to abort, the car will remain doing the last valid behavior (in this case, lane following).
+The automation shall allow the occupant to abort an action and revert to the previous valid action.  For example, if the car is attempting a lane change and the passenger wishes to abort, the car will remain doing the last valid behavior (in this case, lane following).
-:===Transfer of Control===
+===Transfer of Control===
-:Mechanisms shall be provided to allow the driver to transfer control to the automation as well as take back control from it.  A driver interface shall be provided in some form to notify the driver of the current state of the automation.  The operator shall be able to specify a total or partial transfer of control, where partial refers to transferring one axis of control while leaving the other in its current state.  Transfer from the automated to manual control shall be able to be triggered by the operator to simulate a system failure of some kind.
+Mechanisms shall be provided to allow the driver to transfer control to the automation as well as take back control from it.  A driver interface shall be provided in some form to notify the driver of the current state of the automation.  The operator shall be able to specify a total or partial transfer of control, where partial refers to transferring one axis of control while leaving the other in its current state.  Transfer from the automated to manual control shall be able to be triggered by the operator to simulate a system failure of some kind.
-:===Driving Style===
+===Driving Style===
-:The automation controllers shall be able to perform all the maneuvers described above in a consistent manner, similar to how a human driver would perform them.  Moreover, the operator (and perhaps the driver) shall be able to set the driving style from among a limited set of options ranging from more conservative to more aggressive, in order to better match driver’s preferences.
+The automation controllers shall be able to perform all the maneuvers described above in a consistent manner, similar to how a human driver would perform them.  Moreover, the operator (and perhaps the driver) shall be able to set the driving style from among a limited set of options ranging from more conservative to more aggressive, in order to better match driver’s preferences.
-:===Triggers===
+===Triggers===
-:The operator shall be able to issue ‘turn-by-turn’ instructions to the automation in order to simulate an automated route navigation feature.  If the route is fixed and pre-determined, then these instructions may be embedded in the scenario as triggered behaviors.  However, they may also be issued manually by the operator as the drive is progressing.  For example, if the operator issues a command to turn right, it shall be understood by the navigation controller that a right turn is requested at the next available opportunity.  An operator interface of some kind shall be provided to allow the operator to interact with the navigation controller.
+The operator shall be able to issue ‘turn-by-turn’ instructions to the automation in order to simulate an automated route navigation feature.  If the route is fixed and pre-determined, then these instructions may be embedded in the scenario as triggered behaviors.  However, they may also be issued manually by the operator as the drive is progressing.  For example, if the operator issues a command to turn right, it shall be understood by the navigation controller that a right turn is requested at the next available opportunity.  An operator interface of some kind shall be provided to allow the operator to interact with the navigation controller.
 ==User-Defined Simulator Subsystem==
 The miniSim subsystems are state machines, whose current states are controlled through the user interface. A user can create a custom subsystem to run with the rest of the MiniSim simulator. The ability to link user developed functions to the subsystem has many applications, including the incorporation of active vehicle safety systems or automation functions into the miniSim driver in the loop simulation environment.  It is also possible to build custom MatLab functions into static library files, include their accompanying C++ header files in the source code for the custom subsystem, and link the static libraries into the project the same way the libraries for the subsystem base class are linked in.
 Custom subsystems can be added to the miniSim with little change to the rest parts of the system. The custom subsystem can be built from the subsystem base class which provides an inter-subsystem data communication interface and the functionalities of the real-time scheduling core that monitors state changes. The user layer registers input and output data elements, and executes custom functions that based on the current state of the simulator, interpret the input data and generate outputs.
 NADS will provide code for a functioning example subsystem. Included in the package are the required header and library files to write the code for a subsystem, as well the sample source code for a simple subsystem which does data input and output via the element registration scheme and handles state changes. The MiniSim software was written in C++ and built with Microsoft Visual Studio.Net solution and project files for the sample subsystem are included.

@@ Line 143: / Line 143: @@
 The NADS team have developed a set of low-level behaviors that can be activated by the scenario, by manual action, or by a user-designed external subsystem. There are also functions for transfer of control, high-level driving style parameters, and support for existing scenario control triggering systems.  Along with the logical database API, it provides the user with the tools to develop their own high-level systems for executive control.  The functions are as follows (excerpted from the development document):
-===Lane Following===
+:===Lane Following===
-A low-level controller has been implemented to allow the ownship vehicle to following the lane in which it is traveling.  The controller works over a range of speeds from urban to highway driving, and is able to work on curved roads.  The controller does not manage changing lanes, making turns, etc.  These functions are covered in new functions described below.  The control system that has been implemented in Simulink shall be integrated into the MiniSim software.
+:A low-level controller has been implemented to allow the ownship vehicle to following the lane in which it is traveling.  The controller works over a range of speeds from urban to highway driving, and is able to work on curved roads.  The controller does not manage changing lanes, making turns, etc.  These functions are covered in new functions described below.  The control system that has been implemented in Simulink shall be integrated into the MiniSim software.
-===Speed Following===
+:===Speed Following===
-An adaptive cruise control (ACC) system has been implemented in vehicle dynamics.  This system was designed for an ACC study and modeled after a Toyota Avalon tested at that time.  There is a deceleration limit on the ACC authority; and the system does not work below 25 mph or respond to objects that are moving less than about 5mph.  This system shall be enhanced/modified as needed to work smoothly with the other automated functions.
+:An adaptive cruise control (ACC) system has been implemented in vehicle dynamics.  This system was designed for an ACC study and modeled after a Toyota Avalon tested at that time.  There is a deceleration limit on the ACC authority; and the system does not work below 25 mph or respond to objects that are moving less than about 5mph.  This system shall be enhanced/modified as needed to work smoothly with the other automated functions.
-===Lane Change===
+:===Lane Change===
-A lane change maneuver shall be implemented that is distinct from turns and exits, such that it may occur on any section of roadway, including curved roads.  The lane change may occur to the left or to the right, but shall not intrude into an oncoming lane, and thus shall not accommodate some passing maneuvers.  The lane change maneuver shall be incorporated into high level control logic as needed to accommodate other maneuvers.  For example, a left turn may be specified that would require a lane change into a left turn lane.  The system shall be able to recognize this and request a lane change preceding the left turn.
+:A lane change maneuver shall be implemented that is distinct from turns and exits, such that it may occur on any section of roadway, including curved roads.  The lane change may occur to the left or to the right, but shall not intrude into an oncoming lane, and thus shall not accommodate some passing maneuvers.  The lane change maneuver shall be incorporated into high level control logic as needed to accommodate other maneuvers.  For example, a left turn may be specified that would require a lane change into a left turn lane.  The system shall be able to recognize this and request a lane change preceding the left turn.
-===Brake to Stop===
+:===Brake to Stop===
-Most intersections have stop lines at which vehicles are expected to stop in the presence of a stop sign or a red light.  The automation controller shall recognize stop lines and be able to bring the vehicle to a complete stop at such locations.  The ability to cause the ownship vehicle to brake to a stop at an arbitrary location shall also be provided.  This function may be used to simulate a system failure or some other experimental manipulation.  The high level logic around this maneuver shall not, at this time, recognize the presence of stop signs or the state of traffic signals; however, that capability may be added at a later time.
+:Most intersections have stop lines at which vehicles are expected to stop in the presence of a stop sign or a red light.  The automation controller shall recognize stop lines and be able to bring the vehicle to a complete stop at such locations.  The ability to cause the ownship vehicle to brake to a stop at an arbitrary location shall also be provided.  This function may be used to simulate a system failure or some other experimental manipulation.  The high level logic around this maneuver shall not, at this time, recognize the presence of stop signs or the state of traffic signals; however, that capability may be added at a later time.
-===Merge / Exit===
+:===Merge / Exit===
-The ownship vehicle shall be able to autonomously merge onto highways and exit off them.  The controller in these situations shall be able to accommodate the interchange types most often encountered in NADS databases (ex: overpasses and cloverleafs).  If there is a choice of turn direction after exiting a highway, then the operator must specify a turn as they normally would at any other intersection.
+:The ownship vehicle shall be able to autonomously merge onto highways and exit off them.  The controller in these situations shall be able to accommodate the interchange types most often encountered in NADS databases (ex: overpasses and cloverleafs).  If there is a choice of turn direction after exiting a highway, then the operator must specify a turn as they normally would at any other intersection.
-===Turning===
+:===Turning===
-The automation shall be able to make the ownship vehicle turn left or right at an intersection, whether that intersection is a 4-way, 3-way, or Y intersection.  Two variations of turning shall be provided.  The first is a stop, turn, go maneuver in which the vehicle comes to a complete stop before proceeding.  The second is a slow, turn, go maneuver in which the vehicle rolls into the intersection and navigates through it at a comfortable speed.  If there is a choice of destination lanes, then the controller shall choose the rightmost lane on a right turn and the leftmost lane on a left turn.
+:The automation shall be able to make the ownship vehicle turn left or right at an intersection, whether that intersection is a 4-way, 3-way, or Y intersection.  Two variations of turning shall be provided.  The first is a stop, turn, go maneuver in which the vehicle comes to a complete stop before proceeding.  The second is a slow, turn, go maneuver in which the vehicle rolls into the intersection and navigates through it at a comfortable speed.  If there is a choice of destination lanes, then the controller shall choose the rightmost lane on a right turn and the leftmost lane on a left turn.
 ===Pull Over===
 The automation shall be able to make the ownship pull over to the shoulder or curb of the road to a stop.  The purpose of this behavior is to provide an acceptable ‘default’ behavior in cases where the driver is disabled or unable to act.
-===Abort===
+:===Abort===
-The automation shall allow the occupant to abort an action and revert to the previous valid action.  For example, if the car is attempting a lane change and the passenger wishes to abort, the car will remain doing the last valid behavior (in this case, lane following).
+:The automation shall allow the occupant to abort an action and revert to the previous valid action.  For example, if the car is attempting a lane change and the passenger wishes to abort, the car will remain doing the last valid behavior (in this case, lane following).
-===Transfer of Control===
+:===Transfer of Control===
-Mechanisms shall be provided to allow the driver to transfer control to the automation as well as take back control from it.  A driver interface shall be provided in some form to notify the driver of the current state of the automation.  The operator shall be able to specify a total or partial transfer of control, where partial refers to transferring one axis of control while leaving the other in its current state.  Transfer from the automated to manual control shall be able to be triggered by the operator to simulate a system failure of some kind.
+:Mechanisms shall be provided to allow the driver to transfer control to the automation as well as take back control from it.  A driver interface shall be provided in some form to notify the driver of the current state of the automation.  The operator shall be able to specify a total or partial transfer of control, where partial refers to transferring one axis of control while leaving the other in its current state.  Transfer from the automated to manual control shall be able to be triggered by the operator to simulate a system failure of some kind.
-Driving Style
+:===Driving Style===
-The automation controllers shall be able to perform all the maneuvers described above in a consistent manner, similar to how a human driver would perform them.  Moreover, the operator (and perhaps the driver) shall be able to set the driving style from among a limited set of options ranging from more conservative to more aggressive, in order to better match driver’s preferences.
+:The automation controllers shall be able to perform all the maneuvers described above in a consistent manner, similar to how a human driver would perform them.  Moreover, the operator (and perhaps the driver) shall be able to set the driving style from among a limited set of options ranging from more conservative to more aggressive, in order to better match driver’s preferences.
-===Triggers===
+:===Triggers===
-The operator shall be able to issue ‘turn-by-turn’ instructions to the automation in order to simulate an automated route navigation feature.  If the route is fixed and pre-determined, then these instructions may be embedded in the scenario as triggered behaviors.  However, they may also be issued manually by the operator as the drive is progressing.  For example, if the operator issues a command to turn right, it shall be understood by the navigation controller that a right turn is requested at the next available opportunity.  An operator interface of some kind shall be provided to allow the operator to interact with the navigation controller.
+:The operator shall be able to issue ‘turn-by-turn’ instructions to the automation in order to simulate an automated route navigation feature.  If the route is fixed and pre-determined, then these instructions may be embedded in the scenario as triggered behaviors.  However, they may also be issued manually by the operator as the drive is progressing.  For example, if the operator issues a command to turn right, it shall be understood by the navigation controller that a right turn is requested at the next available opportunity.  An operator interface of some kind shall be provided to allow the operator to interact with the navigation controller.

← Older revision		Revision as of 19:05, 7 January 2018
Line 141:		Line 141:

	==Vehicle Automation Option==		==Vehicle Automation Option==
		+	The NADS team have developed a set of low-level behaviors that can be activated by the scenario, by manual action, or by a user-designed external subsystem. There are also functions for transfer of control, high-level driving style parameters, and support for existing scenario control triggering systems. Along with the logical database API, it provides the user with the tools to develop their own high-level systems for executive control. The functions are as follows (excerpted from the development document):
		+
		+	===Lane Following===
		+	A low-level controller has been implemented to allow the ownship vehicle to following the lane in which it is traveling. The controller works over a range of speeds from urban to highway driving, and is able to work on curved roads. The controller does not manage changing lanes, making turns, etc. These functions are covered in new functions described below. The control system that has been implemented in Simulink shall be integrated into the MiniSim software.
		+	===Speed Following===
		+	An adaptive cruise control (ACC) system has been implemented in vehicle dynamics. This system was designed for an ACC study and modeled after a Toyota Avalon tested at that time. There is a deceleration limit on the ACC authority; and the system does not work below 25 mph or respond to objects that are moving less than about 5mph. This system shall be enhanced/modified as needed to work smoothly with the other automated functions.
		+	===Lane Change===
		+	A lane change maneuver shall be implemented that is distinct from turns and exits, such that it may occur on any section of roadway, including curved roads. The lane change may occur to the left or to the right, but shall not intrude into an oncoming lane, and thus shall not accommodate some passing maneuvers. The lane change maneuver shall be incorporated into high level control logic as needed to accommodate other maneuvers. For example, a left turn may be specified that would require a lane change into a left turn lane. The system shall be able to recognize this and request a lane change preceding the left turn.
		+	Brake to Stop
		+	Most intersections have stop lines at which vehicles are expected to stop in the presence of a stop sign or a red light. The automation controller shall recognize stop lines and be able to bring the vehicle to a complete stop at such locations. The ability to cause the ownship vehicle to brake to a stop at an arbitrary location shall also be provided. This function may be used to simulate a system failure or some other experimental manipulation. The high level logic around this maneuver shall not, at this time, recognize the presence of stop signs or the state of traffic signals; however, that capability may be added at a later time.
		+	Merge / Exit
		+	The ownship vehicle shall be able to autonomously merge onto highways and exit off them. The controller in these situations shall be able to accommodate the interchange types most often encountered in NADS databases (ex: overpasses and cloverleafs). If there is a choice of turn direction after exiting a highway, then the operator must specify a turn as they normally would at any other intersection.
		+	Turning
		+	The automation shall be able to make the ownship vehicle turn left or right at an intersection, whether that intersection is a 4-way, 3-way, or Y intersection. Two variations of turning shall be provided. The first is a stop, turn, go maneuver in which the vehicle comes to a complete stop before proceeding. The second is a slow, turn, go maneuver in which the vehicle rolls into the intersection and navigates through it at a comfortable speed. If there is a choice of destination lanes, then the controller shall choose the rightmost lane on a right turn and the leftmost lane on a left turn.
		+	Pull Over
		+	The automation shall be able to make the ownship pull over to the shoulder or curb of the road to a stop. The purpose of this behavior is to provide an acceptable ‘default’ behavior in cases where the driver is disabled or unable to act.
		+	Abort
		+	The automation shall allow the occupant to abort an action and revert to the previous valid action. For example, if the car is attempting a lane change and the passenger wishes to abort, the car will remain doing the last valid behavior (in this case, lane following).
		+	Transfer of Control
		+	Mechanisms shall be provided to allow the driver to transfer control to the automation as well as take back control from it. A driver interface shall be provided in some form to notify the driver of the current state of the automation. The operator shall be able to specify a total or partial transfer of control, where partial refers to transferring one axis of control while leaving the other in its current state. Transfer from the automated to manual control shall be able to be triggered by the operator to simulate a system failure of some kind.
		+	Driving Style
		+	The automation controllers shall be able to perform all the maneuvers described above in a consistent manner, similar to how a human driver would perform them. Moreover, the operator (and perhaps the driver) shall be able to set the driving style from among a limited set of options ranging from more conservative to more aggressive, in order to better match driver’s preferences.
		+	Triggers
		+	The operator shall be able to issue ‘turn-by-turn’ instructions to the automation in order to simulate an automated route navigation feature. If the route is fixed and pre-determined, then these instructions may be embedded in the scenario as triggered behaviors. However, they may also be issued manually by the operator as the drive is progressing. For example, if the operator issues a command to turn right, it shall be understood by the navigation controller that a right turn is requested at the next available opportunity. An operator interface of some kind shall be provided to allow the operator to interact with the navigation controller.

← Older revision		Revision as of 19:04, 7 January 2018
Line 125:		Line 125:
	:'''GetSolInfo ()'''		:'''GetSolInfo ()'''
	:Given sol ID (that which is part of the dynamic object data), this function will return information from the SOL file, including the minimum bounding box for the object.		:Given sol ID (that which is part of the dynamic object data), this function will return information from the SOL file, including the minimum bounding box for the object.
		+
		+
		+	===Example program===
		+	An example program is provided. This program:
		+
		+	:*Utilizes every query available to the API
		+	::Every query function accessible to the API shall be called at least one
		+
		+	:*MiniSim Connectivity
		+	::The sample program shall receive all data that the query API may utilize, and properly load the data into the API’s objects.
		+
		+	:*Full Source code and project file will be provided
		+	::The source code and project files will be provided for the sample program, the end user shall be able to build this program using Visual Studio 2010
		+
		+
		+	==Vehicle Automation Option==

@@ Line 106: / Line 106: @@
 :'''ChangeLanes()'''
 :Given a position (XYZ) on a road segment (not in an intersection) and a lane offset(+ meaning lanes to the right, negative numbers mean to the left, this function will return center of the lane indicated by the lane offset or an error code indicating why it cannot changes lanes( i.e. the lane does not exist, or is an oncoming lane).
 ===Static Object Functions===
 :'''GetStaticObjects()'''
 :Given a bounding box, this function will return a list of static objects, this will include x,y,z information and sol ID. Most signs will provide a x,y,z location, where this position will provide the bottom of the post of the sign (for signs with a single post). The height of the sign will be derivable from the GetSolInfo.  However not every sign‘s position is directly related to its position in the BLI (some signs such as interstate with many components do not match the actual position as to ease authoring and viewing the sign in ISAT). Some guidance will be provided as what signs can have their positions directly derived from the bli.