Inheritance diagram for apollo::planning::LaneChangeDecider:

Collaboration diagram for apollo::planning::LaneChangeDecider:

Public Member Functions
	LaneChangeDecider (const TaskConfig &config, const std::shared_ptr< DependencyInjector > &injector)

Public Member Functions inherited from apollo::planning::Decider
	Decider (const TaskConfig &config)

	Decider (const TaskConfig &config, const std::shared_ptr< DependencyInjector > &injector)

virtual	~Decider ()=default

apollo::common::Status	Execute (Frame frame, ReferenceLineInfo reference_line_info) override

apollo::common::Status	Execute (Frame *frame) override

Public Member Functions inherited from apollo::planning::Task
	Task (const TaskConfig &config)

	Task (const TaskConfig &config, const std::shared_ptr< DependencyInjector > &injector)

virtual	~Task ()=default

const std::string &	Name () const

const TaskConfig &	Config () const

Static Public Member Functions
static bool	IsClearToChangeLane (ReferenceLineInfo *reference_line_info)
	A static function to check if the ChangeLanePath type of reference line is safe or if current reference line is safe to deviate away and come back. More...

static bool	IsPerceptionBlocked (const ReferenceLineInfo &reference_line_info, const double search_beam_length, const double search_beam_radius_intensity, const double search_range, const double is_block_angle_threshold)
	A static function to estimate if an obstacle in certain range in front of ADV blocks too much space perception behind itself by beam scanning. More...

static void	UpdatePreparationDistance (const bool is_opt_succeed, const Frame frame, const ReferenceLineInfo const reference_line_info, PlanningContext *planning_context)

Additional Inherited Members
Protected Member Functions inherited from apollo::planning::Decider
virtual apollo::common::Status	Process (Frame *frame)

Protected Attributes inherited from apollo::planning::Task
Frame *	frame_ = nullptr

ReferenceLineInfo *	reference_line_info_ = nullptr

TaskConfig	config_

std::string	name_

std::shared_ptr< DependencyInjector >	injector_

Constructor & Destructor Documentation

◆ LaneChangeDecider()

apollo::planning::LaneChangeDecider::LaneChangeDecider	(	const TaskConfig &	config,
		const std::shared_ptr< DependencyInjector > &	injector
	)

static bool apollo::planning::LaneChangeDecider::IsClearToChangeLane ( ReferenceLineInfo * reference_line_info )

static

A static function to check if the ChangeLanePath type of reference line is safe or if current reference line is safe to deviate away and come back.

static bool apollo::planning::LaneChangeDecider::IsPerceptionBlocked	(	const ReferenceLineInfo &	reference_line_info,
		const double	search_beam_length,
		const double	search_beam_radius_intensity,
		const double	search_range,
		const double	is_block_angle_threshold
	)

static

A static function to estimate if an obstacle in certain range in front of ADV blocks too much space perception behind itself by beam scanning.

Parameters

search_beam_length	is the length of scanning beam
search_beam_radius_intensity	is the resolution of scanning
search_range	is the scanning range centering at ADV heading
is_block_angle_threshold	is the threshold to tell how big a block angle range is perception blocking

static void apollo::planning::LaneChangeDecider::UpdatePreparationDistance	(	const bool	is_opt_succeed,
		const Frame *	frame,
		const ReferenceLineInfo *const	reference_line_info,
		PlanningContext *	planning_context
	)

static

The documentation for this class was generated from the following file: