Lane Change Behavior Specification - woven-planet/opensafety-mbse GitHub Wiki
This component of the Ego Personality defines configurable parameters relevant to making a Lane Change. At present, only Driving Lane Change behavior is being considered. Some of these parameters should be relevant to other types of lane change, however.
- Personality
When attempting a Driving Lane Change or similar maneuver, this is the maximum amount of time to wait for a target Driving Lane to yield a feasible, safe opening in traffic where the Ego Vehicle may insert itself in that target lane. If this period expires, the Driving Lane Change will be aborted, and possibly attempted again at some future point in time.
Type: Duration
During a Driving Lane Change, this is the maximum amount of time from the end of the advance indication interval (adequate advance turn signal indication) to the completion of the physical maneuver where the Ego Vehicle is aligned in the target Driving Lane.
Type: Duration
The maximum time it should take to get into the target lane once maneuvering begins from the source lane.
Type: Duration
The minimum time interval where the turn signal is continuously on, indicating in the direction of the target Driving Lane in a Driving Lane Change, prior to any physical maneuver toward that target lane.
Type: Duration
The minimum time interval where the turn signal remains on after crossing into the target lane before being turned off.
Type: Duration
After a successful Driving Lane Change, the Ego Vehicle must wait for at least this period of time before attempting another Driving Lane Change. The term “must” presumes that we maintain our definition of a Driving Lane Change. In the case of an assistive/supervisory autonomous product, where the human driver chooses to preempt the current Driving Lane Change either terminates with a logged error or assistive automation may forcefully delay the maneuver. In the case of either assitive or fully automated behavior, imminent danger of some type may abort the Driving Lane Change and trigger a different behavior, in which case the specified inhibit period is rendered moot. In other words, the “must” provision presumes that the Driving Lane Change behavior remains intact.
Type: Duration