R158 - woven-planet/opensafety-mbse GitHub Wiki

R158 / 1:1c

Traveling Ego Vehicle is driving through one Lane Configuration Segment

Lane Configuration Segment envelopes path of zero or one Traveling Ego Vehicle

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Imagine a Traveling Ego Vehicle at some point within a Road Segment. Let’s say that it is not against the flow of traffic illegally, so it must be in the forward Conduit. Let’s say it is a multi-lane Conduit, so the vehicle sees the Driving Lane it is in along with possible Lanes to its left and/or right within its Conduit.

Since the Lane Configuration Segment defines an unchanging configuration of Lanes in a Conduit, and a Road Segment is fully partitioned as a set of adjacent Lane Configuration Segments, we know that our Traveling Ego Vehicle must be in some specific Lane Configuration Segment.

Ah, but what if a right turn lane is beginning to open up just to the right of our Traveling Ego Vehicle? Could we say that we are crossing over from one Lane Configuration Segment to the next and therefore temporarily spanning two?

We could, but we don’t. By policy we will always consider the Traveling Ego Vehicle to be in one of them. As soon as the front of the vehicle (or some distance forward of the vehicle) crosses into the next Lane Configuration Segment, it becomes the current Lane Configuration Segment.

At any point in time a given Lane Configuration Segment may or may not be occupied by the Traveling Ego Vehicle.

Formalization

Traveling Ego Vehicle.(LCS, LCS road segment) -> Lane Configuration Segment.(ID, Road segment)