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The program is based on the routing graph for the map layout.

Sources:
https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/matlab_scripts/map_print/map_print2/lane_graph.m
https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/central_routing_example/src/lane_graph.hpp

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The direction vector is given for every path node in the graph.

Collision Test

TODOWhen the program starts, all possible collisions, between all pairs of path nodes are checked. The result (boolean: collision yes/no?) is cached. The collision decision is based on the rectangle-rectange distance between the vehicles.

Sources:
https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/central_routing_example/src/lane_graph_tools.cpp#L72
https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/central_routing_example/src/geometry.hpp

Collision Avoidance

TODO

To be continued ...

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