Usage

First make sure that the supporting software (LCC, IPS) is running and that the vehicles are online and placed on the map.

In a new terminal, run:

cd ~/dev/software/central_routing_example
./run.bash 2,3,5,7,11

The list of integers in the run command must be the exact list of vehicle IDs for the active vehicles.

How it works

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

The graph edges correspond to center lines, along which a vehicle may drive. Parallel lanes are not modeled, instead extra edges are added for lane changes in discrete locations.

Waiting Mode

The program starts in a waiting mode. It will transition into the running mode, when the following conditions are met.

Vehicle IPS observations were received for all expected vehicles.
All vehicles could be matched to the graph. All vehicles must be close to a center-line and oriented correctly.

Running Mode

The route planning and collision avoidance runs independently of the vehicle's actual behaviour. It is assumed that the vehicles follow the reference trajectories with sufficient accuracy.

Random Route Selection

For each vehicle a random route is selected. This route is dynamically extended as time progresses. The route is represented as a list of edge indices. Since every edge is part of a cycle, the route can be extended indefinitely.

Source: https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/central_routing_example/src/VehicleTrajectoryPlanningState.cpp#L90

Speed Profile + Path => Trajectory

TODO

Collision Avoidance

TODO

To be continued ...