SupMod Documentation

These pages give you an insight on the background or structure of the individual Supervisor modules (SupMod) within the online verification framework.

Contents:

• SupMod Dummy
  • Overview
  • Add your module documentation
• SupMod Friction
  • Overview
  • Friction check
• SupMod Guaranteed Occupancy Area
  • Overview
  • Calculate occupation sets
  • Intersection evaluation
• SupMod Integrity
  • Overview
  • Integrity checks
• SupMod Kinematic Dynamic
  • Overview
  • Kinematic Driveability
  • Dynamic Driveability
• SupMod Rule Reach Sets
  • Overview
  • Calculate occupation sets
  • Rule evaluation and deletion patch generation
  • Set subtraction
  • Intersection evaluation
• SupMod Rules
  • Overview
  • Rules
• SupMod Safe End State
  • Overview
  • End-state check
• SupMod Static Collision
  • Overview
  • Map check

Further details about the actual implementation and the purpose of individual functions can be found in the trajectory_supervisor.