trajectory_supervisor.supervisor_modules.supmod_integrity.src.supmod_integrity module

class trajectory_supervisor.supervisor_modules.supmod_integrity.src.supmod_integrity.SupModIntegrity(supmod_config_path: str)[source]

Bases: object

Sample supervisor module class, holding the basic layout. In order to set up a new supervisor module, simply copy this folder (‘supmod_dummy’), change all occurrences of ‘dummy’ to your module name and add your code to the function skeleton.

Authors
Created on

31.05.2021

Init the rule-based reachable set SupMod.

Parameters

supmod_config_path – path to Supervisor config file

calc_score(traj: numpy.ndarray) → bool[source]

Calculate safety score (boolean value) based on integrity checks.

This module checks whether the values specified in the trajectory match each other. In this sense, the following checks are performed: * basic data checks (format of provided trajectory, physical range of values) * s-coordinate matches the x-y-coordinates - calculation and adjustment of the distances between the points * heading matches the x-y coordinates - rough adjustment of the orientation given by the points * curvature based on angle change over the given distance (s-coordinate) * acceleration based on velocity data and s-coordinate

Parameters

traj – trajectory of the ego-veh. with the following columns: [s, pos_x, pos_y, heading, curvature, velocity, acceleration]

Returns

  • safety - safety score based on integrity. True = safe, False = possibly not safe

  • safety_params - parameter dict