trajectory_supervisor.supervisor_modules.supmod_rules.src.supmod_rules module

class trajectory_supervisor.supervisor_modules.supmod_rules.src.supmod_rules.SupModRules(supmod_config_path: str)[source]

Bases: object

Class handling safety checks regarding applicable rules for the ego-vehicle.

Authors
Created on

12.08.2020

Init the SupMod.

Parameters

supmod_config_path – path to Supervisor config file

calc_score(ego_data: numpy.ndarray) → tuple[source]

Asses whether the given trajectory adheres to formalized rules (e.g. maximum velocity).

Parameters

ego_data – data of the ego vehicle(s, pos_x, pos_y, heading, curvature, velocity, acceleration) for a given time instance

Returns

  • safety - binary value indicating the safety state. ‘False’ = unsafe and ‘True’ = safe

  • safety_parameter - parameter dict