自动驾驶云服务 OCTOPUS-动作 change_lane
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动作 change_lane
- 动作主体：车辆vehicle
- 结束时间：当动作主体actor 位于目标车道lane 中、目标偏移offset 处时，动作结束.
- 是否支持modifier：否
- 参数：参数如下表，支持关键字参数. rate_peak 和rate_profile 是必选项，用于设置osc1中的dynamics . target 和reference 必须设置且只设置其中之一，前者用于指定绝对车道，后者用于指定相对车道.
|
Parameter |
Type |
Mandatory |
Description |
|---|---|---|---|
|
number_of_lanes |
uint |
no |
The target lane is "num_of_lanes" to the side of the reference entity. Use in conjunction with "side". |
|
side |
no |
Select on which side of the reference entity. |
|
|
reference |
entity |
no |
Default=it.actor. Reference to the entity that is used to determine the target lane. If this argument is omitted, the actor itself is used as reference. |
|
offset |
length |
no |
Default=0.0. Target offset from center of the target lane that the actor follows at the end of the action. |
|
rate_profile |
yes |
Assign a shape for the change of the lateral position variable (t-axis). This profile affects the lateral velocity during action execution. |
|
|
rate_peak |
speed |
yes |
Target value for the peak lateral velocity that must be achieved during the action. |
|
target |
lane_id(uint) |
no |
The actor starts and finishes the action in the target lane. |
- 目标lane必须在地图上。
- 中心线左侧的lane_id为正，如'1'，'2'.右侧的lane_id为负，如'-1'，'-3'.绝对值越大，距离中心线越远。
- offset值不能超出当前所在lane的宽度范围。
- 使用相对位置时，参考对象reference必须是车辆，否则仿真器A无法支持。
- rate_profile只能选择linear或step。
绝对车道1
my_lane: lane with:
keep(it.lane_id == '1')
m_profile: dynamics_shape = linear
side_vehicle.change_lane(target: my_lane, rate_profile: m_profile, rate_peak: 0.3mps)
绝对车道2
my_lane: lane with:
keep(it.lane_id == '-1')
m_profile: dynamics_shape = linear
side_vehicle.change_lane(target: my_lane, offset: -0.2m, rate_profile: m_profile, rate_peak: 0.4mps)
相对车道1
m_profile: dynamics_shape = step m_side: lane_change_side = left m_profile: dynamics_shape = step Ego.change_lane(number_of_lanes: 2, side: m_side, reference: side_vehicle, offset: 0.8m, rate_profile: m_profile, rate_peak: 0.3mps)
相对车道2
m_profile: dynamics_shape = step m_side: lane_change_side = same m_profile: dynamics_shape = step Ego.change_lane(number_of_lanes: 1, reference: side_vehicle, side:m_side, rate_profile: m_profile, rate_peak: 0.3mps)
