自动驾驶云服务 OCTOPUS-动作（Actions）:动作（lane_offset）

时间：2024-07-23 10:56:36

表7 lane_offset参数
Parameter	Type	Mandatory	Description
offset	length	yes	Signed number in meters the vehicle should respect as an offset from the center of the current lane
rate_peak	speed	yes	Target value for the peak lateral velocity that must be achieved during the action
dynamics_shape	dynamics_shape	yes	Geometrical shape of the LaneOffsetAction's dynamics
target	entity	no	Reference entity

绝对偏移

m_shape: dynamics_shape = step
Ego.lane_offset(0.8m, 0.5mps, m_shape)

相对偏移

m_shape: dynamics_shape = linear
side_vehicle.lane_offset(offset:1.0m, rate_peak: 1.5mps, dynamics_shape:m_shape, target: Ego)

自动驾驶云服务 OCTOPUS-动作（Actions）:动作（lane_offset）

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