[EpicFeature]: Intermediate layer after perception

[SirMDA]

Feature Description

As Systems Engineer we want to create an intermediate layer for having a better overview and data holding solutions for the acting and planning team. This EpicFeature will be used to link all issues related to the perception layer.

Definition of Done

When the perception layer is added and working. Working in this case means that the other teams are able to use the perception layer for their own purposes. Also the perception layer Epic will only be finally finished if everything is visualized correctly.

Effort Estimate

This issue will only be used to link other issues. Therefore the time estimate can not be known yet but this will definitely be larger than one or two sprints.

Testability

This Epic can not be tested directly. But following to the DoD this will be tested by using and verifying.

Dependencies

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[Zelberor]

Possibly affected issues based on the current draft:

Issues that might be fixed/implemented by this layer :

• Dealing with objects without measured distance #461
• Combine radar and lidar data to avoid incomplete data and improve sampling #455
• Distance measurement of not detected objects #454
• [Feature]: Object velocity detection #453

This system might be useful for:

• [Feature]: Potential field method on local trajectory RESEARCH #492
• [Feature]: Speed regulation in order to keep an appropriate distance to car in front #474
• [Feature]: Develop a concept how to handle oncoming traffic (especially when turning left) #472
• Collisions with bikers and parked cars #438

[Zelberor]

Epic feature main branch: 486-intermediatelayer-main