[Feature]: Define responsibilities of Planning and Acting

[SirMDA]

Feature Description

Borders between planning and acting are not well defined and leads to a lot of confusion.
These responsibilites need to be defined for a better understanding, which teams works on which task during the project.
See also #421

Definition of Done

Responsibilities are defined and interface is described in the doku markdown file located here [Pfad]

Testability

None

Dependencies

None

[Johannes1098]

Result of the meeting on 2025-11-18:

Planning

• Traffic lights
• Road signs
• Global waypoints
• ACC
• Predictive obstacle avoidance in the vehicle wide surroundings
• Predictive collision avoidance in the vehicle wide surroundings (cyclists, parked cars, traffic lights)
• Find and determine overtaking path

Acting

• Avoid collisions in the immediate proximity of the vehicle (spontaneous pedestrians, car doors, grandma tipping over with shopping cart)
• Lanekeeping and follow streetmarkings

Not categorised

• Nothing here anymore

Brainstorming of communication sequence/ procedure

Planning:

• Planning specifies and pretends the performed manoeuvres
• Planning acts as a foresighted driver / panicked co driver
• Planning decides at which distance which speed should be used.

Acting:

• Acting tries to execute the specified manoeuvres specified by planning in the best possible way.
• Acting is allowed to make small decisions of its own, such as having to reverse in order to avoid an obstacle.
• Everything in the lane is allowed for acting.
• This condition is temporarily suspended for manoeuvres that change lanes until the new lane has been reached.

If the acting senses that the car is stuck and cannot move on, this information will be given to the planning.
Planning then decides what acting should do: Evade maneuver or drive the car free!

If the acting is aware of leave the predefined trajectory in order to be able to execute it, acting itself plans a 'super basic local path' in order to be able to return to the path/trajectory as quickly as possible.

Diagram