diff --git a/code/planning/behavior_agent/src/behavior_agent/behavior_tree.py b/code/planning/behavior_agent/src/behavior_agent/behavior_tree.py index 4df7e287..1ac702c1 100755 --- a/code/planning/behavior_agent/src/behavior_agent/behavior_tree.py +++ b/code/planning/behavior_agent/src/behavior_agent/behavior_tree.py @@ -61,47 +61,7 @@ def grow_a_tree(role_name): ("Leave Change") ]) ]), - Inverter(Selector("Overtaking", children=[ - behaviours.traffic_objects.NotSlowedByCarInFront - ("Not Slowed By Car in Front?"), - Selector("Number of Lanes", children=[ - Sequence("Multi Lane", children=[ - behaviours.road_features.MultiLane("Multi Lane?"), - behaviours.road_features.LeftLaneAvailable - ("Left Lane Available?"), - behaviours.traffic_objects.WaitLeftLaneFree - ("Wait for Left Lane Free"), - behaviours.maneuvers.SwitchLaneLeft("Switch Lane Left") - ]), - Sequence("Single Lane", children=[ - behaviours.road_features.SingleLineDotted - ("Single Lane with dotted Line?"), - behaviours.traffic_objects.WaitLeftLaneFree - ("Wait for Left Lane Free"), - behaviours.maneuvers.SwitchLaneLeft - ("Switch Lane Left"), - Selector("Driving on Left Side", children=[ - Sequence("Overtake", children=[ - behaviours.traffic_objects.OvertakingPossible - ("Overtaking Possible?"), - behaviours.maneuvers.Overtake("Overtake"), - behaviours.maneuvers.SwitchLaneRight - ("Switch Lane Right") - ]), - behaviours.maneuvers.SwitchLaneRight("Switch Lane Right") - ]) - ]) - ]), - Running("Can't Overtake") - ])), - Sequence("Back to Right Lane", children=[ - behaviours.road_features.RightLaneAvailable("Right Lane Available"), - behaviours.traffic_objects.NotSlowedByCarInFrontRight - ("Not Slowed By Car in Front Right?"), - behaviours.traffic_objects. - WaitRightLaneFree("Wait for Right Lane Free"), - behaviours.maneuvers.SwitchLaneRight("Switch Lane Right") - ]) + ]), behaviours.maneuvers.Cruise("Cruise") ]) diff --git a/doc/03_research/03_planning/00_paf23/BT_paper.png b/doc/00_assets/planning/BT_paper.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/BT_paper.png rename to doc/00_assets/planning/BT_paper.png diff --git a/doc/03_research/03_planning/00_paf23/BehaviorTree_medium.png b/doc/00_assets/planning/BehaviorTree_medium.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/BehaviorTree_medium.png rename to doc/00_assets/planning/BehaviorTree_medium.png diff --git a/doc/03_research/03_planning/00_paf23/Globalplan.png b/doc/00_assets/planning/Globalplan.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/Globalplan.png rename to doc/00_assets/planning/Globalplan.png diff --git a/doc/03_research/03_planning/00_paf23/Planning.png b/doc/00_assets/planning/Planning.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/Planning.png rename to doc/00_assets/planning/Planning.png diff --git a/doc/03_research/03_planning/00_paf23/Planning_paf21.png b/doc/00_assets/planning/Planning_paf21.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/Planning_paf21.png rename to doc/00_assets/planning/Planning_paf21.png diff --git a/doc/03_research/03_planning/00_paf23/intersection_scenario.png b/doc/00_assets/planning/intersection_scenario.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/intersection_scenario.png rename to doc/00_assets/planning/intersection_scenario.png diff --git a/doc/03_research/03_planning/00_paf23/localplan.png b/doc/00_assets/planning/localplan.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/localplan.png rename to doc/00_assets/planning/localplan.png diff --git a/doc/03_research/03_planning/00_paf23/overtaking_scenario.png b/doc/00_assets/planning/overtaking_scenario.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/overtaking_scenario.png rename to doc/00_assets/planning/overtaking_scenario.png diff --git a/doc/03_research/03_planning/00_paf23/overview.jpg b/doc/00_assets/planning/overview.jpg similarity index 100% rename from doc/03_research/03_planning/00_paf23/overview.jpg rename to doc/00_assets/planning/overview.jpg diff --git a/doc/03_research/03_planning/00_paf23/overview.png b/doc/00_assets/planning/overview.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/overview.png rename to doc/00_assets/planning/overview.png diff --git a/doc/03_research/03_planning/00_paf23/overview_paper1.png b/doc/00_assets/planning/overview_paper1.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/overview_paper1.png rename to doc/00_assets/planning/overview_paper1.png diff --git a/doc/03_research/03_planning/00_paf23/prios.png b/doc/00_assets/planning/prios.png similarity index 100% rename from doc/03_research/03_planning/00_paf23/prios.png rename to doc/00_assets/planning/prios.png diff --git a/doc/03_research/03_planning/00_paf23/01_Planning.md b/doc/03_research/03_planning/00_paf23/01_Planning.md index da344b00..a36283ac 100644 --- a/doc/03_research/03_planning/00_paf23/01_Planning.md +++ b/doc/03_research/03_planning/00_paf23/01_Planning.md @@ -6,7 +6,7 @@ Finding the optimal path from start to goal, taking into account the static and ### [PAF21 - 2](https://github.com/ll7/paf21-2) -![Planning](Planning_paf21.png) +![Planning](../../../00_assets/planning/Planning_paf21.png) Input: @@ -55,7 +55,7 @@ Map Manager ### [Autoware](https://github.com/autowarefoundation/autoware) -![https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/](Planning.png) +![https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/](../../../00_assets/planning/Planning.png) Input: diff --git a/doc/03_research/03_planning/00_paf23/02_PlanningPaf22.md b/doc/03_research/03_planning/00_paf23/02_PlanningPaf22.md index a28289f8..605605e7 100644 --- a/doc/03_research/03_planning/00_paf23/02_PlanningPaf22.md +++ b/doc/03_research/03_planning/00_paf23/02_PlanningPaf22.md @@ -4,7 +4,7 @@ ## Architecture -![overview](overview.jpg) +![overview](../../../00_assets/planning/overview.jpg) ### Preplanning diff --git a/doc/03_research/03_planning/00_paf23/architecture.md b/doc/03_research/03_planning/00_paf23/03_PlannedArchitecture.md similarity index 91% rename from doc/03_research/03_planning/00_paf23/architecture.md rename to doc/03_research/03_planning/00_paf23/03_PlannedArchitecture.md index e85c7947..172cb9ca 100644 --- a/doc/03_research/03_planning/00_paf23/architecture.md +++ b/doc/03_research/03_planning/00_paf23/03_PlannedArchitecture.md @@ -4,7 +4,7 @@ Provide an overview for a possible planning architecture consisting of Global P ## Overview -![overview](overview.png) +![overview](../../../00_assets/planning/overview.png) The **Global Plan** gathers all data relevant to build a copy of the town the car is driving in. It also computes an optimal global path, which includes all waypoints. The Decision Making can order a recalculation of the global path. @@ -19,7 +19,7 @@ Motions like lane changing must be approved by the decision making and they get ### Global Plan -![overview](Globalplan.png) +![overview](../../../00_assets/planning/Globalplan.png) *Map Generator:* Gathers map data from Carla and prepares it for the PrePlanner @@ -69,7 +69,7 @@ See Behaviour Tree. ### Local Plan -![Local Plan](localplan.png) +![Local Plan](../../../00_assets/planning/localplan.png) *Local Preplan:* Segements the global path and calculates the middle of the lane. Is not called in every cycle. @@ -128,4 +128,4 @@ See Behaviour Tree. Red must have for next Milestone, Orange needed for future milestones, Green can already be used or is not that important -![prios](prios.png) +![prios](../../../00_assets/planning/prios.png) diff --git a/doc/03_research/03_planning/00_paf23/Local_planning_for_first_milestone.md b/doc/03_research/03_planning/00_paf23/04_Local_planning_for_first_milestone.md similarity index 82% rename from doc/03_research/03_planning/00_paf23/Local_planning_for_first_milestone.md rename to doc/03_research/03_planning/00_paf23/04_Local_planning_for_first_milestone.md index e47f05eb..431ffee9 100644 --- a/doc/03_research/03_planning/00_paf23/Local_planning_for_first_milestone.md +++ b/doc/03_research/03_planning/00_paf23/04_Local_planning_for_first_milestone.md @@ -16,7 +16,7 @@ Julius Miller Paper: [Behavior Planning for Autonomous Driving: Methodologies, Applications, and Future Orientation](https://www.researchgate.net/publication/369181112_Behavior_Planning_for_Autonomous_Driving_Methodologies_Applications_and_Future_Orientation) -![Overview_interfaces](overview_paper1.png) +![Overview_interfaces](../../../00_assets/planning/overview_paper1.png) Rule-based planning @@ -49,7 +49,7 @@ Leader, Track-Speed Github: [Decision Making with Behaviour Tree](https://github.com/kirilcvetkov92/Path-planning?source=post_page-----8db1575fec2c--------------------------------) -![github_tree](BehaviorTree_medium.png) +![github_tree](../../../00_assets/planning/BehaviorTree_medium.png) - No Intersection - Collision Detection in behaviour Tree @@ -58,7 +58,7 @@ Paper: [Behavior Trees for decision-making in Autonomous Driving](https://www.diva-portal.org/smash/get/diva2:907048/FULLTEXT01.pdf) -![Behaviour Tree](BT_paper.png) +![Behaviour Tree](../../../00_assets/planning/BT_paper.png) - simple simulation - Car only drives straight @@ -81,17 +81,17 @@ Low Level Decision: - Emergency Brake - ACC -![localplan](localplan.png) +![localplan](../../../00_assets/planning/localplan.png) Scenarios: -![Intersection](intersection_scenario.png) +![Intersection](../../../00_assets/planning/intersection_scenario.png) Left: Behaviour Intersection is triggered for motion planning, acc publishes speed. -> Lower speed is used to approach intersection Right: Behaviour Intersection is used for motion planning, acc is ignored (no object in front) -![Overtake](overtaking_scenario.png) +![Overtake](../../../00_assets/planning/overtaking_scenario.png) Left: Overtake gets triggered to maintain speed, acc is ignored