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Path Planning - FSM
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| enum LongitudinalState | |
| { | |
| ACCELERATE = 0, | |
| DECELERATE = 1, | |
| MAINTAIN_COURSE = 2, | |
| STOP = 3 | |
| }; | |
| enum LateralState | |
| { | |
| STAY_IN_LANE = 0, | |
| PREPARE_CHANGE_LANE_LEFT = 1, | |
| PREPARE_CHANGE_LANE_RIGHT = 2, | |
| CHANGE_LANE_LEFT = 3, | |
| CHANGE_LANE_RIGHT = 4 | |
| }; | |
| vector<State> StateMachine::nextPossibleStates() | |
| { | |
| vector<State> future_states; | |
| switch (this->current_state.d_state) | |
| { | |
| case LateralState::STAY_IN_LANE: | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| future_states.push_back(State(LongitudinalState::ACCELERATE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| future_states.push_back(State(LongitudinalState::DECELERATE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::PREPARE_CHANGE_LANE_LEFT, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane - 1)); | |
| future_states.push_back(State(LongitudinalState::ACCELERATE, | |
| LateralState::PREPARE_CHANGE_LANE_LEFT, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane - 1)); | |
| future_states.push_back(State(LongitudinalState::DECELERATE, | |
| LateralState::PREPARE_CHANGE_LANE_LEFT, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane - 1)); | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::PREPARE_CHANGE_LANE_RIGHT, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane + 1)); | |
| future_states.push_back(State(LongitudinalState::ACCELERATE, | |
| LateralState::PREPARE_CHANGE_LANE_RIGHT, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane + 1)); | |
| future_states.push_back(State(LongitudinalState::DECELERATE, | |
| LateralState::PREPARE_CHANGE_LANE_RIGHT, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane + 1)); | |
| break; | |
| case LateralState::PREPARE_CHANGE_LANE_LEFT: | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::CHANGE_LANE_LEFT, | |
| this->current_state.future_lane, | |
| this->current_state.future_lane)); | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| future_states.push_back(State(LongitudinalState::DECELERATE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| break; | |
| case LateralState::PREPARE_CHANGE_LANE_RIGHT: | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::CHANGE_LANE_RIGHT, | |
| this->current_state.future_lane, | |
| this->current_state.future_lane)); | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| future_states.push_back(State(LongitudinalState::DECELERATE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| break; | |
| default: | |
| future_states.push_back(State(LongitudinalState::MAINTAIN_COURSE, | |
| LateralState::STAY_IN_LANE, | |
| this->current_state.current_lane, | |
| this->current_state.current_lane)); | |
| } | |
| return future_states; | |
| } |
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