Abstract of the world model.
- Note
- SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.
The sources are 1) dwMaps, 2) PilotNet, 3) LaneNet/MapNet, 4) PathNet 5) Ensemble
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| enum | dwLaneGraphLaneType {
DW_LANEGRAPH_LANE_TYPE_LEFT = DW_SIDE_LEFT,
DW_LANEGRAPH_LANE_TYPE_RIGHT = DW_SIDE_RIGHT,
DW_LANEGRAPH_LANE_TYPE_EGO = DW_SIDE_CENTER,
DW_LANEGRAPH_LANE_TYPE_MERGE_FROM_LEFT = 3,
DW_LANEGRAPH_LANE_TYPE_MERGE_FROM_RIGHT = 4,
DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_LEFT = 5,
DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_RIGHT = 6,
DW_LANEGRAPH_LANE_TYPE_FORK_TO_LEFT = 7,
DW_LANEGRAPH_LANE_TYPE_FORK_TO_RIGHT = 8,
DW_LANEGRAPH_LANE_TYPE_CONTENDER = 9,
DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_LEFT_ENDING = 10,
DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_RIGHT_ENDING = 11,
DW_LANEGRAPH_LANE_TYPE_OTHER = 12,
DW_LANEGRAPH_LANE_TYPE_COUNT = 13
} |
| | The type of a lane. More...
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| |
| enum | dwLaneGraphSource {
DW_LANEGRAPH_SOURCE_HDMAPS = 0,
DW_LANEGRAPH_SOURCE_PILOTNET = 1,
DW_LANEGRAPH_SOURCE_LANENET = 2,
DW_LANEGRAPH_SOURCE_RAIL = 3,
DW_LANEGRAPH_SOURCE_PATHNET = 4,
DW_LANEGRAPH_SOURCE_VEHICLE_TRACES = 5,
DW_LANEGRAPH_SOURCE_LANEFUSION = 6,
DW_LANEGRAPH_SOURCE_LANE_ENSEMBLE = 7,
DW_LANEGRAPH_SOURCE_COUNT = 8
} |
| | Lane graph source enum. More...
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| |
| enum | dwLaneHandlingMode {
DW_LANEHANDLING_MODE_LANE_KEEP = 0,
DW_LANEHANDLING_MODE_LANE_CHANGE = 1,
DW_LANEHANDLING_MODE_LANE_SPLIT = 2,
DW_LANEHANDLING_MODE_SPEED_ADAPTATION = 3,
DW_LANEHANDLING_MODE_ABORT = 4,
DW_LANEHANDLING_MODE_MAX_NUM_STATE = 5
} |
| | LaneHandleState. More...
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| |
◆ dwLaneGraph
| Data Fields |
|---|
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bool |
hasContenderLane |
existence qualifier of the contender lane |
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bool |
hasLeftLane |
existence qualifier of the left adjacent lane |
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bool |
hasMidLane |
existence qualifier of the ego lane |
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bool |
hasRightLane |
existence qualifier of the right adjacent lane |
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uint32_t |
laneCount |
lane count |
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dwLaneGraphLane |
lanes[DW_LANEGRAPH_MAX_LANE_CNT_IN_LANEGRAPH] |
lanes |
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dwLaneGraphSource |
source |
source of creation |
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dwTime_t |
timestamp |
time stamp of the lanegraph object 1) HDMAPS : that of the camera localization pose 2) PILOTNET : that of the pilotnet inference 3) LANENET : that of the lane detection 4) RAIL : that of the lidar localization pose |
◆ dwLaneGraphId
| Data Fields |
|---|
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uint32_t |
leftId |
id of the left lane divider |
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uint32_t |
rightId |
id of the right lane divider |
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uint32_t |
trackId |
id of the dwLaneGraphLane object |
◆ dwLaneGraphLane
◆ dwLaneGraphLaneContentionProperty
| struct dwLaneGraphLaneContentionProperty |
| Data Fields |
|---|
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uint32_t |
contenderLaneIndexCount |
number of contentions |
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uint32_t |
contenderLaneIndices[DW_LANEGRAPH_MAX_CONTENDER_LANES] |
indices of the contender dwLaneGraphLanes |
◆ dwLaneGraphLaneDivider
| struct dwLaneGraphLaneDivider |
◆ dwLaneGraphLaneDividerSegment
| struct dwLaneGraphLaneDividerSegment |
| Data Fields |
|---|
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uint32_t |
endIndex |
end index. (one past last) |
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uint32_t |
startIndex |
start index. |
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dwLaneMarkType |
type |
lane divider type. |
◆ dwLaneGraphList
| Data Fields |
|---|
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uint32_t |
count |
size of the list |
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dwLaneGraph * |
laneGraphs |
memory location of the first element in the list |
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uint32_t |
maxCount |
capacity of the list |
◆ dwLaneGraphPolyline
| struct dwLaneGraphPolyline |
◆ DW_LANEGRAPH_ID_INVALID
| #define DW_LANEGRAPH_ID_INVALID UINT_MAX |
e.g.
HDMAPS has the range [0, DW_LANEGRAPH_ID_RANGE_PER_SOURCE) PILOTNET has [1 * DW_LANEGRAPH_ID_RANGE_PER_SOURCE, 2 * DW_LANEGRAPH_ID_RANGE_PER_SOURCE) etc.
Definition at line 140 of file LaneGraph.h.
◆ DW_LANEGRAPH_ID_RANGE_PER_SOURCE
| #define DW_LANEGRAPH_ID_RANGE_PER_SOURCE 100 |
the range of ids each lanegraph shard can have
Definition at line 136 of file LaneGraph.h.
◆ DW_LANEGRAPH_LANE_DIVIDER_MAX_SEGMENTS
| #define DW_LANEGRAPH_LANE_DIVIDER_MAX_SEGMENTS 30u |
◆ DW_LANEGRAPH_MAX_CONTENDER_LANES
| #define DW_LANEGRAPH_MAX_CONTENDER_LANES 6U |
◆ DW_LANEGRAPH_MAX_LANE_CNT_IN_LANEGRAPH
| #define DW_LANEGRAPH_MAX_LANE_CNT_IN_LANEGRAPH 11U |
◆ DW_LANEGRAPH_MAX_PT_CNT_IN_POLYLINE
| #define DW_LANEGRAPH_MAX_PT_CNT_IN_POLYLINE 600U |
◆ dwLaneGraphLaneType
The type of a lane.
| Enumerator |
|---|
| DW_LANEGRAPH_LANE_TYPE_LEFT | |
| DW_LANEGRAPH_LANE_TYPE_RIGHT | |
| DW_LANEGRAPH_LANE_TYPE_EGO | |
| DW_LANEGRAPH_LANE_TYPE_MERGE_FROM_LEFT | |
| DW_LANEGRAPH_LANE_TYPE_MERGE_FROM_RIGHT | |
| DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_LEFT | |
| DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_RIGHT | |
| DW_LANEGRAPH_LANE_TYPE_FORK_TO_LEFT | |
| DW_LANEGRAPH_LANE_TYPE_FORK_TO_RIGHT | |
| DW_LANEGRAPH_LANE_TYPE_CONTENDER | |
| DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_LEFT_ENDING | |
| DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_RIGHT_ENDING | |
| DW_LANEGRAPH_LANE_TYPE_OTHER | |
| DW_LANEGRAPH_LANE_TYPE_COUNT | |
Definition at line 108 of file LaneGraph.h.
◆ dwLaneGraphSource
Lane graph source enum.
| Enumerator |
|---|
| DW_LANEGRAPH_SOURCE_HDMAPS | dwMap
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| DW_LANEGRAPH_SOURCE_PILOTNET | Pilotnet.
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| DW_LANEGRAPH_SOURCE_LANENET | LaneNet.
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| DW_LANEGRAPH_SOURCE_RAIL | Rail (unsupported, reserved for future)
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| DW_LANEGRAPH_SOURCE_PATHNET | PathNet.
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| DW_LANEGRAPH_SOURCE_VEHICLE_TRACES | Vehicle traces (unsupported, reserved for future)
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| DW_LANEGRAPH_SOURCE_LANEFUSION | LaneFusion (unsupported, reserved for future)
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| DW_LANEGRAPH_SOURCE_LANE_ENSEMBLE | LaneEnsemble.
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| DW_LANEGRAPH_SOURCE_COUNT | |
Definition at line 166 of file LaneGraph.h.
◆ dwLaneHandlingMode
LaneHandleState.
| Enumerator |
|---|
| DW_LANEHANDLING_MODE_LANE_KEEP | lane keeping state enum
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| DW_LANEHANDLING_MODE_LANE_CHANGE | lane changing lateral maneuver state enum
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| DW_LANEHANDLING_MODE_LANE_SPLIT | lane split state enum
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| DW_LANEHANDLING_MODE_SPEED_ADAPTATION | lane handle speed adaptation state enum
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| DW_LANEHANDLING_MODE_ABORT | lane handle abort state enum
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| DW_LANEHANDLING_MODE_MAX_NUM_STATE | |
Definition at line 215 of file LaneGraph.h.