1 # Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved.
3 @page safetyforcefield_mainsection Safety Force Field
6 @note SW Release Applicability: This module is available in **NVIDIA DRIVE Software** releases.
8 @section safetyforcefield_about About This Module
10 The Safety Force Field module takes surrounding perception of
12 - static and moving obstacles around the ego-vehicle, and
13 - the @ref egomotion_mainsection or @ref vehicleio_mainsection state of the ego car, and
14 - road structure (optional).
16 The ego-vehicle and the obstacles are actors.
17 The module then predicts whether a collision is likely to happen between an actor and the ego-vehicle, after all actors have executed their safety procedures.
19 A Safety Force Field is computed for each predicted collision between an actor and the ego-vehicle. These Safety Force Fields generate control constraints for actuation. If the current ego-vehicle control violates a control constraint, it is corrected to a safe control.
21 @section safetyforcefield_usecases Relevant Tutorials
23 - @ref safetyforcefield_usecase1
24 - @ref safetyforcefield_usecase2
26 @section safetyforcefield_apis APIs
28 - @ref safetyforcefield_group
29 - @ref safetyforcefieldactuation_group