World Model Lane Assignment

Detailed Description

Note

SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.

Data Structures
struct	dwLaneAssignment
	A lane assignment for a particular lane. More...
struct	dwLaneAssignmentArray
struct	dwObstacleLaneAssignment

Macros
#define	DW_OBSTACLE_LANE_ASSIGNMENT_MAX_COUNT   32
	The maximum allowed lane assignments per obstacle. More...

Functions
DW_API_PUBLIC dwStatus	dwLaneAssignment_getDominantLaneId (uint32_t *dominantLaneId, uint64_t objId, const dwLaneAssignmentArray *laneAssignmentArray)
	Retruns the dominant lane in which the obstacle is assigned to. More...
DW_API_PUBLIC dwStatus	dwLaneAssignment_getLaneAssignmentOverlapByLaneId (float32_t *laneAssignmentOverlap, uint64_t objId, const dwLaneAssignmentArray *laneAssignmentArray, uint32_t laneId)
	Get predicted amount [0,1] of obstacle overlap with lane at prediction time by lane id. More...
DW_API_PUBLIC dwStatus	dwLaneAssignment_getLaneAssignmentOverlapByLaneType (float32_t *laneAssignmentOverlap, uint64_t objId, const dwLaneAssignmentArray *laneAssignmentArray, dwLaneGraphLaneType laneType)
	Get predicted amount [0,1] of obstacle overlap with lane at prediction time by lane type. More...

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Data Structure Documentation

dwLaneAssignment

struct dwLaneAssignment

Data Fields
float32_t	overlap	Predicted amount [0,1] of obstacle overlap with lane at prediction time.
dwLaneSegment	segment	The lane segment overlapped.
dwLaneGraphLaneType	type

dwLaneAssignmentArray

struct dwLaneAssignmentArray

Data Fields
uint32_t	count	The number of lane assignments in laneAssignments.
dwObstacleLaneAssignment	laneAssignments[DW_OBSTACLE_ARRAY_MAX_COUNT]	The lane assignments for multiple obstacles.

dwObstacleLaneAssignment

struct dwObstacleLaneAssignment

Data Fields
dwLaneAssignment	assignments[DW_OBSTACLE_LANE_ASSIGNMENT_MAX_COUNT]	The lane assignments for a particular obstacle. These may be more than one as an obstacle could overlap multiple lanes at one time.
uint32_t	count	The number of assignments.
uint32_t	dominantIndex	The index with the maximum overlap.
uint64_t	obstacleId	ID of the obstacle assigned.
dwTime_t	perceptionTime_us	Time in microseconds at which perception is based.
dwTime_t	predictionTime_us	Time in microseconds for this prediction.

Macro Definition Documentation

DW_OBSTACLE_LANE_ASSIGNMENT_MAX_COUNT

#define DW_OBSTACLE_LANE_ASSIGNMENT_MAX_COUNT   32

The maximum allowed lane assignments per obstacle.

Definition at line 68 of file LaneAssignment.h.

Function Documentation

dwLaneAssignment_getDominantLaneId()

DW_API_PUBLIC dwStatus dwLaneAssignment_getDominantLaneId	(	uint32_t *	dominantLaneId,
		uint64_t	objId,
		const dwLaneAssignmentArray *	laneAssignmentArray
	)

Retruns the dominant lane in which the obstacle is assigned to.

Parameters

[out]	dominantLaneId	The lane Id on which thhe obstacle is assigned to
[in]	objId	Object Id of target obstacle
[in]	laneAssignmentArray	Array of lanes that the obstacle could overlap

Returns

DW_SUCCESS When parameter initialization is successful.
DW_FAILURE When parameter initialization is unsuccessful.
DW_INVALID_ARGUMENT When params is nullptr.

dwLaneAssignment_getLaneAssignmentOverlapByLaneId()

DW_API_PUBLIC dwStatus dwLaneAssignment_getLaneAssignmentOverlapByLaneId	(	float32_t *	laneAssignmentOverlap,
		uint64_t	objId,
		const dwLaneAssignmentArray *	laneAssignmentArray,
		uint32_t	laneId
	)

Get predicted amount [0,1] of obstacle overlap with lane at prediction time by lane id.

Parameters

[out]	laneAssignmentOverlap	Amount of overlap [0,1]
[in]	objId	Object Id of target obstacle
[in]	laneAssignmentArray	Array of lanes that the obstacle could overlap
[in]	laneId	The id for the lane to be identified by in laneAssignmentArray

Returns

DW_SUCCESS When parameter initialization is successful.
DW_FAILURE When parameter initialization is unsuccessful.
DW_INVALID_ARGUMENT When params is nullptr.

dwLaneAssignment_getLaneAssignmentOverlapByLaneType()

DW_API_PUBLIC dwStatus dwLaneAssignment_getLaneAssignmentOverlapByLaneType	(	float32_t *	laneAssignmentOverlap,
		uint64_t	objId,
		const dwLaneAssignmentArray *	laneAssignmentArray,
		dwLaneGraphLaneType	laneType
	)

Get predicted amount [0,1] of obstacle overlap with lane at prediction time by lane type.

Parameters

[out]	laneAssignmentOverlap	Amount of overlap [0,1]
[in]	objId	Object Id of target obstacle
[in]	laneAssignmentArray	Array of lanes that the obstacle could overlap
[in]	laneType	The type of lane to be identified by in laneAssignmentArray

Returns

DW_SUCCESS When parameter initialization is successful.
DW_FAILURE When parameter initialization is unsuccessful.
DW_INVALID_ARGUMENT When params is nullptr.