Intersection Manager

Maintained by Pranav Boyapati

Overview

A ROS Node that uses various preprocessed data from the car’s sensors to determine actions to take when driving through an intersection.

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In:

• /traffic_light/detections TrafficLightDetection
  • Receives information about the upcoming traffic light(s).
• /road_signs/detections RoadSignsDetection
  • Receives information about upcoming road signs
• /planning/path Path
  • Receives information about the path the car will be following
• /speed CarlaSpeedometer
  • Receives the speed at which the car is currently traveling
• /grid/occupancy/current OccupancyGrid
  • Receives information about the current occupancy of the surroundings
• /lane_types/detections AllLaneDetections
  • Receives information about the types of lanes on the road

Out:

• /intersection IntersectionBehavior
  • Publishes a string of text about what action to take for proceeding through the intersection.

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laneTypeCallback(self, msg: AllLaneDetections)

Takes in a message of type AllLaneDetections and extracts lane type information

occupancyCallback(self, msg: OccupancyGrid)

Takes in a message of type OccupancyGrid and extracts information about the occupancy of the surroundings

trafficLightCallback(self, msg: TrafficLightDetection)

Takes in a message of type TrafficLightDetection and extracts traffic light information

roadSignsCallback(self, msg: RoadSignsDetection)

Takes in a message of type RoadSignsDetection and extracts road sign information

routeCallback(self, msg: Path)

Takes in a message of type Path and extracts information about the route the car will follow

speedCallback(self, msg: CarlaSpeedometer)

Takes in a message of type CarlaSpeedometer and extracts information about the vehicle’s speed

classify_intersection_type(self)

Uses traffic light, road sign, and occupancy grid information to determine whether an intersection is traffic light controlled, stop sign controlled, or is a roundabout

navigate_traffic_light_intersection(self)

Uses information about the traffic light and current speed to determine behavior to follow at this type of intersection

navigate_stop_sign_intersection(self)

Uses information about the road signs, speed, and occupancy to determine behavior to follow at this type of intersection

navigate_roundabout(self)

Uses information about the road signs, speed, and occupancy to determine behavior to follow at this type of intersection

navigate_intersection(self)

This function serves as a control structure that calls other functions as necessary based on various conditions