Decision

Introduction

Decision module receives obstacles information (e.g., position, speed, acceleration, prediction trajectory, and etc.), master vehicle status (e.g, position, speed, acceleration, and etc.), traffic light status, and map and routing information. Based on the aforementioned information, decision module generates decision command for master vehicle and each obstacle. It also generates virtual obstacles if necessary and position them based on map information.

Input

• Obstacles information from perception and prediction modules
• Traffic lights status from perception module
• Map and routing information
• Master vehicle status

Output

• Decision command for master vehicle
• Generated virtual obstacles
• Decision command for each obstacle