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R151
Leon Starr edited this page Jun 19, 2022
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Traveling Ego Vehicle is traveling in one Driving Lane
Driving Lane is current path of travel for zero or one Traveling Ego Vehicle
An Ego Vehicle On Road is certainly on the Road, but could be in a Non Driving Lane. The vehicle may be pulled over on the shoulder or it may be in a Shared Single Road Lane. In the latter case, a lane change would be out of the question since there is only one lane in the Road. So, the fact that a Traveling Ego Vehicle is in a Driving Lane is a key qualification for a number of possible behaviors.
A given Driving Lane may or may not be currently occupied by the Ego Vehicle at the moment.
Active Driving Lane.Ego -> Traveling Ego Vehicle.Ego
Active Driving Lane.(Current lane inside division, Current lane outside division, Road segment) ->
Driving Lane.(Inside division, Outside division, Road segment)
Copyright (c) 2023 Woven by Toyota, 2021,2022 Toyota Research Institute / MIT Open Source License