aeb_rs

This crate is an implementation of the automatic emergency braking algorithm for Project Phoenix.

This crate is no_std, and designed to be run on embedded devices.

For algorithm and system integration details, please see the AEB design document.

Example

use aeb_rs::Aeb;
use aeb_rs::grid::KartPoint;

// Configure AEB struct with values from Phoenix
let mut aeb = Aeb::<81>::new(
        3.0,
        0.0,
        1.08,
        ((-0.675, 1.43), (0.675, -0.59)),
        KartPoint(1.43, 0.0),
        3.0,
    );

// Update parameters
aeb.update_velocity(5.0);
aeb.update_steering(0.0);
aeb.update_ttc(2.0);

// Add some (very fake) obstacle readings
let points = [KartPoint(1.0, 0.0); 12];
aeb.add_points(&points);

// Collision detect!
let (should_stop, collides_at) = aeb.collision_check(None);
// let should_stop = aeb.collision_check(&points); alternatively

println!("Collides at: {}", collides_at);
assert!(should_stop);
assert_eq!(collides_at, 210);