Algorithm_MentalModel

This module represents the mental representation of the environment and its objects. It mainly contains the capability of mental extrapolation of surrounding objects (due to their type “AgentRepresentation”) along the perceived infrastructure. It uses the information either from the module information-acquisition or directly from the used sensor and is capable to store those information for an amount of time, if it isn’t updated in the next timestep, or to forget them.

Currently the extrapolation process of detected agents is calculated (in x and y direction) dynamically, based on the last detected dynamics. If there is an oncoming junction it will be calculated along the geometrical points of the perceived lanes along its route.

There is also the possiblity to misjudge the dynamic values of an agent based on the following parameters through the static system configuration with the corresponding Ids.

Parameter

Type

Unit

Id

Description

Defaults to (range)

RelativePositionError

Double

29

Standard deviation of the relative deviation of the detected position of another agent related to the current velocity

0 (0…0.2)

RelativeVelocityError

Double

30

Standard deviation of the relative deviation of the detected velocity of another agent related to the current velocity.

0 (0…0.2)

RelativeAcclerationError

Double

31

Standard deviation of the relative deviation of the detected acceleration of another agent related to the current acceleration

0 (0…0.2)

TTCPerceptionThresholdMean

Double

s

27

Mean TTC-threshold for recognition of dynamic changes of surrounding vehicles

40

TTCPerceptionThresholdStd

Double

s

28

Standard-deviation for the TTC-threshold for the recognition of dynamic changes of surrounding vehicles

1