Initial state of vehicle
Estimates initial position on RNDF
Starts driving or parking lot navigation Forward driving Lane keeping Obstacle avoidance Handles intersection precedence Waits until safe to cross intersection
Handles driving until back on road Enables waiting for cars moving through intersection out of turn Invoked for U-turn Stopped in preparation of a U-turn Enables crossing yellow line (safely) to avoid road blockage Normal parking lot driving Hybrid A* planner invoked to avoid blockages
Aim for any road point 20m away on current trajectory
Unrestricted motion
Disregard certain traffic rules Similar to TRAFFIC_JAM
Aim for any road point 20m away on any trajectory Hybrid A* planner to navigate road that does not match RNDF Race is over