🚀 New Features

• Added a min_longitudinal_safety_distance to world::RssDynamics structure parameter to provide a lower bound for the resulting longitudinal safe distance
• Extend capabilities for system integration:
  • Added ad::rss::map::RssObjectAdapter classes as generic data inferfaces to the user implementation for RSS checks
  • Added ad::rss::map::RssRouteCheckerObjectData classes interacting with respective ad::rss::map::RssObjectAdapter classes
    to handle apspects like map matching, route prediction/route planning along a given set of routing targets,
    route shortening/extending, calculating vehicle dynamics on the route.
  • Added ad::rss::map::RssRouteChecker class to handle RSS checks on multiple routes in an efficient manner
    with support for multiple ego-vehicles at once. The class takes care on variying numbers of route predictions
    over time (duplicating rss checkers if required) to support more than one RSS situation per ego vehicle
    (one RSS situation per ego-route prediction). This opens the possiblilty for RSS checking on global scope
    i.e. from an infrastructure point of view, where a concrete ego-route might not be available.
    Includes artificial object injection callback to inject artificial objects into the calculation.
  • Mechanisms to speed up:
    • Added mechanisms to improve reusability of calculated data (speed up)
    • Added possibililty to restrict operation on certain map areas (speed up)
    • Enabled parallel calculations
  • Allow injection of artificial objects (e.g. to handle occlusions based on ad::map::match::LaneOccupiedRegionList)
  • RssReachableSetsCalculation: Allow injection of method to calculate/manipulate the unstructured trajectory sets (e.g. to cut off parts outside the road)
  • Introduced ::ad::rss::world::ObjectType::Bicycle

👻 Maintenance

• Support newer colcon, cmake, boost, gcc-13, clang-18 and Ubuntu 24.04
• Support newer spdlog: adding formatters for datatype logging
• Harmonize CXX standard to 17
• Covering Python versions 3.10-3.13
• Disable outdated Ubuntu builds (18.04, 20.04)
• Improve security of github actions
• Adapt naming to conform to the well defined terms of 'situation' and 'scene' within the context of AD (see e.g. SAE J3131).
  In general, the input to the core RSS calculations, the ad::rss::world::WorldModel describes a RSS situation
  which contains constellations describing the ego vehicle in respect to one other object.
  The constellation can be of structured or unstructured nature. This clarification has a bigger influence on the naming
  of functions, variables, and class members:
  • Removed the namespace 'situation' and distributed the content into the namespaces 'core', 'structured' and 'unstructured'
  • Most occurances of 'situation', 'Situation', 'scene' or 'Scene' within any naming have been replaced
    by the term 'constellation' in case the usage of them didn't match the general meaning of these terms as stated above
  • ad/rss/situation/Phyisc.hpp -> ad/rss/core/Phyisc.hpp
  • ad/rss/situation/RssFormulas.hpp -> ad/rss/structured/RssFormulas.hpp
  • Most prominent type changes:
    • ad::rss::situation::SituationSnapshot -> ad::rss::core::RssSituationSnapshot
    • ad::rss::world::Scene -> ad::rss::world::Constellation (describing the constellation from outside point of view)
    • ad::rss::situation::SituationType -> ad::rss::world::ConstellationType
    • ad::rss::situation::Situation -> ad::rss::core::RelativeConstellation (describing the constellation in relative form for usage inside core calculations)
    • ad::rss::situation::SituationId -> ad::rss::core::RelativeConstellationId
    • ad::rss::situation::VehicleState -> ad::rss::core::RelativeObjectState (describing the object in relative form for usage inside core calculations)
      where the old members of VehicleState only relevant in structured constellations are now collected wihin the new ad::rss::core::StructuredObjectState
    • 'UnstructuredScene' -> 'UnstructuredConstellation'
    • ad::rss::map::RssSceneCreation -> ad::rss::map::RssWorldModelCreation (appendScenes() -> appendConstellations())
    • ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode -> ad::rss::map::RssRestrictSpeedLimitMode
    • ad::rss::map::RssSceneCreation::AppendRoadBoundariesMode -> ad::rss::map::RssAppendRoadBoundariesMode
    • ad::rss::map::RssMode -> ad::rss::map::RssConstellationCreationMode
• Move headers of ad_rss into the public folders and removed unnecessary std::unique_ptr from implemenation. This enables to create
  straight forward copies of the ::ad::rss::core::RssCheck objects.
• Move some geometry calculations