Investigate Intel's RSS library

[doganulus]

Documentation:
https://intel.github.io/ad-rss-lib/

This library intends to provide a C++ implementation of the Responsibility Sensitive Safety model (RSS) for Automated Vehicles.

The RSS module in this library receives (processed) sensor information as input and provides actuator command restrictions as output. The input to the RSS module is an object list, with information about all objects (road agents) in the surrounding environment of the ego vehicle. For each object, the RSS module creates a description of the object-ego vehicle pair and their properties, called a "situation". For each situation, the relevant RSS safety checks are performed and a proper response is calculated. Finally, one overall response is obtained by combining the responses calculated for each object-ego vehicle situation. The resulting actuation command restrictions, in the form of longitudinal and lateral limits on acceleration are provided as output.

Perhaps we can add a RSS controller (like PurePursuit controller) to Sisypy.