[General]: Define interface to Intermediate Layer

[Vroni27]

Detailed Description

We should provide a list of requirements we need from the intermediate layer.
To add requirements, write a comment under this issue.

Definition of Done

No response

Testability

No response

Dependencies

• [Feature]: Intermediate layer: integrate shapely into Shape2D #578

[Vroni27]

For the ACC:

• Is an object driving in front (car, biker, etc.)?
• Distance to object driving in front (car, biker, etc.) is needed
• Velocity of the object in front is needed

For lane change, intersection:

• Is the left/right lane free?
• Is there any oncoming traffic?
• Distance of the oncoming traffic
• Speed of the oncoming traffic

[Vroni27]

To be defined: Interface (Information published on various topics, service-client-communication, ...?)

[asamluka]

Shouldn't the lane change check the right lane too, to

1. check if a merge back to the original lane is possible
2. ensure, that no collision with a vehicle to right is happening while merging back
3. make lane changing more universal