1/**
 2 * Lane Keeping Assist - pseudo-code implementation
 3 *
 4 * Covers SWREQ_001, SWREQ_002, SWREQ_003
 5 */
 6
 7#include "lane_keeping.h"
 8
[docs] 9// @ LaneKeepingModule struct, IMPL_LKA_MODULE, impl, [SWREQ_001, SWREQ_002, SWREQ_003]
10typedef struct {
11    float lane_offset_m;      /* lateral deviation from lane centre */
12    int   markings_valid;     /* 1 = lane markings detected         */
13    float correction_angle;   /* steering correction in degrees     */
14} LaneKeepingModule;
15
[docs]16// @ detect_lane_markings, IMPL_LKA_DETECT, impl, [SWREQ_001]
17/**
18 * Process camera frame and update marking validity flag.
19 * Handles rain, fog and low-light conditions via adaptive thresholding.
20 */
21void detect_lane_markings(LaneKeepingModule *lka, const CameraFrame *frame)
22{
23    /* stub: analyse frame, set lka->markings_valid and update lane_offset_m */
24    (void)lka; (void)frame;
25}
26
[docs]27// @ check_lane_deviation, IMPL_LKA_DEVIATION, impl, [SWREQ_002]
28/**
29 * Return 1 when lateral offset exceeds the warning threshold and no
30 * turn-signal is active; triggers dashboard / audio warning.
31 */
32int check_lane_deviation(const LaneKeepingModule *lka, int turn_signal_active)
33{
34    /* stub: compare lka->lane_offset_m against threshold */
35    (void)lka; (void)turn_signal_active;
36    return 0;
37}
38
[docs]39// @ apply_steering_correction, IMPL_LKA_CORRECTION, impl, [SWREQ_003]
40/**
41 * Calculate corrective steering angle to bring the vehicle back to
42 * lane centre and forward the command to the actuator layer.
43 */
44void apply_steering_correction(LaneKeepingModule *lka)
45{
46    /* stub: compute PID correction, write lka->correction_angle, send to actuator */
47    (void)lka;
48}