#include <advancedlanechangeplanner.h>

Inheritance diagram for adore::fun::AdvancedLaneChangePlanner< K, P >:

Collaboration diagram for adore::fun::AdvancedLaneChangePlanner< K, P >:

Public Member Functions
	AdvancedLaneChangePlanner (adore::view::ALaneChangeView lcv, adore::view::ANavigationGoalView goalview, adore::view::ALimitLineEnRoute controlledConnectionOnSource, adore::view::ALimitLineEnRoute controlledConnectionOnTarget, adore::view::ALimitLineEnRoute checkpoint_on_source, adore::view::ALimitLineEnRoute checkpoint_on_target, adore::params::APLongitudinalPlanner plon, adore::params::APLateralPlanner plat, adore::params::APTacticalPlanner ptac, adore::params::APVehicle pveh, adore::params::APTrajectoryGeneration *ptrajectory, double lateral_i_grid=0.0)

void	setGap (adore::view::AGap *gap)

void	setSpeedScale (double value)

Public Member Functions inherited from adore::fun::DecoupledLFLCPlanner< K, P >
	DecoupledLFLCPlanner (adore::view::ALane lfv, adore::params::APLongitudinalPlanner aplon, adore::params::APLateralPlanner aplat, adore::params::APVehicle apvehicle, adore::params::APTrajectoryGeneration *aptrajectory)

void	setPlanningHorizon (double Tend)

double	getPlanningHorizon () const

TInformationSet &	getInformationSet ()

TProgressSolver &	getProgressSolver ()

TOffsetSolver &	getOffsetSolver ()

RoadCoordinateConverter &	getRoadCoordinateConverter ()

std::string	getStatus ()

virtual void	compute (const VehicleMotionState9d &initial_state) override

virtual bool	hasValidPlan () const override

virtual const SetPointRequest *	getSetPointRequest () const override

virtual double	getCPUTime () const override

Private Attributes
LaneChangePhaseEstimator	phaseEstimator_

NominalReferenceSpeed	nominalReferenceSpeed_

BreakAtHorizon	breakAtHorizon_

CurvatureSpeedLimitPredict	curvatureSpeedLimit_

LFVSpeedLimit	lfvSpeedLimit_onTarget_

LFVSpeedLimit	lfvSpeedLimit_onSource_

DontDriveBackwards	dontDriveBackwards_

LongitudinalAccelerationConstraint	longitudinalAccelerationConstraintUB_

LongitudinalAccelerationConstraint	longitudinalAccelerationConstraintLB_

LaneWidthSpeedLimitLFV	laneWidthSpeedLimitLFV_

StopAtBottleneckLFV	stopAtBottleneckLFV_

StopAtNextGoalPoint	stopAtNextGoalPoint_

AdhereToNextLimitLine	stopAtRedLightOnSource_

AdhereToNextLimitLine	stopAtRedLightOnTarget_

AdhereToNextLimitLine	stopAtCheckPointOnSource_

AdhereToNextLimitLine	stopAtCheckPointOnTarget_

FollowPrecedingVehicleOnLaneToBeLeft_BrakingCurve	followPrecedingVehicleOnSource_

FollowPrecedingVehicle_BreakingCurve	followPrecedingVehicleOnTarget_

LowerBoundSGapToPrecedingVehicle	lowerBoundSGapToPrecedingVehicleOnTarget_

LateralAccelerationReference	lateralAccelerationReference_

LateralJerkReference	lateralJerkReference_

HeadingConstraint	headingConstraintUB_

HeadingConstraint	headingConstraintLB_

LateralAccelerationConstraint	lateralAccelerationConstraintUB_

LateralAccelerationConstraint	lateralAccelerationConstraintLB_

AdvancedLateralOffsetConstraintLC	lateralOffsetConstraint_left_

AdvancedLateralOffsetConstraintLC	lateralOffsetConstraint_right_

LaneChangeIntoGapReference	laneChangeIntoGapReference_

Additional Inherited Members
Public Types inherited from adore::fun::DecoupledLFLCPlanner< K, P >
typedef adore::mad::LQ_OC_single_shooting< N, R, K, P >	TProgressSolver

typedef adore::mad::LQ_OC_single_shooting< N, R, K, P >	TOffsetSolver

typedef NominalPlannerInformationSet< N+1, 2 >	TInformationSet

Static Public Attributes inherited from adore::fun::DecoupledLFLCPlanner< K, P >
static const int	N = 3

static const int	R = 1

Protected Attributes inherited from adore::fun::DecoupledLFLCPlanner< K, P >
TInformationSet	info_

Detailed Description

template<int K, int P>
class adore::fun::AdvancedLaneChangePlanner< K, P >

Plans lane change maneuvers. Front vehicle may be overtaken. Specialization of DecoupledLFLCPlanner for lane change maneuver planning.

Constructor & Destructor Documentation

◆ AdvancedLaneChangePlanner()

template<int K, int P>

adore::fun::AdvancedLaneChangePlanner< K, P >::AdvancedLaneChangePlanner	(	adore::view::ALaneChangeView *	lcv,
		adore::view::ANavigationGoalView *	goalview,
		adore::view::ALimitLineEnRoute *	controlledConnectionOnSource,
		adore::view::ALimitLineEnRoute *	controlledConnectionOnTarget,
		adore::view::ALimitLineEnRoute *	checkpoint_on_source,
		adore::view::ALimitLineEnRoute *	checkpoint_on_target,
		adore::params::APLongitudinalPlanner *	plon,
		adore::params::APLateralPlanner *	plat,
		adore::params::APTacticalPlanner *	ptac,
		adore::params::APVehicle *	pveh,
		adore::params::APTrajectoryGeneration *	ptrajectory,
		double	lateral_i_grid = `0.0`
	)

inline

reference for vehicle lateral position Constructor. Initializes references and constraints by linking them to required data abstraction views and parameters.

Parameters

lcv	view for lane changing (determines direction of lane change, as well as source and target lane)
plon	longitudinal planning paramters
plat	lateral planning parameters
pveh	vehicle parameters
ptrajectory	trajectory generation parameters

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Member Function Documentation

◆ setGap()

template<int K, int P>

void adore::fun::AdvancedLaneChangePlanner< K, P >::setGap ( adore::view::AGap * gap )

inline

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◆ setSpeedScale()

template<int K, int P>

void adore::fun::AdvancedLaneChangePlanner< K, P >::setSpeedScale ( double value )

inline

setSpeedScale - define reference speed to be a certain percentage of the

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Member Data Documentation

◆ breakAtHorizon_

template<int K, int P>

BreakAtHorizon adore::fun::AdvancedLaneChangePlanner< K, P >::breakAtHorizon_

private

plan to reduce speed to standstill inside visible range

◆ curvatureSpeedLimit_

template<int K, int P>

CurvatureSpeedLimitPredict adore::fun::AdvancedLaneChangePlanner< K, P >::curvatureSpeedLimit_

private

do not exceed lateral acceleration constraints in curve

◆ dontDriveBackwards_

template<int K, int P>

DontDriveBackwards adore::fun::AdvancedLaneChangePlanner< K, P >::dontDriveBackwards_

private

only drive forwards

◆ followPrecedingVehicleOnSource_

template<int K, int P>

FollowPrecedingVehicleOnLaneToBeLeft_BrakingCurve adore::fun::AdvancedLaneChangePlanner< K, P >::followPrecedingVehicleOnSource_

private

constraint enforcing vehicle to follow next vehicle on source lane

◆ followPrecedingVehicleOnTarget_

template<int K, int P>

FollowPrecedingVehicle_BreakingCurve adore::fun::AdvancedLaneChangePlanner< K, P >::followPrecedingVehicleOnTarget_

private

constraint enforcing vehicle to follow next vehicle on target lane

◆ headingConstraintLB_

template<int K, int P>

HeadingConstraint adore::fun::AdvancedLaneChangePlanner< K, P >::headingConstraintLB_

private

constraint for yaw angle deviation from road direction

◆ headingConstraintUB_

template<int K, int P>

HeadingConstraint adore::fun::AdvancedLaneChangePlanner< K, P >::headingConstraintUB_

private

constraint for yaw angle deviation from road direction

◆ laneChangeIntoGapReference_

template<int K, int P>

LaneChangeIntoGapReference adore::fun::AdvancedLaneChangePlanner< K, P >::laneChangeIntoGapReference_

private

◆ laneWidthSpeedLimitLFV_

template<int K, int P>

LaneWidthSpeedLimitLFV adore::fun::AdvancedLaneChangePlanner< K, P >::laneWidthSpeedLimitLFV_

private

constraint enforcing slow movement through narrow gaps

◆ lateralAccelerationConstraintLB_

template<int K, int P>

LateralAccelerationConstraint adore::fun::AdvancedLaneChangePlanner< K, P >::lateralAccelerationConstraintLB_

private

constraint for ay

◆ lateralAccelerationConstraintUB_

template<int K, int P>

LateralAccelerationConstraint adore::fun::AdvancedLaneChangePlanner< K, P >::lateralAccelerationConstraintUB_

private

constraint for ay

◆ lateralAccelerationReference_

template<int K, int P>

LateralAccelerationReference adore::fun::AdvancedLaneChangePlanner< K, P >::lateralAccelerationReference_

private

curvature supression

◆ lateralJerkReference_

template<int K, int P>

LateralJerkReference adore::fun::AdvancedLaneChangePlanner< K, P >::lateralJerkReference_

private

jerk supression

◆ lateralOffsetConstraint_left_

template<int K, int P>

AdvancedLateralOffsetConstraintLC adore::fun::AdvancedLaneChangePlanner< K, P >::lateralOffsetConstraint_left_

private

constraint for staying in lane boundaries, which are selected according to gap state

◆ lateralOffsetConstraint_right_

template<int K, int P>

AdvancedLateralOffsetConstraintLC adore::fun::AdvancedLaneChangePlanner< K, P >::lateralOffsetConstraint_right_

private

constraint for staying in lane boundaries, which are selected according to gap state

◆ lfvSpeedLimit_onSource_

template<int K, int P>

LFVSpeedLimit adore::fun::AdvancedLaneChangePlanner< K, P >::lfvSpeedLimit_onSource_

private

speed limit

◆ lfvSpeedLimit_onTarget_

template<int K, int P>

LFVSpeedLimit adore::fun::AdvancedLaneChangePlanner< K, P >::lfvSpeedLimit_onTarget_

private

speed limit

◆ longitudinalAccelerationConstraintLB_

template<int K, int P>

LongitudinalAccelerationConstraint adore::fun::AdvancedLaneChangePlanner< K, P >::longitudinalAccelerationConstraintLB_

private

constraint for ax

◆ longitudinalAccelerationConstraintUB_

template<int K, int P>

LongitudinalAccelerationConstraint adore::fun::AdvancedLaneChangePlanner< K, P >::longitudinalAccelerationConstraintUB_

private

constraint for ax

◆ lowerBoundSGapToPrecedingVehicleOnTarget_

template<int K, int P>

LowerBoundSGapToPrecedingVehicle adore::fun::AdvancedLaneChangePlanner< K, P >::lowerBoundSGapToPrecedingVehicleOnTarget_

private

◆ nominalReferenceSpeed_

template<int K, int P>

NominalReferenceSpeed adore::fun::AdvancedLaneChangePlanner< K, P >::nominalReferenceSpeed_

private

speed reference

◆ phaseEstimator_

template<int K, int P>

LaneChangePhaseEstimator adore::fun::AdvancedLaneChangePlanner< K, P >::phaseEstimator_

private

estimates phase of a lane change maneuver

◆ stopAtBottleneckLFV_

template<int K, int P>

StopAtBottleneckLFV adore::fun::AdvancedLaneChangePlanner< K, P >::stopAtBottleneckLFV_

private

@TODO: rework this for lcv, constraint enforcing vehicle to stop, if road is too narrow

◆ stopAtCheckPointOnSource_

template<int K, int P>

AdhereToNextLimitLine adore::fun::AdvancedLaneChangePlanner< K, P >::stopAtCheckPointOnSource_

private

constraint enforcing vehicle to stop at next checkpoint_on_source

◆ stopAtCheckPointOnTarget_

template<int K, int P>

AdhereToNextLimitLine adore::fun::AdvancedLaneChangePlanner< K, P >::stopAtCheckPointOnTarget_

private

constraint enforcing vehicle to stop at next checkpoint_on_target

◆ stopAtNextGoalPoint_

template<int K, int P>

StopAtNextGoalPoint adore::fun::AdvancedLaneChangePlanner< K, P >::stopAtNextGoalPoint_

private

constraint enforcing vehicle to stop, if goal point is reached

◆ stopAtRedLightOnSource_

template<int K, int P>

AdhereToNextLimitLine adore::fun::AdvancedLaneChangePlanner< K, P >::stopAtRedLightOnSource_

private

constraint enforcing vehicle to stop at next controlled connection, if it is switched to red

◆ stopAtRedLightOnTarget_

template<int K, int P>

AdhereToNextLimitLine adore::fun::AdvancedLaneChangePlanner< K, P >::stopAtRedLightOnTarget_

private

constraint enforcing vehicle to stop at next controlled connection, if it is switched to red

The documentation for this class was generated from the following file:

/home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/tac/advancedlanechangeplanner.h

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<int K, int P> class adore::fun::AdvancedLaneChangePlanner< K, P >

Constructor & Destructor Documentation

◆ AdvancedLaneChangePlanner()

Member Function Documentation

◆ setGap()

◆ setSpeedScale()

Member Data Documentation

◆ breakAtHorizon_

◆ curvatureSpeedLimit_

◆ dontDriveBackwards_

◆ followPrecedingVehicleOnSource_

◆ followPrecedingVehicleOnTarget_

◆ headingConstraintLB_

◆ headingConstraintUB_

◆ laneChangeIntoGapReference_

◆ laneWidthSpeedLimitLFV_

◆ lateralAccelerationConstraintLB_

◆ lateralAccelerationConstraintUB_

◆ lateralAccelerationReference_

◆ lateralJerkReference_

◆ lateralOffsetConstraint_left_

◆ lateralOffsetConstraint_right_

◆ lfvSpeedLimit_onSource_

◆ lfvSpeedLimit_onTarget_

◆ longitudinalAccelerationConstraintLB_

◆ longitudinalAccelerationConstraintUB_

◆ lowerBoundSGapToPrecedingVehicleOnTarget_

◆ nominalReferenceSpeed_

◆ phaseEstimator_

◆ stopAtBottleneckLFV_

◆ stopAtCheckPointOnSource_

◆ stopAtCheckPointOnTarget_

◆ stopAtNextGoalPoint_

◆ stopAtRedLightOnSource_

◆ stopAtRedLightOnTarget_

template<int K, int P>
class adore::fun::AdvancedLaneChangePlanner< K, P >