adore::fun::BasicLaneFollowingPlanner< K, P > Class Template Reference

#include <basiclanefollowingplanner.h>

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

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

Public Member Functions
	BasicLaneFollowingPlanner (adore::view::ALane *lfv, adore::view::ANavigationGoalView *goalview, adore::view::ALimitLineEnRoute *controlledConnection, adore::view::ALimitLineEnRoute *checkpoint, 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	addConstraint (ANominalConstraint *constraint)
void	addReference (ANominalReference *reference)
void	setSpeedScale (double value)
void	setConflictSet (adore::view::AConflictPointSet *conflicts)
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
NominalReferenceSpeed	nominalReferenceSpeed_
BreakAtHorizon	breakAtHorizon_
DistanceToLaneEndConstraint	keepDistanceToLaneEnd_
CurvatureSpeedLimitPredict	curvatureSpeedLimit_
LFVSpeedLimit	lfvSpeedLimit_
DontDriveBackwards	dontDriveBackwards_
LongitudinalAccelerationConstraint	longitudinalAccelerationConstraintUB_
LongitudinalAccelerationConstraint	longitudinalAccelerationConstraintLB_
FollowPrecedingVehicle_BreakingCurve	followPrecedingVehicle_
LowerBoundSGapToPrecedingVehicle	lowerBoundSGapToPrecedingVehicle_
LaneWidthSpeedLimitLFV	laneWidthSpeedLimitLFV_
StopAtBottleneckLFV	stopAtBottleneckLFV_
StopAtNextGoalPoint	stopAtNextGoalPoint_
AdhereToNextLimitLine	stopAtRedLight_
AdhereToNextLimitLine	stopAtCheckPoint_
StopAtNextConflictPoint	stopAtNextConflictPoint_
FollowCenterlineReference	followCenterlineReference_
LateralAccelerationReference	lateralAccelerationReference_
LateralJerkReference	lateralJerkReference_
LateralOffsetConstraintLF	lateralOffsetConstraintLFUB_
LateralOffsetConstraintLF	lateralOffsetConstraintLFLB_
HeadingConstraint	headingConstraintUB_
HeadingConstraint	headingConstraintLB_
LateralAccelerationConstraint	lateralAccelerationConstraintUB_
LateralAccelerationConstraint	lateralAccelerationConstraintLB_

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::BasicLaneFollowingPlanner< K, P >

Plans lane change maneuvers. Specialization of DecoupledLFLCPlanner for lane following maneuver planning. K number of control points for planning. P interpolation points per planning step.

Constructor & Destructor Documentation

BasicLaneFollowingPlanner()

template<int K, int P>

adore::fun::BasicLaneFollowingPlanner< K, P >::BasicLaneFollowingPlanner ( adore::view::ALane *  lfv, adore::view::ANavigationGoalView *  goalview, adore::view::ALimitLineEnRoute *  controlledConnection, adore::view::ALimitLineEnRoute *  checkpoint, 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

Constructor. Initializes references and constraints by linking them to required data abstraction views and parameters.

Parameters

lfv	view for lane following: must be valid pointer
goalview	set to nullptr to ignore. Set to valid ANavigationGoalView in order to stop vehicle at goal
controlledConnection	limit line for red-light on lane, set to nullptr to deactivate
checkpoint	checkpoint on lane, set to nullptr to deactivate
plon	longitudinal planning paramters
plat	lateral planning parameters
pveh	vehicle parameters
ptrajectory	trajectory generation parameters
lateral_i_grid	lateral grid index

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Member Function Documentation

addConstraint()

template<int K, int P>

void adore::fun::BasicLaneFollowingPlanner< K, P >::addConstraint ( ANominalConstraint *  constraint )

inline

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addReference()

template<int K, int P>

void adore::fun::BasicLaneFollowingPlanner< K, P >::addReference ( ANominalReference *  reference )

inline

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setConflictSet()

template<int K, int P>

void adore::fun::BasicLaneFollowingPlanner< K, P >::setConflictSet ( adore::view::AConflictPointSet *  conflicts )

inline

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setSpeedScale()

template<int K, int P>

void adore::fun::BasicLaneFollowingPlanner< 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::BasicLaneFollowingPlanner< K, P >::breakAtHorizon_

private

plan to reduce speed to standstill inside visible range

curvatureSpeedLimit_

template<int K, int P>

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

private

do not exceed lateral acceleration constraints in curve

dontDriveBackwards_

template<int K, int P>

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

private

limit maneuver to movement in prescribed lane direction

followCenterlineReference_

template<int K, int P>

FollowCenterlineReference adore::fun::BasicLaneFollowingPlanner< K, P >::followCenterlineReference_

private

reference for lateral position: follow the middle of the lane

followPrecedingVehicle_

template<int K, int P>

FollowPrecedingVehicle_BreakingCurve adore::fun::BasicLaneFollowingPlanner< K, P >::followPrecedingVehicle_

private

uses breaking curve

headingConstraintLB_

template<int K, int P>

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

private

constraint for deviation from road direction

headingConstraintUB_

template<int K, int P>

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

private

constraint for deviation from road direction

keepDistanceToLaneEnd_

template<int K, int P>

DistanceToLaneEndConstraint adore::fun::BasicLaneFollowingPlanner< K, P >::keepDistanceToLaneEnd_

private

plan to reduce speed to standstill before end of lane

laneWidthSpeedLimitLFV_

template<int K, int P>

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

private

constraint enforcing slow movement through narrow gaps

lateralAccelerationConstraintLB_

template<int K, int P>

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

private

constraint for ay

lateralAccelerationConstraintUB_

template<int K, int P>

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

private

constraint for ay

lateralAccelerationReference_

template<int K, int P>

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

private

curvature compensation

lateralJerkReference_

template<int K, int P>

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

private

lateral jerk compensation

lateralOffsetConstraintLFLB_

template<int K, int P>

LateralOffsetConstraintLF adore::fun::BasicLaneFollowingPlanner< K, P >::lateralOffsetConstraintLFLB_

private

lateral position bounds governed by lane boundaries

lateralOffsetConstraintLFUB_

template<int K, int P>

LateralOffsetConstraintLF adore::fun::BasicLaneFollowingPlanner< K, P >::lateralOffsetConstraintLFUB_

private

lateral position bounds governed by lane boundaries

lfvSpeedLimit_

template<int K, int P>

LFVSpeedLimit adore::fun::BasicLaneFollowingPlanner< K, P >::lfvSpeedLimit_

private

speed limit

longitudinalAccelerationConstraintLB_

template<int K, int P>

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

private

constraint for ax

longitudinalAccelerationConstraintUB_

template<int K, int P>

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

private

constraint for ax

lowerBoundSGapToPrecedingVehicle_

template<int K, int P>

LowerBoundSGapToPrecedingVehicle adore::fun::BasicLaneFollowingPlanner< K, P >::lowerBoundSGapToPrecedingVehicle_

private

nominalReferenceSpeed_

template<int K, int P>

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

private

reference for vehicle speed

stopAtBottleneckLFV_

template<int K, int P>

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

private

constraint enforcing vehicle to stop, if road is too narrow

stopAtCheckPoint_

template<int K, int P>

AdhereToNextLimitLine adore::fun::BasicLaneFollowingPlanner< K, P >::stopAtCheckPoint_

private

constraint enforcing vehicle to stop at next checkpoint

stopAtNextConflictPoint_

template<int K, int P>

StopAtNextConflictPoint adore::fun::BasicLaneFollowingPlanner< K, P >::stopAtNextConflictPoint_

private

stopAtNextGoalPoint_

template<int K, int P>

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

private

constraint enforcing vehicle to stop, if goal point is reached

stopAtRedLight_

template<int K, int P>

AdhereToNextLimitLine adore::fun::BasicLaneFollowingPlanner< K, P >::stopAtRedLight_

private

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

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

• /home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/tac/basiclanefollowingplanner.h