#include <basicmergeplanner.h>
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_ |
Plans merge maneuvers, which finalize a lane change. Specialization of DecoupledLFLCPlanner for merge maneuver planning. The merge planner uses the lateral reference of lane following, but the constraints of the lane change: When the view switches lanes in the middle of the lane change, the vehicle may thus enter the new center lane.
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reference for vehicle lateral position Constructor. Initializes references and constraints by linking them to required data abstraction views and 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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plan to reduce speed to standstill inside visible range
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do not exceed lateral acceleration constraints in curve
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only drive forwards
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constraint enforcing vehicle to follow next vehicle on source lane
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constraint enforcing vehicle to follow next vehicle on target lane
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constraint for yaw angle deviation from road direction
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constraint for yaw angle deviation from road direction
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constraint for ay
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constraint for ay
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curvature supression
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jerk supression
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constraint for staying in lane boundaries
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constraint for staying in lane boundaries
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speed limit
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constraint for ax
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constraint for ax
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speed reference
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constraint enforcing vehicle to stop at next checkpoint
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constraint enforcing vehicle to stop, if goal point is reached
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constraint enforcing vehicle to stop at next controlled connection, if it is switched to red