ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::fun::LFVSpeedLimit Class Reference

#include <basicconstraintsandreferences.h>

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Public Member Functions

 LFVSpeedLimit (adore::view::ALane *lfv, adore::params::APTacticalPlanner *p)
 
virtual double getValue (double t, double s, double ds) const override
 
virtual void update (double t0, double s0, double ds0) override
 
virtual ConstraintDirection getDirection () override
 
virtual int getDimension () override
 
virtual int getDerivative () override
 

Private Attributes

adore::view::ALanelfv_
 
adore::params::APTacticalPlannerp_
 
adore::params::APLongitudinalPlannerp_long_
 
double globalSpeedLimit_
 
double amin_
 
double t0_
 
double ds0_
 

Additional Inherited Members

- Public Types inherited from adore::fun::ANominalConstraint
enum  ConstraintDirection { LB , UB }
 

Detailed Description

LFVSpeedLimit - maintain speed limit of lane following view during longitudinal planning HeD20210915: relaxation for speedlimit: the initial speed may be violating speed limit: manual control, other planners with different constraints, switching of non-constant traffic control systems. To avoid infeasible problem, speed limit is relaxed with initial condition and breaking curve.

Constructor & Destructor Documentation

◆ LFVSpeedLimit()

adore::fun::LFVSpeedLimit::LFVSpeedLimit ( adore::view::ALane lfv,
adore::params::APTacticalPlanner p 
)
inline
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Member Function Documentation

◆ getDerivative()

virtual int adore::fun::LFVSpeedLimit::getDerivative ( )
inlineoverridevirtual

Determine for which derivative of given dimension this constraint is responsible.

Returns
applicable to which state derivative

Implements adore::fun::ANominalConstraint.

◆ getDimension()

virtual int adore::fun::LFVSpeedLimit::getDimension ( )
inlineoverridevirtual

Determine for which dimension this constraint is responsible (e.g. longitudinal, lateral, etc.)

Returns
applicable to which dimension, depends on setup of planner

Implements adore::fun::ANominalConstraint.

◆ getDirection()

virtual ConstraintDirection adore::fun::LFVSpeedLimit::getDirection ( )
inlineoverridevirtual

Determine whether this constraint is an upper or lower bound.

Returns
lb or ub

Implements adore::fun::ANominalConstraint.

◆ getValue()

virtual double adore::fun::LFVSpeedLimit::getValue ( double  t,
double  s,
double  ds 
) const
inlineoverridevirtual

return the value of the constraint at a certain time and position

Parameters
tthe time
sprogress along the road-relative coordinate system
dsderivative of s
Returns
value of the constraint (e.g. vmax for a speed limit)

Implements adore::fun::ANominalConstraint.

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◆ update()

virtual void adore::fun::LFVSpeedLimit::update ( double  t0,
double  s0,
double  ds0 
)
inlineoverridevirtual

Refresh values of the constraint object. Allows parameters and precomputations to buffered for one planning cycle.

Parameters
t0start time for planning
s0start progress in road-relative coordinate system
ds0derivative of s at t0

Implements adore::fun::ANominalConstraint.

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Member Data Documentation

◆ amin_

double adore::fun::LFVSpeedLimit::amin_
private

◆ ds0_

double adore::fun::LFVSpeedLimit::ds0_
private

◆ globalSpeedLimit_

double adore::fun::LFVSpeedLimit::globalSpeedLimit_
private

◆ lfv_

adore::view::ALane* adore::fun::LFVSpeedLimit::lfv_
private

◆ p_

adore::params::APTacticalPlanner* adore::fun::LFVSpeedLimit::p_
private

◆ p_long_

adore::params::APLongitudinalPlanner* adore::fun::LFVSpeedLimit::p_long_
private

◆ t0_

double adore::fun::LFVSpeedLimit::t0_
private

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