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

#include <terminal_controller.h>

Collaboration diagram for adore::fun::TerminalController:
Collaboration graph

Public Member Functions

 TerminalController (adore::params::APEmergencyOperation *ap_em, adore::params::APVehicle *ap_v)
 
void compute_control_input (const VehicleMotionState9d &x, const TerminalRequest &term, MotionCommand &u)
 

Private Attributes

adore::params::APEmergencyOperationap_em_
 
adore::params::APVehicleap_v_
 

Detailed Description

A simple controller for emergency braking and lateral stabilization during emergency braking. Main goal of the controller is to stop the vehicle as soon as possible, therefore a high deceleration value is applied. The controller is provided with a reference in the form of a straight line, around which to stabilize the vehicle during braking.

Constructor & Destructor Documentation

◆ TerminalController()

adore::fun::TerminalController::TerminalController ( adore::params::APEmergencyOperation ap_em,
adore::params::APVehicle ap_v 
)
inline

Constructor

Parameters
ap_ememergency operation parameters
ap_vvehicle parameters

Member Function Documentation

◆ compute_control_input()

void adore::fun::TerminalController::compute_control_input ( const VehicleMotionState9d x,
const TerminalRequest term,
MotionCommand u 
)
inline

computation of controller

Parameters
xvehicle state
termterminal request: straight line around which to stabilize during braking
uvehicle control input, output of the function
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Member Data Documentation

◆ ap_em_

adore::params::APEmergencyOperation* adore::fun::TerminalController::ap_em_
private

◆ ap_v_

adore::params::APVehicle* adore::fun::TerminalController::ap_v_
private

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