#include <terminal_controller.h>
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::APEmergencyOperation * | ap_em_ |
adore::params::APVehicle * | ap_v_ |
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.
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inline |
Constructor
ap_em | emergency operation parameters |
ap_v | vehicle parameters |
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inline |
computation of controller
x | vehicle state |
term | terminal request: straight line around which to stabilize during braking |
u | vehicle control input, output of the function |
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private |
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private |