Description

Closed-loop path-follower and speed maintaining driver model.

A driver model that combines a path steering controller and a speed controller. The controller adjusts the steering input to follow the prescribed path. The output also adjusts throttle and braking inputs in order to maintain a varying speed that depends on the curvature of the road.

#include <ChHumanDriver.h>

Inheritance diagram for chrono::vehicle::ChHumanDriver:

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Collaboration diagram for chrono::vehicle::ChHumanDriver:

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Public Member Functions
	ChHumanDriver (ChVehicle &vehicle, std::shared_ptr< ChBezierCurve > path, const std::string &path_name, bool isClosedPath=false, double road_width=5.0, double max_wheel_turn_angle=0, double axle_space=2.5)
	Construct using the specified Bezier curve. More...

	ChHumanDriver (const std::string &filename, ChVehicle &vehicle, std::shared_ptr< ChBezierCurve > path, const std::string &path_name, bool isClosedPath=false, double road_width=5.0, double max_wheel_turn_angle=0, double axle_space=2.5)
	Construct using a JSON parameter file. More...

virtual void	Advance (double step) override
	Advance the state of this driver system by the specified duration. More...

virtual void	Initialize () override
	Initialize the driver system.

void	ExportPathPovray (const std::string &out_dir)
	Export the Bezier curve for POV-Ray postprocessing.

void	SetPreviewTime (double Tp=0.5)

void	SetLateralGains (double Klat=0.1, double Kug=0)

void	SetLongitudinalGains (double Klong=0.1, double Kplus=0.1, double Kminus=0.1)

void	SetSpeedRange (double u0=10.0, double umax=30.0)

ChVector	GetTargetLocation ()

ChVector	GetSentinelLocation ()

double	GetTraveledDistance ()

double	GetAverageSpeed ()

double	GetMaxSpeed ()

double	GetMinSpeed ()

double	GetMaxLatAcc ()

double	GetMinLatAcc ()

Public Member Functions inherited from chrono::vehicle::ChDriver
	ChDriver (ChVehicle &vehicle)

double	GetThrottle () const
	Get the driver throttle input (in the range [0,1])

double	GetSteering () const
	Get the driver steering input (in the range [-1,+1])

double	GetBraking () const
	Get the driver braking input (in the range [0,1])

Inputs	GetInputs () const
	Get all current inputs at once.

virtual void	Synchronize (double time)
	Update the state of this driver system at the current time.

bool	LogInit (const std::string &filename)
	Initialize output file for recording driver inputs.

bool	Log (double time)
	Record the current driver inputs to the log file.

void	SetSteering (double val, double min_val=-1, double max_val=1)
	Overwrite the value for the driver steering input.

void	SetThrottle (double val, double min_val=0, double max_val=1)
	Overwrite the value for the driver throttle input.

void	SetBraking (double val, double min_val=0, double max_val=1)
	Overwrite the value for the driver braking input.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChDriver
ChVehicle &	m_vehicle
	reference to associated vehicle

double	m_throttle
	current value of throttle input

double	m_steering
	current value of steering input

double	m_braking
	current value of braking input

Constructor & Destructor Documentation

◆ ChHumanDriver() [1/2]

chrono::vehicle::ChHumanDriver::ChHumanDriver	(	ChVehicle &	vehicle,
		std::shared_ptr< ChBezierCurve >	path,
		const std::string &	path_name,
		bool	isClosedPath = `false`,
		double	road_width = `5.0`,
		double	max_wheel_turn_angle = `0`,
		double	axle_space = `2.5`
	)

Construct using the specified Bezier curve.

Parameters

vehicle	associated vehicle
path	Bezier curve with target path
path_name	name of the path curve
isClosedPath	Treat the path as a closed loop
road_width	road width
max_wheel_turn_angle	maximum wheel turning angle
axle_space	wheel track

◆ ChHumanDriver() [2/2]

chrono::vehicle::ChHumanDriver::ChHumanDriver	(	const std::string &	filename,
		ChVehicle &	vehicle,
		std::shared_ptr< ChBezierCurve >	path,
		const std::string &	path_name,
		bool	isClosedPath = `false`,
		double	road_width = `5.0`,
		double	max_wheel_turn_angle = `0`,
		double	axle_space = `2.5`
	)

Construct using a JSON parameter file.

Parameters

filename	path of the JSON file
vehicle	associated vehicle
path	Bezier curve with target path
path_name	name of the path curve
isClosedPath	Treat the path as a closed loop
road_width	road width
max_wheel_turn_angle	maximum wheel turning angle
axle_space	wheel track

Member Function Documentation

◆ Advance()

void chrono::vehicle::ChHumanDriver::Advance ( double step )

overridevirtual

Advance the state of this driver system by the specified duration.

< normal vector pointing to actual yaw center

< normal vector pointing to actual vehicle front

Reimplemented from chrono::vehicle::ChDriver.

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

/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChHumanDriver.h
/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChHumanDriver.cpp