chrono::vehicle::AIDriver Class Reference



#include <AIDriver.h>

Inheritance diagram for chrono::vehicle::AIDriver:
Collaboration diagram for chrono::vehicle::AIDriver:

Public Member Functions

 AIDriver (ChVehicle &vehicle, const std::string &filename)
 Construct using data from the specified JSON file. More...
virtual double CalculateSteering (double front_axle_angle, double rear_axle_angle) override
 Return the value of the vehicle steering input (in [-1,+1]) given the desired front and rear wheel angles. More...
- Public Member Functions inherited from chrono::vehicle::ChAIDriver
 ChAIDriver (ChVehicle &vehicle)
void SetSpeedControllerGains (double Kp, double Ki, double Kd)
 Set speed controller PID gains.
void SetThresholdThrottle (double val)
 Specify the throttle value below which braking is enabled. More...
ChSpeedControllerGetSpeedController ()
 Get the underlying speed controller object.
void Synchronize (double time, double long_acc, double front_axle_angle, double rear_axle_angle)
 Set the controls from the autonomy stack: longitudinal acceleration (m/s2) and the front & rear wheel angles (in radians). More...
virtual void Advance (double step) override
 Advance the state of this driver system by the specified duration.
- 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 Initialize ()
 Initialize this driver system.
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::ChAIDriver
ChSpeedController m_speedPID
 speed controller
double m_throttle_threshold
 throttle value below which brakes are applied
double m_target_speed
 current value of target speed
double m_last_time
 last time
double m_last_speed
 last target speed
- Protected Attributes inherited from chrono::vehicle::ChDriver
 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

◆ AIDriver()

chrono::vehicle::AIDriver::AIDriver ( ChVehicle vehicle,
const std::string &  filename 

Construct using data from the specified JSON file.

vehicleassociated vehicle
filenamename of JSON specification file

Member Function Documentation

◆ CalculateSteering()

double chrono::vehicle::AIDriver::CalculateSteering ( double  front_axle_angle,
double  rear_axle_angle 

Return the value of the vehicle steering input (in [-1,+1]) given the desired front and rear wheel angles.

The underlying assumption is of Ackermann steering of a bicycle model. The current implementation ignores the rear angle (always 0 for a front steering vehicle with Ackermann geometry) and uses a mapping from front angle to steering input. Note that the Chrono::Vehicle ISO reference frame convention implies that a positive front angle corresponds to a turn to the left (i.e., positive value of vehicle steering input).

Implements chrono::vehicle::ChAIDriver.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/driver/AIDriver.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/driver/AIDriver.cpp