Description
Path-following steering P-like controller with variable path prediction.
The algorithm is from : BEST, M.C., 2012. A simple realistic driver model. Presented at: AVEC `12: The 11th International Symposium on Advanced Vehicle Control, 9th-12th September 2012, Seoul, Korea. The path to be followed is specified as a ChBezierCurve object and the the original definition points are extracted automatically. Open and closed course definitions can be handled. The ChBezier is still used for visualization.
#include <ChSteeringController.h>
Public Member Functions | |
| ChPathSteeringControllerSR (std::shared_ptr< ChBezierCurve > path, bool isClosedPath=false, double max_wheel_turn_angle=0.0, double axle_space=2.5) | |
| Construct a steering controller to track the specified path. More... | |
| ChPathSteeringControllerSR (const std::string &filename, std::shared_ptr< ChBezierCurve > path, bool isClosedPath=false, double max_wheel_turn_angle=0.0, double axle_space=2.5) | |
| Construct a steering controller to track the specified path. More... | |
| std::shared_ptr< ChBezierCurve > | GetPath () const |
| Return a pointer to the Bezier curve. | |
| void | SetGains (double Klat=0.1, double Kug=0.0) |
| void | SetPreviewTime (double Tp=0.5) |
| double | Advance (const ChVehicle &vehicle, double step) |
| Advance the state of the P controller. | |
| virtual void | Reset (const ChVehicle &vehicle) override |
| Reset the PID controller. More... | |
| virtual void | CalcTargetLocation () override |
| Calculate the current target point location. More... | |
 Public Member Functions inherited from chrono::vehicle::ChSteeringController | |
| ChSteeringController () | |
| Construct a steering controller with default parameters. More... | |
| ChSteeringController (const std::string &filename) | |
| Construct a steering controller with parameters read from a JSON file. | |
| virtual | ~ChSteeringController () |
| Destructor. | |
| void | SetLookAheadDistance (double dist) |
| Specify the look-ahead distance. More... | |
| void | SetGains (double Kp, double Ki, double Kd) |
| Set the gains for the PID controller. | |
| const ChVector & | GetSentinelLocation () const |
| Return the current location of the sentinel point. More... | |
| const ChVector & | GetTargetLocation () const |
| Return the current value of the target point. More... | |
| double | Advance (const ChVehicle &vehicle, double step) |
| Advance the state of the PID controller. More... | |
| void | StartDataCollection () |
| Start/restart data collection. | |
| void | StopDataCollection () |
| Suspend/stop data collection. | |
| bool | IsDataCollectionEnabled () const |
| Return true if data is being collected. | |
| bool | IsDataAvailable () const |
| Return true if data is available for output. | |
| void | WriteOutputFile (const std::string &filename) |
| Output data collected so far to the specified file. | |
Additional Inherited Members | |
| Protected Attributes inherited from chrono::vehicle::ChSteeringController | |
| double | m_dist |
| look-ahead distance | |
| ChVector | m_sentinel |
| position of sentinel point in global frame | |
| ChVector | m_target |
| position of target point in global frame | |
| double | m_Kp |
| double | m_Ki |
| PID controller gains. | |
| double | m_Kd |
| double | m_err |
| current error (signed distance to target point) | |
| double | m_errd |
| error derivative | |
| double | m_erri |
| integral of error | |
| utils::CSV_writer * | m_csv |
| CSV_writer object for data collection. | |
| bool | m_collect |
| flag indicating whether or not data is being collected | |
Constructor & Destructor Documentation
◆ ChPathSteeringControllerSR() [1/2]
| chrono::vehicle::ChPathSteeringControllerSR::ChPathSteeringControllerSR | ( | std::shared_ptr< ChBezierCurve > | path, |
| bool | isClosedPath = false, |
||
| double | max_wheel_turn_angle = 0.0, |
||
| double | axle_space = 2.5 |
||
| ) |
Construct a steering controller to track the specified path.
This version uses default controller parameters (zero gains). The user is responsible for calling SetGains and SetLookAheadDistance.
◆ ChPathSteeringControllerSR() [2/2]
| chrono::vehicle::ChPathSteeringControllerSR::ChPathSteeringControllerSR | ( | const std::string & | filename, |
| std::shared_ptr< ChBezierCurve > | path, | ||
| bool | isClosedPath = false, |
||
| double | max_wheel_turn_angle = 0.0, |
||
| double | axle_space = 2.5 |
||
| ) |
Construct a steering controller to track the specified path.
This version reads controller gains and lookahead distance from the specified JSON file.
Member Function Documentation
◆ CalcTargetLocation()
|
inlineoverridevirtual |
Calculate the current target point location.
The target point is the point on the associated path that is closest to the current location of the sentinel point.
Implements chrono::vehicle::ChSteeringController.
◆ Reset()
|
overridevirtual |
Reset the PID controller.
This function resets the underlying path tracker using the current location of the sentinel point.
Reimplemented from chrono::vehicle::ChSteeringController.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChSteeringController.h
- /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChSteeringController.cpp
