Description
Base class for closed-loop path-follower driver modesl.
This driver model uses a path steering controller and a speed controller. The steering controller adjusts the steering input to follow the prescribed path. The output from the speed controller is used to adjust throttle and braking inputs in order to maintain the prescribed constant vehicle speed.
Derived classes differ in the type of laterla steering controller.
#include <ChPathFollowerDriver.h>
Public Member Functions | |
ChClosedLoopDriver (ChVehicle &vehicle, const std::string &path_name, double target_speed) | |
Construct using the specified Bezier curve. More... | |
ChClosedLoopDriver (ChVehicle &vehicle, const std::string &speed_filename, const std::string &path_name, double target_speed) | |
Construct using JSON specification files. More... | |
void | SetDesiredSpeed (double val) |
Set the desired vehicle speed. | |
void | SetThresholdThrottle (double val) |
Specify the throttle value below which braking is enabled. More... | |
ChSpeedController & | GetSpeedController () const |
Get the underlying speed controller object. | |
void | Reset () |
Reset the underlying controllers. | |
virtual void | Initialize () override |
Initialize this driver system. | |
virtual void | Advance (double step) override |
Advance the state of this driver system by the specified duration. | |
void | SetColor (const ChColor &color) |
Set color of path visualization. | |
void | ExportPathPovray (const std::string &out_dir) |
Export the Bezier curve for POV-Ray postprocessing. | |
Public Member Functions inherited from chrono::vehicle::ChDriver | |
ChDriver (ChVehicle &vehicle) | |
Construct a driver subsystem associated with the given 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]) | |
DriverInputs | 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. | |
Protected Attributes | |
std::unique_ptr< ChSteeringController > | m_steeringPID |
steering controller | |
std::unique_ptr< ChSpeedController > | m_speedPID |
speed controller | |
double | m_target_speed |
desired vehicle speed | |
std::string | m_pathName |
for path visualization | |
ChColor | m_color |
for path visualization | |
double | m_throttle_threshold |
throttle value below which brakes are applied | |
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
◆ ChClosedLoopDriver() [1/2]
chrono::vehicle::ChClosedLoopDriver::ChClosedLoopDriver | ( | ChVehicle & | vehicle, |
const std::string & | path_name, | ||
double | target_speed | ||
) |
Construct using the specified Bezier curve.
- Parameters
-
vehicle associated vehicle path_name name of the path curve target_speed constant target speed
◆ ChClosedLoopDriver() [2/2]
chrono::vehicle::ChClosedLoopDriver::ChClosedLoopDriver | ( | ChVehicle & | vehicle, |
const std::string & | speed_filename, | ||
const std::string & | path_name, | ||
double | target_speed | ||
) |
Construct using JSON specification files.
The two files must contain specification for the path-follower steering controller and the constant-speed controller, respectively.
- Parameters
-
vehicle associated vehicle speed_filename JSON file with speed controller specification path_name name of the path curve target_speed constant target speed
Member Function Documentation
◆ SetThresholdThrottle()
|
inline |
Specify the throttle value below which braking is enabled.
If the vehicle is moving faster than the set speed, the controller attempts to reduce speed either by reducing the throttle input (if the current throttle input is above the threshold value) or by applying brakes (otherwise).
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChPathFollowerDriver.h
- /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChPathFollowerDriver.cpp