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.

See also: ChSteeringController; ChSpeedController

#include <ChPathFollowerDriver.h>

Inheritance diagram for chrono::vehicle::ChClosedLoopDriver:

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Collaboration diagram for chrono::vehicle::ChClosedLoopDriver:

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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]).

double	GetClutch () const
	Get the driver clutch 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 steering)
	Overwrite the value for the driver steering input (input is clamped in [-1,+1]).

void	SetThrottle (double throttle)
	Overwrite the value for the driver throttle input (input is clamped in [0,+1]).

void	SetBraking (double braking)
	Overwrite the value for the driver braking input (input is clamped in [0,+1]).

void	SetClutch (double clutch)
	Overwrite the value for the clutch braking input (input is clamped in [0,+1]).

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

double	m_clutch
	current value of clutch 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()

void chrono::vehicle::ChClosedLoopDriver::SetThresholdThrottle ( double val )

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