chrono::synchrono::ChMultiPathFollowerACCDriver Class Reference

Description

A driver model that is very similar with ChPathFollowerACCDriver but it uses multiple path steering controllers.

This allows the driver to switch to other paths when needed.

See also

ChMultiplePathSteeringController

ChAdaptiveSpeedController

#include <SynMultiPathDriver.h>

Inheritance diagram for chrono::synchrono::ChMultiPathFollowerACCDriver:

Collaboration diagram for chrono::synchrono::ChMultiPathFollowerACCDriver:

Public Member Functions
	ChMultiPathFollowerACCDriver (vehicle::ChVehicle &vehicle, std::vector< std::shared_ptr< ChBezierCurve >> paths, const std::string &path_name, double target_speed, double target_following_time, double target_min_distance, double current_distance)
	Construct using the specified Bezier curves. More...
void	SetDesiredSpeed (double val)
	Set the desired vehicle speed.
void	SetDesiredFollowingTime (double val)
	Set the desired number of seconds of following distance.
void	SetDesiredFollowingMinDistance (double val)
	Set the desired min distance to the vehicle in front. More...
void	SetCurrentDistance (double val)
	Set the distance to the vehicle in front that the control will track. More...
void	SetThreshholdThrottle (double val)
	Specify the throttle value below which braking is enabled. More...
ChMultiplePathSteeringController &	GetSteeringController ()
	Get the underlying steering controller object.
vehicle::ChAdaptiveSpeedController &	GetSpeedController ()
	Get the underlying speed controller object.
void	Reset ()
	Reset the underlying controllers.
virtual void	Advance (double step) override
	Advance the state of this driver system by the specified duration.
void	ExportPathPovray (const std::string &out_dir)
	Export the Bezier curve for POV-Ray postprocessing.
void	changePath (int path)
	Change to another path in the array.
unsigned	addPath (std::shared_ptr< ChBezierCurve > path)
	Add another path into the array.
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	Initialize ()
	Initialize this driver system.
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]).

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
double	m_clutch
	current value of clutch input

Constructor & Destructor Documentation

ChMultiPathFollowerACCDriver()

chrono::synchrono::ChMultiPathFollowerACCDriver::ChMultiPathFollowerACCDriver	(	vehicle::ChVehicle &	vehicle,
		std::vector< std::shared_ptr< ChBezierCurve >>	paths,
		const std::string &	path_name,
		double	target_speed,
		double	target_following_time,
		double	target_min_distance,
		double	current_distance
	)

Construct using the specified Bezier curves.

Parameters

vehicle	associated vehicle
paths	an array of Bezier curve with target path
path_name	name of the path curve
target_speed	constant target speed
target_following_time	seconds of following time
target_min_distance	min following distance
current_distance	current distance to the vehicle in front

Member Function Documentation

SetCurrentDistance()

void chrono::synchrono::ChMultiPathFollowerACCDriver::SetCurrentDistance ( double  val )

inline

Set the distance to the vehicle in front that the control will track.

Typically this will be called at each time step.

SetDesiredFollowingMinDistance()

void chrono::synchrono::ChMultiPathFollowerACCDriver::SetDesiredFollowingMinDistance ( double  val )

inline

Set the desired min distance to the vehicle in front.

This comes into play especially at low to zero speeds.

SetThreshholdThrottle()

void chrono::synchrono::ChMultiPathFollowerACCDriver::SetThreshholdThrottle ( 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).

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

• /builds/uwsbel/chrono/src/chrono_synchrono/controller/driver/SynMultiPathDriver.h
• /builds/uwsbel/chrono/src/chrono_synchrono/controller/driver/SynMultiPathDriver.cpp