chrono::vehicle::ChAIDriver Class Referenceabstract

Description

Driver.

#include <ChAIDriver.h>

Inheritance diagram for chrono::vehicle::ChAIDriver:
Collaboration diagram for chrono::vehicle::ChAIDriver:

Public Member Functions

 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.
 
virtual double CalculateSteering (double front_axle_angle, double rear_axle_angle)=0
 Return the value of the vehicle steering input (in [-1,+1]) given the desired front and rear wheel angles. More...
 
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)
 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])
 
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.
 

Protected Attributes

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
ChVehiclem_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
 

Member Function Documentation

◆ CalculateSteering()

virtual double chrono::vehicle::ChAIDriver::CalculateSteering ( double  front_axle_angle,
double  rear_axle_angle 
)
pure virtual

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. 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).

Implemented in chrono::vehicle::AIDriver.

◆ SetThresholdThrottle()

void chrono::vehicle::ChAIDriver::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).

◆ Synchronize()

void chrono::vehicle::ChAIDriver::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).

The underlying assumption is of Ackermann steering of a bicycle model.


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