| .. |
| ************************************************************ |
| Copyright (c) 2021 in-tech GmbH |
| |
| This program and the accompanying materials are made |
| available under the terms of the Eclipse Public License 2.0 |
| which is available at https://www.eclipse.org/legal/epl-2.0/ |
| |
| SPDX-License-Identifier: EPL-2.0 |
| ************************************************************ |
| |
| .. _components_driver: |
| |
| Driver |
| ------ |
| |
| .. _components_agentfollowingdrivermodel: |
| |
| AlgorithmAgentFollowingDriverModel |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
| |
| This driver type adapts its velocity to an agent in front and holds a desired velocity if there's no front agent available (like adaptive cruise control). The lateral guidance always keeps the agent in the middle of the lane. |
| |
| .. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/ProfilesCatalog.xml |
| :language: xml |
| :dedent: 4 |
| :start-at: <Profile Name="Regular"> |
| :end-at: </Profile> |
| |
| .. table:: |
| :class: tight-table |
| |
| =========================== ========== ==== ====================================================================================================================== ============================ |
| Parameter Type Unit Description Defaults to |
| =========================== ========== ==== ====================================================================================================================== ============================ |
| AlgorithmLateralModule String Behavior model for the steering wheel angle of the driver Required value |
| AlgorithmLongitudinalModule String Behavior model for the accelerator, brake pedal position, and the current gear of the driver Required value |
| VelocityWish Double m/s Desired speed :abbr:`33.33 m/s (120 km/h)` |
| Delta Double Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant) 4.0 |
| TGapWish Double s Desired time gap between ego and front agent 1.5 s |
| MinDistance Double m Minimum distance between ego and front (used at slow speeds); Also called jam distance 2.0 m |
| MaxAcceleration Double m/s² Maximum acceleration in satisfactory way, not vehicle possible acceleration 1.4 m/s² |
| MaxDeceleration Double m/s² Desired deceleration 2.0 m/s² |
| =========================== ========== ==== ====================================================================================================================== ============================ |
| |
| .. todo:: Check description of Delta |