| |
| |
| <!DOCTYPE html> |
| <html class="writer-html5" lang="en" > |
| <head> |
| <meta charset="utf-8" /> |
| |
| <meta name="viewport" content="width=device-width, initial-scale=1.0" /> |
| |
| <title>Driver — OpenPASS Documentation</title> |
| |
| |
| |
| <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" /> |
| <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" /> |
| <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" /> |
| <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" /> |
| <link rel="stylesheet" href="../../../_static/tabs.css" type="text/css" /> |
| <link rel="stylesheet" href="../../../_static/css/custom.css" type="text/css" /> |
| |
| |
| |
| <link rel="shortcut icon" href="../../../_static/openPASS.ico"/> |
| |
| |
| |
| |
| |
| |
| |
| |
| <!--[if lt IE 9]> |
| <script src="../../../_static/js/html5shiv.min.js"></script> |
| <![endif]--> |
| |
| |
| <script type="text/javascript" id="documentation_options" data-url_root="../../../" src="../../../_static/documentation_options.js"></script> |
| <script data-url_root="../../../" id="documentation_options" src="../../../_static/documentation_options.js"></script> |
| <script src="../../../_static/jquery.js"></script> |
| <script src="../../../_static/underscore.js"></script> |
| <script src="../../../_static/doctools.js"></script> |
| |
| <script type="text/javascript" src="../../../_static/js/theme.js"></script> |
| |
| |
| <link rel="index" title="Index" href="../../../genindex.html" /> |
| <link rel="search" title="Search" href="../../../search.html" /> |
| <link rel="next" title="Spawner" href="spawner.html" /> |
| <link rel="prev" title="SystemConfigBlueprint" href="../input/systemconfigblueprint.html" /> |
| </head> |
| |
| <body class="wy-body-for-nav"> |
| |
| |
| <div class="wy-grid-for-nav"> |
| |
| <nav data-toggle="wy-nav-shift" class="wy-nav-side"> |
| <div class="wy-side-scroll"> |
| <div class="wy-side-nav-search" > |
| |
| |
| |
| <a href="../../../index.html" class="icon icon-home"> openPASS |
| |
| |
| |
| |
| <img src="../../../_static/openPASS.png" class="logo" alt="Logo"/> |
| |
| </a> |
| |
| |
| |
| |
| <div class="version"> |
| 9999.9999.9999 |
| </div> |
| |
| |
| |
| |
| <div role="search"> |
| <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get"> |
| <input type="text" name="q" placeholder="Search docs" /> |
| <input type="hidden" name="check_keywords" value="yes" /> |
| <input type="hidden" name="area" value="default" /> |
| </form> |
| </div> |
| |
| |
| </div> |
| |
| |
| <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation"> |
| |
| |
| |
| |
| |
| |
| <p class="caption"><span class="caption-text">Installation Guides</span></p> |
| <ul> |
| <li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/10_gui_installation_guide.html">GUI Installation Guide</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/20_sim_installation_guide.html">Simulation Installation Guide</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/21_pcm_installation_guide.html">PCM Installation Guide</a></li> |
| </ul> |
| <p class="caption"><span class="caption-text">User Guides</span></p> |
| <ul class="current"> |
| <li class="toctree-l1"><a class="reference internal" href="../../10_gui_user_guide.html">GUI User Guide</a></li> |
| <li class="toctree-l1 current"><a class="reference internal" href="../../20_sim_user_guide.html">Simulation User Guide</a><ul class="current"> |
| <li class="toctree-l2"><a class="reference internal" href="../../20_sim_user_guide.html#intended-audience">Intended Audience</a></li> |
| <li class="toctree-l2"><a class="reference internal" href="../../20_sim_user_guide.html#primer">Primer</a></li> |
| <li class="toctree-l2"><a class="reference internal" href="../../20_sim_user_guide.html#inputs-in-depth">Inputs in Depth</a></li> |
| <li class="toctree-l2"><a class="reference internal" href="../../20_sim_user_guide.html#outputs-in-depth">Outputs in Depth</a></li> |
| <li class="toctree-l2 current"><a class="reference internal" href="../../20_sim_user_guide.html#components-in-depth">Components in Depth</a><ul class="current"> |
| <li class="toctree-l3 current"><a class="current reference internal" href="#">Driver</a><ul> |
| <li class="toctree-l4"><a class="reference internal" href="#algorithmagentfollowingdrivermodel">AlgorithmAgentFollowingDriverModel</a></li> |
| </ul> |
| </li> |
| <li class="toctree-l3"><a class="reference internal" href="spawner.html">Spawner</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="vehicle.html">VehicleComponents</a></li> |
| </ul> |
| </li> |
| <li class="toctree-l2"><a class="reference internal" href="../../20_sim_user_guide.html#use-cases-examples">Use Cases Examples</a></li> |
| </ul> |
| </li> |
| </ul> |
| <p class="caption"><span class="caption-text">Advanced topics</span></p> |
| <ul> |
| <li class="toctree-l1"><a class="reference internal" href="../../../advanced_topics/10_documentation.html">Documentation Concept</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="../../../advanced_topics/20_simulator_advanced.html">Simulator</a></li> |
| </ul> |
| <p class="caption"><span class="caption-text">Other Information</span></p> |
| <ul> |
| <li class="toctree-l1"><a class="reference internal" href="../../../glossary.html">Glossary</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="../../../license.html">License</a></li> |
| </ul> |
| |
| |
| |
| </div> |
| |
| </div> |
| </nav> |
| |
| <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"> |
| |
| |
| <nav class="wy-nav-top" aria-label="top navigation"> |
| |
| <i data-toggle="wy-nav-top" class="fa fa-bars"></i> |
| <a href="../../../index.html">openPASS</a> |
| |
| </nav> |
| |
| |
| <div class="wy-nav-content"> |
| |
| <div class="rst-content"> |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| <div role="navigation" aria-label="breadcrumbs navigation"> |
| |
| <ul class="wy-breadcrumbs"> |
| |
| <li><a href="../../../index.html" class="icon icon-home"></a> »</li> |
| |
| <li><a href="../../20_sim_user_guide.html">Simulation User Guide</a> »</li> |
| |
| <li>Driver</li> |
| |
| |
| <li class="wy-breadcrumbs-aside"> |
| |
| |
| <a href="../../../_sources/user_guide/sim_user_guide/components/driver.rst.txt" rel="nofollow"> View page source</a> |
| |
| |
| </li> |
| |
| </ul> |
| |
| |
| <hr/> |
| </div> |
| <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article"> |
| <div itemprop="articleBody"> |
| |
| <div class="section" id="driver"> |
| <span id="components-driver"></span><h1>Driver<a class="headerlink" href="#driver" title="Permalink to this headline">¶</a></h1> |
| <div class="section" id="algorithmagentfollowingdrivermodel"> |
| <span id="components-agentfollowingdrivermodel"></span><h2>AlgorithmAgentFollowingDriverModel<a class="headerlink" href="#algorithmagentfollowingdrivermodel" title="Permalink to this headline">¶</a></h2> |
| <p>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.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Regular"</span><span class="nt">></span> |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Type"</span> <span class="na">Value=</span><span class="s">"AlgorithmAgentFollowingDriverModel"</span><span class="nt">/></span> |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"AlgorithmLateralModule"</span> <span class="na">Value=</span><span class="s">"Algorithm_LateralAfdm"</span><span class="nt">/></span> |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"AlgorithmLongitudinalModule"</span> <span class="na">Value=</span><span class="s">"Algorithm_LongitudinalAfdm"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"VelocityWish"</span> <span class="na">Value=</span><span class="s">"36.11"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Delta"</span> <span class="na">Value=</span><span class="s">"4.0"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"TGapWish"</span> <span class="na">Value=</span><span class="s">"1.5"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MinDistance"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MaxAcceleration"</span> <span class="na">Value=</span><span class="s">"1.4"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MaxDeceleration"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span> |
| <span class="nt"></Profile></span> |
| </pre></div> |
| </div> |
| <table class="tight-table docutils align-default"> |
| <colgroup> |
| <col style="width: 14%" /> |
| <col style="width: 5%" /> |
| <col style="width: 2%" /> |
| <col style="width: 63%" /> |
| <col style="width: 15%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Parameter</p></th> |
| <th class="head"><p>Type</p></th> |
| <th class="head"><p>Unit</p></th> |
| <th class="head"><p>Description</p></th> |
| <th class="head"><p>Defaults to</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>AlgorithmLateralModule</p></td> |
| <td><p>String</p></td> |
| <td></td> |
| <td><p>Behavior model for the steering wheel angle of the driver</p></td> |
| <td><p>Required value</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>AlgorithmLongitudinalModule</p></td> |
| <td><p>String</p></td> |
| <td></td> |
| <td><p>Behavior model for the accelerator, brake pedal position, and the current gear of the driver</p></td> |
| <td><p>Required value</p></td> |
| </tr> |
| <tr class="row-even"><td><p>VelocityWish</p></td> |
| <td><p>Double</p></td> |
| <td><p>m/s</p></td> |
| <td><p>Desired speed</p></td> |
| <td><p><abbr title="120 km/h">33.33 m/s</abbr></p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Delta</p></td> |
| <td><p>Double</p></td> |
| <td></td> |
| <td><p>Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant)</p></td> |
| <td><p>4.0</p></td> |
| </tr> |
| <tr class="row-even"><td><p>TGapWish</p></td> |
| <td><p>Double</p></td> |
| <td><p>s</p></td> |
| <td><p>Desired time gap between ego and front agent</p></td> |
| <td><p>1.5 s</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>MinDistance</p></td> |
| <td><p>Double</p></td> |
| <td><p>m</p></td> |
| <td><p>Minimum distance between ego and front (used at slow speeds); Also called jam distance</p></td> |
| <td><p>2.0 m</p></td> |
| </tr> |
| <tr class="row-even"><td><p>MaxAcceleration</p></td> |
| <td><p>Double</p></td> |
| <td><p>m/s²</p></td> |
| <td><p>Maximum acceleration in satisfactory way, not vehicle possible acceleration</p></td> |
| <td><p>1.4 m/s²</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>MaxDeceleration</p></td> |
| <td><p>Double</p></td> |
| <td><p>m/s²</p></td> |
| <td><p>Desired deceleration</p></td> |
| <td><p>2.0 m/s²</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="admonition-todo admonition" id="id1"> |
| <p class="admonition-title">Todo</p> |
| <p>Check description of Delta</p> |
| </div> |
| </div> |
| </div> |
| |
| |
| </div> |
| |
| </div> |
| <footer> |
| <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation"> |
| <a href="spawner.html" class="btn btn-neutral float-right" title="Spawner" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a> |
| <a href="../input/systemconfigblueprint.html" class="btn btn-neutral float-left" title="SystemConfigBlueprint" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a> |
| </div> |
| |
| <hr/> |
| |
| <div role="contentinfo"> |
| <p> |
| © Copyright 2021 OpenPASS Working Group. |
| |
| </p> |
| </div> |
| |
| |
| |
| Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a |
| |
| <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a> |
| |
| provided by <a href="https://readthedocs.org">Read the Docs</a>. |
| |
| </footer> |
| </div> |
| </div> |
| |
| </section> |
| |
| </div> |
| |
| |
| <script type="text/javascript"> |
| jQuery(function () { |
| SphinxRtdTheme.Navigation.enable(true); |
| }); |
| </script> |
| |
| |
| |
| |
| |
| |
| </body> |
| </html> |
