.. | |
******************************************************************************* | |
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 | |
http://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:: /../../../repo/sim/contrib/examples/Common/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 |