| .. | |
| ******************************************************************************* | |
| 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:: /../../../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 |