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| <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> | |
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