autoware::motion::control::trajectory_follower::MPC Class Reference

calculate control command to follow reference waypoints More...

#include <mpc.hpp>

Collaboration diagram for autoware::motion::control::trajectory_follower::MPC:

[legend]

Public Member Functions
	MPC ()=default
	constructor More...

bool8_t	calculateMPC (const autoware_auto_vehicle_msgs::msg::VehicleKinematicState &current_steer, const float64_t current_velocity, const geometry_msgs::msg::Pose &current_pose, autoware_auto_control_msgs::msg::AckermannLateralCommand &ctrl_cmd, autoware_auto_planning_msgs::msg::Trajectory &predicted_traj, autoware_auto_system_msgs::msg::Float32MultiArrayDiagnostic &diagnostic)
	calculate control command by MPC algorithm More...

void	setReferenceTrajectory (const autoware_auto_planning_msgs::msg::Trajectory &trajectory_msg, const float64_t traj_resample_dist, const bool8_t enable_path_smoothing, const int64_t path_filter_moving_ave_num, const bool8_t enable_yaw_recalculation, const int64_t curvature_smoothing_num, const geometry_msgs::msg::PoseStamped::SharedPtr current_pose_ptr)
	set the reference trajectory to follow More...

void	setVehicleModel (std::shared_ptr< trajectory_follower::VehicleModelInterface > vehicle_model_ptr, const std::string &vehicle_model_type)
	set the vehicle model of this MPC More...

void	setQPSolver (std::shared_ptr< trajectory_follower::QPSolverInterface > qpsolver_ptr)
	set the QP solver of this MPC More...

void	initializeLowPassFilters (const float64_t steering_lpf_cutoff_hz, const float64_t error_deriv_lpf_cutoff_hz)
	initialize low pass filters More...

bool8_t	hasVehicleModel () const
	return true if the vehicle model of this MPC is set More...

bool8_t	hasQPSolver () const
	return true if the QP solver of this MPC is set More...

void	setLogger (rclcpp::Logger logger)
	set the RCLCPP logger to use for logging More...

void	setClock (rclcpp::Clock::SharedPtr clock)
	set the RCLCPP clock to use for time keeping More...

Public Attributes
trajectory_follower::MPCTrajectory	m_ref_traj
	< More...

MPCParam	m_param
	mpc_output buffer for delay time compensation More...

std::deque< float64_t >	m_input_buffer
	mpc raw output in previous period More...

float64_t	m_raw_steer_cmd_prev = 0.0

float64_t	m_admissible_position_error
	< More...

float64_t	m_admissible_yaw_error_rad
	steering command limit [rad] More...

float64_t	m_steer_lim
	steering rate limit [rad/s] More...

float64_t	m_steer_rate_lim
	control frequency [s] More...

float64_t	m_ctrl_period

bool8_t	m_use_steer_prediction
	< More...

Detailed Description

calculate control command to follow reference waypoints

MPC-based waypoints follower class

Constructor & Destructor Documentation

◆ MPC()

autoware::motion::control::trajectory_follower::MPC::MPC ( )

default

constructor

Member Function Documentation

◆ calculateMPC()

bool8_t autoware::motion::control::trajectory_follower::MPC::calculateMPC	(	const autoware_auto_vehicle_msgs::msg::VehicleKinematicState &	current_steer,
		const float64_t	current_velocity,
		const geometry_msgs::msg::Pose &	current_pose,
		autoware_auto_control_msgs::msg::AckermannLateralCommand &	ctrl_cmd,
		autoware_auto_planning_msgs::msg::Trajectory &	predicted_traj,
		autoware_auto_system_msgs::msg::Float32MultiArrayDiagnostic &	diagnostic
	)

calculate control command by MPC algorithm

Parameters

[in]	current_steer	current steering of the vehicle
[in]	current_velocity	current velocity of the vehicle [m/s]
[in]	current_pose	current pose of the vehicle
[out]	ctrl_cmd	control command calculated with mpc algorithm
[out]	predicted_traj	predicted MPC trajectory
[out]	diagnostic	diagnostic msg to be filled-out

◆ hasQPSolver()

bool8_t autoware::motion::control::trajectory_follower::MPC::hasQPSolver ( ) const

inline

return true if the QP solver of this MPC is set

◆ hasVehicleModel()

bool8_t autoware::motion::control::trajectory_follower::MPC::hasVehicleModel ( ) const

inline

return true if the vehicle model of this MPC is set

◆ initializeLowPassFilters()

void autoware::motion::control::trajectory_follower::MPC::initializeLowPassFilters	(	const float64_t	steering_lpf_cutoff_hz,
		const float64_t	error_deriv_lpf_cutoff_hz
	)

inline

initialize low pass filters

◆ setClock()

void autoware::motion::control::trajectory_follower::MPC::setClock ( rclcpp::Clock::SharedPtr clock )

inline

set the RCLCPP clock to use for time keeping

◆ setLogger()

void autoware::motion::control::trajectory_follower::MPC::setLogger ( rclcpp::Logger logger )

inline

set the RCLCPP logger to use for logging

◆ setQPSolver()

void autoware::motion::control::trajectory_follower::MPC::setQPSolver ( std::shared_ptr< trajectory_follower::QPSolverInterface > qpsolver_ptr )

inline

set the QP solver of this MPC

◆ setReferenceTrajectory()

void autoware::motion::control::trajectory_follower::MPC::setReferenceTrajectory	(	const autoware_auto_planning_msgs::msg::Trajectory &	trajectory_msg,
		const float64_t	traj_resample_dist,
		const bool8_t	enable_path_smoothing,
		const int64_t	path_filter_moving_ave_num,
		const bool8_t	enable_yaw_recalculation,
		const int64_t	curvature_smoothing_num,
		const geometry_msgs::msg::PoseStamped::SharedPtr	current_pose_ptr
	)

set the reference trajectory to follow

◆ setVehicleModel()

void autoware::motion::control::trajectory_follower::MPC::setVehicleModel	(	std::shared_ptr< trajectory_follower::VehicleModelInterface >	vehicle_model_ptr,
		const std::string &	vehicle_model_type
	)

inline

set the vehicle model of this MPC

Member Data Documentation

◆ m_admissible_position_error

float64_t autoware::motion::control::trajectory_follower::MPC::m_admissible_position_error

use stop cmd when lateral error exceeds this [m]

use stop cmd when yaw error exceeds this [rad]

◆ m_admissible_yaw_error_rad

float64_t autoware::motion::control::trajectory_follower::MPC::m_admissible_yaw_error_rad

steering command limit [rad]

◆ m_ctrl_period

float64_t autoware::motion::control::trajectory_follower::MPC::m_ctrl_period

◆ m_input_buffer

std::deque<float64_t> autoware::motion::control::trajectory_follower::MPC::m_input_buffer

mpc raw output in previous period

◆ m_param

MPCParam autoware::motion::control::trajectory_follower::MPC::m_param

mpc_output buffer for delay time compensation

◆ m_raw_steer_cmd_prev

float64_t autoware::motion::control::trajectory_follower::MPC::m_raw_steer_cmd_prev = 0.0

◆ m_ref_traj

trajectory_follower::MPCTrajectory autoware::motion::control::trajectory_follower::MPC::m_ref_traj

reference trajectory to be followed

MPC design parameter

◆ m_steer_lim

float64_t autoware::motion::control::trajectory_follower::MPC::m_steer_lim

steering rate limit [rad/s]

◆ m_steer_rate_lim

float64_t autoware::motion::control::trajectory_follower::MPC::m_steer_rate_lim

control frequency [s]

◆ m_use_steer_prediction

bool8_t autoware::motion::control::trajectory_follower::MPC::m_use_steer_prediction

flag to use predicted steer, not measured steer.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MPC()

Member Function Documentation

◆ calculateMPC()

◆ hasQPSolver()

◆ hasVehicleModel()

◆ initializeLowPassFilters()

◆ setClock()

◆ setLogger()

◆ setQPSolver()

◆ setReferenceTrajectory()

◆ setVehicleModel()

Member Data Documentation

◆ m_admissible_position_error

◆ m_admissible_yaw_error_rad

◆ m_ctrl_period

◆ m_input_buffer

◆ m_param

◆ m_raw_steer_cmd_prev

◆ m_ref_traj

◆ m_steer_lim

◆ m_steer_rate_lim

◆ m_use_steer_prediction