autoware::motion::control::trajectory_follower::SmoothStop Class Reference

Smooth stop class to implement vehicle specific deceleration profiles. More...

#include <smooth_stop.hpp>

Public Member Functions
void	init (const float64_t pred_vel_in_target, const float64_t pred_stop_dist)
	initialize the state of the smooth stop More...
void	setParams (float64_t max_strong_acc, float64_t min_strong_acc, float64_t weak_acc, float64_t weak_stop_acc, float64_t strong_stop_acc, float64_t min_fast_vel, float64_t min_running_vel, float64_t min_running_acc, float64_t weak_stop_time, float64_t weak_stop_dist, float64_t strong_stop_dist)
	set the parameters of this smooth stop More...
std::experimental::optional< float64_t >	calcTimeToStop (const std::vector< std::pair< rclcpp::Time, float64_t >> &vel_hist) const
	predict time when car stops by fitting some latest observed velocity history with linear function (v = at + b) More...
float64_t	calculate (const float64_t stop_dist, const float64_t current_vel, const float64_t current_acc, const std::vector< std::pair< rclcpp::Time, float64_t >> &vel_hist, const float64_t delay_time)
	calculate accel command while stopping Decrease velocity with m_strong_acc, then loose brake pedal with m_params.weak_acc to stop smoothly If the car is still running, input m_params.weak_stop_acc and then m_params.strong_stop_acc in steps not to exceed stopline too much More...

Detailed Description

Smooth stop class to implement vehicle specific deceleration profiles.

Member Function Documentation

calcTimeToStop()

std::experimental::optional< float64_t > autoware::motion::control::trajectory_follower::SmoothStop::calcTimeToStop

(

const std::vector< std::pair< rclcpp::Time, float64_t >> &

vel_hist

)

const

predict time when car stops by fitting some latest observed velocity history with linear function (v = at + b)

Parameters

[in]

vel_hist

history of previous ego velocities as (rclcpp::Time, float64_t[m/s]) pairs

Exceptions

std::runtime_error

if parameters have not been set

calculate()

float64_t autoware::motion::control::trajectory_follower::SmoothStop::calculate	(	const float64_t	stop_dist,
		const float64_t	current_vel,
		const float64_t	current_acc,
		const std::vector< std::pair< rclcpp::Time, float64_t >> &	vel_hist,
		const float64_t	delay_time
	)

calculate accel command while stopping Decrease velocity with m_strong_acc, then loose brake pedal with m_params.weak_acc to stop smoothly If the car is still running, input m_params.weak_stop_acc and then m_params.strong_stop_acc in steps not to exceed stopline too much

Parameters

[in]	stop_dist	distance left to travel before stopping [m]
[in]	current_vel	current velocity of ego [m/s]
[in]	current_acc	current acceleration of ego [m/s²]
[in]	vel_hist	history of previous ego velocities as (rclcpp::Time, float64_t[m/s]) pairs
[in]	delay_time	assumed time delay when the stop command will actually be executed

Exceptions

std::runtime_error

if parameters have not been set

init()

void autoware::motion::control::trajectory_follower::SmoothStop::init	(	const float64_t	pred_vel_in_target,
		const float64_t	pred_stop_dist
	)

initialize the state of the smooth stop

Parameters

[in]	pred_vel_in_target	predicted ego velocity when the stop command will be executed
[in]	pred_stop_dist	predicted stop distance when the stop command will be executed

setParams()

void autoware::motion::control::trajectory_follower::SmoothStop::setParams	(	float64_t	max_strong_acc,
		float64_t	min_strong_acc,
		float64_t	weak_acc,
		float64_t	weak_stop_acc,
		float64_t	strong_stop_acc,
		float64_t	min_fast_vel,
		float64_t	min_running_vel,
		float64_t	min_running_acc,
		float64_t	weak_stop_time,
		float64_t	weak_stop_dist,
		float64_t	strong_stop_dist
	)

set the parameters of this smooth stop

Parameters

[in]	max_strong_acc	maximum strong acceleration value [m/s²]
[in]	min_strong_acc	minumum strong acceleration value [m/s²]
[in]	weak_acc	weak acceleration value [m/s²]
[in]	weak_stop_acc	weak stopping acceleration value [m/s²]
[in]	strong_stop_acc	strong stopping acceleration value [m/s²]
[in]	min_fast_vel	minumum velocity to consider ego to be running fast [m/s]
[in]	min_running_vel	minimum velocity to consider ego to be running [m/s]
[in]	min_running_acc	minimum acceleration to consider ego to be running [m/s]
[in]	weak_stop_time	time allowed for stopping with a weak acceleration [s]
[in]	weak_stop_dist	distance to the stop point bellow which a weak accel is applied [m]
[in]	strong_stop_dist	distance to the stop point bellow which a strong accel is applied [m]

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

• smooth_stop.hpp
• smooth_stop.cpp