Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
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platoon_strategic_ihp::PlatoonPluginConfig Struct Reference

Stuct containing the algorithm configuration values for the yield_pluginConfig. More...

#include <platoon_config_ihp.h>

Collaboration diagram for platoon_strategic_ihp::PlatoonPluginConfig:
Collaboration graph

Public Attributes

double vehicleLength = 5.0
 
int maxPlatoonSize = 10
 
int algorithmType = 0
 
int statusMessageInterval = 100
 
int infoMessageInterval = 200
 
double maneuver_plan_dt = 15
 
double time_step = 15
 
double epislon = 0.001
 
double timeHeadway = 2.0
 
double standStillHeadway = 12.0
 
double maxAllowedJoinTimeGap = 15.0
 
double maxAllowedJoinGap = 90.0
 
double minAllowedJoinGap = 5.0
 
double longitudinalCheckThresold = 85.0
 
double desiredJoinTimeGap = 4.0
 
double desiredJoinGap = 30.0
 
int maxLeaderAbortingCalls = 2
 
double waitingStateTimeout = 25.0
 
double cmdSpeedMaxAdjustment = 10.0
 
double minAllowableHeadaway = 1.6
 
double headawayStableLowerBond = 1.7
 
double maxAllowableHeadaway = 4.0
 
double headawayStableUpperBond = 3.9
 
double minCutinGap = 22.0
 
double maxCutinGap = 22.0
 
double maxCrosstrackError = 2.0
 
double slowDownAdjuster = 0.75
 
double createGapAdjuster = 0.3
 
std::string vehicleID = "default_id"
 
double minPlatooningSpeed = 7.0
 
double ss_theta = 4.0
 Parameter sets for IHP platoon trajectory regulation algorithm. Please refer to the updated design doc for detailed parameter description. More...
 
double standstill = 2.0
 
double inter_tau = 1.5
 
double intra_tau = 0.6
 
double gap_weight = 0.9
 
bool test_front_join = false
 
bool test_cutin_join = false
 
bool allowCutinJoin = true
 
double significantDTDchange = 0.2
 
int join_index = -1
 

Friends

std::ostream & operator<< (std::ostream &output, const PlatoonPluginConfig &c)
 

Detailed Description

Stuct containing the algorithm configuration values for the yield_pluginConfig.

Definition at line 27 of file platoon_config_ihp.h.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<< ( std::ostream &  output,
const PlatoonPluginConfig &  c 
)
friend

Definition at line 94 of file platoon_config_ihp.h.

95 {
96 output << "PlatoonPluginConfig { " << std::endl
97 << "maxPlatoonSize: " << c.maxPlatoonSize << std::endl
98 << "algorithmType: " << c.algorithmType << std::endl
99 << "statusMessageInterval: " << c.statusMessageInterval << std::endl
100 << "infoMessageInterval: " << c.infoMessageInterval << std::endl
101 << "timeHeadway: " << c.timeHeadway << std::endl
102 << "standStillHeadway: " << c.standStillHeadway << std::endl
103 << "maxAllowedJoinTimeGap: " << c.maxAllowedJoinTimeGap << std::endl
104 << "desiredJoinTimeGap: " << c.desiredJoinTimeGap << std::endl
105 << "desiredJoinGap: " << c.desiredJoinGap << std::endl
106 << "maxLeaderAbortingCalls: " << c.maxLeaderAbortingCalls << std::endl
107 << "waitingStateTimeout: " << c.waitingStateTimeout << std::endl
108 << "cmdSpeedMaxAdjustment: " << c.cmdSpeedMaxAdjustment << std::endl
109 << "minAllowableHeadaway: " << c.minAllowableHeadaway << std::endl
110 << "maxAllowableHeadaway: " << c.maxAllowableHeadaway << std::endl
111 << "headawayStableLowerBond: " << c.headawayStableLowerBond << std::endl
112 << "headawayStableUpperBond: " << c.headawayStableUpperBond << std::endl
113 << "minCutinGap: " << c.minCutinGap << std::endl
114 << "maxCutinGap: " << c.maxCutinGap << std::endl
115 << "maxCrosstrackError: " << c.maxCrosstrackError << std::endl
116 << "vehicleID: " << c.vehicleID << std::endl
117 << "minPlatooningSpeed: " << c.minPlatooningSpeed << std::endl
118 << "allowCutinJoin: " << c.allowCutinJoin << std::endl
119 << "significantDTDchange: " << c.significantDTDchange << std::endl
120 << "join_index: " << c.join_index << std::endl
121 << "}" << std::endl; //TODO this is missing some fields
122 return output;
123 }
process_traj_logs.c
c
Definition: process_traj_logs.py:166

Member Data Documentation

◆ algorithmType

int platoon_strategic_ihp::PlatoonPluginConfig::algorithmType = 0

Definition at line 32 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ allowCutinJoin

bool platoon_strategic_ihp::PlatoonPluginConfig::allowCutinJoin = true

Definition at line 89 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ cmdSpeedMaxAdjustment

double platoon_strategic_ihp::PlatoonPluginConfig::cmdSpeedMaxAdjustment = 10.0

Definition at line 51 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ createGapAdjuster

double platoon_strategic_ihp::PlatoonPluginConfig::createGapAdjuster = 0.3

Definition at line 66 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composePlatoonInfoMsg(), and platoon_strategic_ihp::PlatoonManager::findMaximumSpacingViolationClosestToTheHostVehicle().

◆ desiredJoinGap

double platoon_strategic_ihp::PlatoonPluginConfig::desiredJoinGap = 30.0

Definition at line 48 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), platoon_strategic_ihp::Node::parameter_update_callback(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_candidate_follower(), and platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_leader_aborting().

◆ desiredJoinTimeGap

double platoon_strategic_ihp::PlatoonPluginConfig::desiredJoinTimeGap = 4.0

Definition at line 47 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), platoon_strategic_ihp::Node::parameter_update_callback(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_candidate_follower(), and platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_leader_aborting().

◆ epislon

double platoon_strategic_ihp::PlatoonPluginConfig::epislon = 0.001

Definition at line 38 of file platoon_config_ihp.h.

◆ gap_weight

double platoon_strategic_ihp::PlatoonPluginConfig::gap_weight = 0.9

Definition at line 82 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::PlatoonManager::getIHPDesPosFollower().

◆ headawayStableLowerBond

double platoon_strategic_ihp::PlatoonPluginConfig::headawayStableLowerBond = 1.7

Definition at line 56 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonManager::allPredecessorFollowing(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ headawayStableUpperBond

double platoon_strategic_ihp::PlatoonPluginConfig::headawayStableUpperBond = 3.9

Definition at line 58 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonManager::allPredecessorFollowing(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ infoMessageInterval

int platoon_strategic_ihp::PlatoonPluginConfig::infoMessageInterval = 200

Definition at line 34 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ inter_tau

double platoon_strategic_ihp::PlatoonPluginConfig::inter_tau = 1.5

Definition at line 80 of file platoon_config_ihp.h.

◆ intra_tau

double platoon_strategic_ihp::PlatoonPluginConfig::intra_tau = 0.6

Definition at line 81 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::PlatoonManager::getIHPDesPosFollower().

◆ join_index

int platoon_strategic_ihp::PlatoonPluginConfig::join_index = -1

Definition at line 91 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ longitudinalCheckThresold

double platoon_strategic_ihp::PlatoonPluginConfig::longitudinalCheckThresold = 85.0

Definition at line 46 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::isJoiningVehicleNearPlatoon(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::isVehicleNearTargetPlatoon(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ maneuver_plan_dt

double platoon_strategic_ihp::PlatoonPluginConfig::maneuver_plan_dt = 15

Definition at line 35 of file platoon_config_ihp.h.

◆ maxAllowableHeadaway

double platoon_strategic_ihp::PlatoonPluginConfig::maxAllowableHeadaway = 4.0

Definition at line 57 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonManager::findMaximumSpacingViolationClosestToTheHostVehicle(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ maxAllowedJoinGap

double platoon_strategic_ihp::PlatoonPluginConfig::maxAllowedJoinGap = 90.0

Definition at line 44 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leader(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ maxAllowedJoinTimeGap

double platoon_strategic_ihp::PlatoonPluginConfig::maxAllowedJoinTimeGap = 15.0

Definition at line 43 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leader(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ maxCrosstrackError

double platoon_strategic_ihp::PlatoonPluginConfig::maxCrosstrackError = 2.0

Definition at line 62 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::isJoiningVehicleNearPlatoon(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::isVehicleNearTargetPlatoon(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::isVehicleRightBehind(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::isVehicleRightInFront(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_op_cb_preparetojoin(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_candidateleader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leaderwaiting(), platoon_strategic_ihp::Node::on_configure_plugin(), platoon_strategic_ihp::Node::parameter_update_callback(), and platoon_strategic_ihp::PlatoonStrategicIHPPlugin::plan_maneuver_cb().

◆ maxCutinGap

double platoon_strategic_ihp::PlatoonPluginConfig::maxCutinGap = 22.0

Definition at line 61 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonManager::insufficientGapWithPredecessor(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::isJoiningVehicleNearPlatoon(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leadwithoperation(), platoon_strategic_ihp::Node::on_configure_plugin(), platoon_strategic_ihp::Node::parameter_update_callback(), and platoon_strategic_ihp::PlatoonStrategicIHPPlugin::plan_maneuver_cb().

◆ maxLeaderAbortingCalls

int platoon_strategic_ihp::PlatoonPluginConfig::maxLeaderAbortingCalls = 2

Definition at line 49 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_leader_aborting().

◆ maxPlatoonSize

int platoon_strategic_ihp::PlatoonPluginConfig::maxPlatoonSize = 10

Definition at line 31 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composePlatoonInfoMsg(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leader(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ minAllowableHeadaway

double platoon_strategic_ihp::PlatoonPluginConfig::minAllowableHeadaway = 1.6

Definition at line 55 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonManager::findLowerBoundaryViolationClosestToTheHostVehicle(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ minAllowedJoinGap

double platoon_strategic_ihp::PlatoonPluginConfig::minAllowedJoinGap = 5.0

Definition at line 45 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leader(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ minCutinGap

double platoon_strategic_ihp::PlatoonPluginConfig::minCutinGap = 22.0

Definition at line 60 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonManager::insufficientGapWithPredecessor(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ minPlatooningSpeed

double platoon_strategic_ihp::PlatoonPluginConfig::minPlatooningSpeed = 7.0

Definition at line 71 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ significantDTDchange

double platoon_strategic_ihp::PlatoonPluginConfig::significantDTDchange = 0.2

Definition at line 90 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), platoon_strategic_ihp::Node::parameter_update_callback(), and platoon_strategic_ihp::PlatoonManager::updatesOrAddMemberInfo().

◆ slowDownAdjuster

double platoon_strategic_ihp::PlatoonPluginConfig::slowDownAdjuster = 0.75

Definition at line 65 of file platoon_config_ihp.h.

◆ ss_theta

double platoon_strategic_ihp::PlatoonPluginConfig::ss_theta = 4.0

Parameter sets for IHP platoon trajectory regulation algorithm. Please refer to the updated design doc for detailed parameter description.

Definition at line 78 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::PlatoonManager::calculateTimeHeadway(), and platoon_strategic_ihp::PlatoonManager::getIHPDesPosFollower().

◆ standstill

double platoon_strategic_ihp::PlatoonPluginConfig::standstill = 2.0

Definition at line 79 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::PlatoonManager::getIHPDesPosFollower().

◆ standStillHeadway

double platoon_strategic_ihp::PlatoonPluginConfig::standStillHeadway = 12.0

Definition at line 42 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composePlatoonInfoMsg(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ statusMessageInterval

int platoon_strategic_ihp::PlatoonPluginConfig::statusMessageInterval = 100

Definition at line 33 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ test_cutin_join

bool platoon_strategic_ihp::PlatoonPluginConfig::test_cutin_join = false

Definition at line 86 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_op_cb_leader(), platoon_strategic_ihp::Node::on_configure_plugin(), platoon_strategic_ihp::Node::parameter_update_callback(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_lead_with_operation(), and platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_leader().

◆ test_front_join

bool platoon_strategic_ihp::PlatoonPluginConfig::test_front_join = false

Definition at line 83 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_op_cb_leader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_resp_cb_leader(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ time_step

double platoon_strategic_ihp::PlatoonPluginConfig::time_step = 15

Definition at line 37 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composeLaneChangeManeuverMessage(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composeManeuverMessage(), and platoon_strategic_ihp::PlatoonStrategicIHPPlugin::plan_maneuver_cb().

◆ timeHeadway

double platoon_strategic_ihp::PlatoonPluginConfig::timeHeadway = 2.0

Definition at line 41 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composePlatoonInfoMsg(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

◆ vehicleID

std::string platoon_strategic_ihp::PlatoonPluginConfig::vehicleID = "default_id"

Definition at line 68 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::PlatoonStrategicIHPPlugin(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composeMobilityOperationINFO(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composeMobilityOperationSTATUS(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::composePlatoonInfoMsg(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_op_cb_leader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_op_cb_preparetojoin(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_candidateleader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leadwithoperation(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_resp_cb_preparetojoin(), platoon_strategic_ihp::Node::on_configure_plugin(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_candidate_follower(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_leader_aborting(), and platoon_strategic_ihp::PlatoonStrategicIHPPlugin::run_prepare_to_join().

◆ vehicleLength

double platoon_strategic_ihp::PlatoonPluginConfig::vehicleLength = 5.0

Definition at line 30 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::PlatoonManager::getCurrentPlatoonLength(), platoon_strategic_ihp::PlatoonManager::getCutInGap(), platoon_strategic_ihp::PlatoonManager::getIHPDesPosFollower(), platoon_strategic_ihp::PlatoonManager::getPredecessorTimeHeadwaySum(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin::mob_req_cb_leadwithoperation(), and platoon_strategic_ihp::Node::on_configure_plugin().

◆ waitingStateTimeout

double platoon_strategic_ihp::PlatoonPluginConfig::waitingStateTimeout = 25.0

Definition at line 50 of file platoon_config_ihp.h.

Referenced by platoon_strategic_ihp::Node::Node(), platoon_strategic_ihp::Node::on_configure_plugin(), and platoon_strategic_ihp::Node::parameter_update_callback().

The documentation for this struct was generated from the following file: