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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Stuct containing the algorithm configuration values for the yield_pluginConfig. More...
#include <platooning_config_ihp.h>
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 PlatooningPluginConfig &c) |
Stuct containing the algorithm configuration values for the yield_pluginConfig.
Definition at line 27 of file platooning_config_ihp.h.
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friend |
Definition at line 94 of file platooning_config_ihp.h.
int platooning_strategic_ihp::PlatooningPluginConfig::algorithmType = 0 |
Definition at line 32 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
bool platooning_strategic_ihp::PlatooningPluginConfig::allowCutinJoin = true |
Definition at line 89 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::cmdSpeedMaxAdjustment = 10.0 |
Definition at line 51 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::createGapAdjuster = 0.3 |
Definition at line 66 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composePlatoonInfoMsg(), and platooning_strategic_ihp::PlatooningManager::findMaximumSpacingViolationClosestToTheHostVehicle().
double platooning_strategic_ihp::PlatooningPluginConfig::desiredJoinGap = 30.0 |
Definition at line 48 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), platooning_strategic_ihp::Node::parameter_update_callback(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_candidate_follower(), and platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_leader_aborting().
double platooning_strategic_ihp::PlatooningPluginConfig::desiredJoinTimeGap = 4.0 |
Definition at line 47 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), platooning_strategic_ihp::Node::parameter_update_callback(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_candidate_follower(), and platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_leader_aborting().
double platooning_strategic_ihp::PlatooningPluginConfig::epislon = 0.001 |
Definition at line 38 of file platooning_config_ihp.h.
double platooning_strategic_ihp::PlatooningPluginConfig::gap_weight = 0.9 |
Definition at line 82 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::PlatooningManager::getIHPDesPosFollower().
double platooning_strategic_ihp::PlatooningPluginConfig::headawayStableLowerBond = 1.7 |
Definition at line 56 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningManager::allPredecessorFollowing(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::headawayStableUpperBond = 3.9 |
Definition at line 58 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningManager::allPredecessorFollowing(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
int platooning_strategic_ihp::PlatooningPluginConfig::infoMessageInterval = 200 |
Definition at line 34 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::inter_tau = 1.5 |
Definition at line 80 of file platooning_config_ihp.h.
double platooning_strategic_ihp::PlatooningPluginConfig::intra_tau = 0.6 |
Definition at line 81 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::PlatooningManager::getIHPDesPosFollower().
int platooning_strategic_ihp::PlatooningPluginConfig::join_index = -1 |
Definition at line 91 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::longitudinalCheckThresold = 85.0 |
Definition at line 46 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::isJoiningVehicleNearPlatoon(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::isVehicleNearTargetPlatoon(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::maneuver_plan_dt = 15 |
Definition at line 35 of file platooning_config_ihp.h.
double platooning_strategic_ihp::PlatooningPluginConfig::maxAllowableHeadaway = 4.0 |
Definition at line 57 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningManager::findMaximumSpacingViolationClosestToTheHostVehicle(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::maxAllowedJoinGap = 90.0 |
Definition at line 44 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leader(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::maxAllowedJoinTimeGap = 15.0 |
Definition at line 43 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leader(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::maxCrosstrackError = 2.0 |
Definition at line 62 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::isJoiningVehicleNearPlatoon(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::isVehicleNearTargetPlatoon(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::isVehicleRightBehind(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::isVehicleRightInFront(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_op_cb_preparetojoin(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_candidateleader(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leader(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leaderwaiting(), platooning_strategic_ihp::Node::on_configure_plugin(), platooning_strategic_ihp::Node::parameter_update_callback(), and platooning_strategic_ihp::PlatooningStrategicIHPPlugin::plan_maneuver_cb().
double platooning_strategic_ihp::PlatooningPluginConfig::maxCutinGap = 22.0 |
Definition at line 61 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningManager::insufficientGapWithPredecessor(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::isJoiningVehicleNearPlatoon(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leadwithoperation(), platooning_strategic_ihp::Node::on_configure_plugin(), platooning_strategic_ihp::Node::parameter_update_callback(), and platooning_strategic_ihp::PlatooningStrategicIHPPlugin::plan_maneuver_cb().
int platooning_strategic_ihp::PlatooningPluginConfig::maxLeaderAbortingCalls = 2 |
Definition at line 49 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_leader_aborting().
int platooning_strategic_ihp::PlatooningPluginConfig::maxPlatoonSize = 10 |
Definition at line 31 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composePlatoonInfoMsg(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leader(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::minAllowableHeadaway = 1.6 |
Definition at line 55 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningManager::findLowerBoundaryViolationClosestToTheHostVehicle(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::minAllowedJoinGap = 5.0 |
Definition at line 45 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leader(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::minCutinGap = 22.0 |
Definition at line 60 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningManager::insufficientGapWithPredecessor(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::minPlatooningSpeed = 7.0 |
double platooning_strategic_ihp::PlatooningPluginConfig::significantDTDchange = 0.2 |
double platooning_strategic_ihp::PlatooningPluginConfig::slowDownAdjuster = 0.75 |
Definition at line 65 of file platooning_config_ihp.h.
double platooning_strategic_ihp::PlatooningPluginConfig::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 platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::PlatooningManager::calculateTimeHeadway(), and platooning_strategic_ihp::PlatooningManager::getIHPDesPosFollower().
double platooning_strategic_ihp::PlatooningPluginConfig::standstill = 2.0 |
Definition at line 79 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::PlatooningManager::getIHPDesPosFollower().
double platooning_strategic_ihp::PlatooningPluginConfig::standStillHeadway = 12.0 |
Definition at line 42 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composePlatoonInfoMsg(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
int platooning_strategic_ihp::PlatooningPluginConfig::statusMessageInterval = 100 |
Definition at line 33 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
bool platooning_strategic_ihp::PlatooningPluginConfig::test_cutin_join = false |
Definition at line 86 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_op_cb_leader(), platooning_strategic_ihp::Node::on_configure_plugin(), platooning_strategic_ihp::Node::parameter_update_callback(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_lead_with_operation(), and platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_leader().
bool platooning_strategic_ihp::PlatooningPluginConfig::test_front_join = false |
Definition at line 83 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_op_cb_leader(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leader(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_resp_cb_leader(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
double platooning_strategic_ihp::PlatooningPluginConfig::time_step = 15 |
Definition at line 37 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composeLaneChangeManeuverMessage(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composeManeuverMessage(), and platooning_strategic_ihp::PlatooningStrategicIHPPlugin::plan_maneuver_cb().
double platooning_strategic_ihp::PlatooningPluginConfig::timeHeadway = 2.0 |
Definition at line 41 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composePlatoonInfoMsg(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().
std::string platooning_strategic_ihp::PlatooningPluginConfig::vehicleID = "default_id" |
Definition at line 68 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::PlatooningStrategicIHPPlugin(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composeMobilityOperationINFO(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composeMobilityOperationSTATUS(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::composePlatoonInfoMsg(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_op_cb_leader(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_op_cb_preparetojoin(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_candidateleader(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leadwithoperation(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_resp_cb_preparetojoin(), platooning_strategic_ihp::Node::on_configure_plugin(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_candidate_follower(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_leader_aborting(), and platooning_strategic_ihp::PlatooningStrategicIHPPlugin::run_prepare_to_join().
double platooning_strategic_ihp::PlatooningPluginConfig::vehicleLength = 5.0 |
Definition at line 30 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::PlatooningManager::getCurrentPlatoonLength(), platooning_strategic_ihp::PlatooningManager::getCutInGap(), platooning_strategic_ihp::PlatooningManager::getIHPDesPosFollower(), platooning_strategic_ihp::PlatooningManager::getPredecessorTimeHeadwaySum(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leader(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin::mob_req_cb_leadwithoperation(), and platooning_strategic_ihp::Node::on_configure_plugin().
double platooning_strategic_ihp::PlatooningPluginConfig::waitingStateTimeout = 25.0 |
Definition at line 50 of file platooning_config_ihp.h.
Referenced by platooning_strategic_ihp::Node::Node(), platooning_strategic_ihp::Node::on_configure_plugin(), and platooning_strategic_ihp::Node::parameter_update_callback().