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Changes in constant values 

Added new constants
This commit is contained in:
Jacopo Bartiromo 2021-02-12 11:24:44 +01:00 committed by bernat
parent 6a879c89db
commit 8ae9090be2
3 changed files with 24 additions and 12 deletions
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20
LibCarla/source/carla/trafficmanager/Constants.h
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@ -7,6 +7,8 @@
#include <limits>
#include <stdint.h>
#include <iostream>
#include <vector>
#define SQUARE(a) ((a) * (a))
#define RATE(MaxY, MinY, DiffX) (((MaxY) - (MinY)) / (DiffX))
@ -39,6 +41,7 @@ namespace SpeedThreshold {
static const float HIGHWAY_SPEED = 50.0f / 3.6f;
static const float ARBITRARY_MAX_SPEED = 100.0f / 3.6f;
static const float AFTER_JUNCTION_MIN_SPEED = 5.0f / 3.6f;
static const float INITIAL_PERCENTAGE_SPEED_DIFFERENCE = 30.0f;
} // namespace SpeedThreshold
namespace PathBufferUpdate {
@ -51,12 +54,12 @@ static const float HORIZON_RATE = RATE(MAXIMUM_HORIZON_LENGTH,
} // namespace PathBufferUpdate
namespace WaypointSelection {
static const float TARGET_WAYPOINT_TIME_HORIZON = 1.0f;
static const float TARGET_WAYPOINT_HORIZON_LENGTH = 2.5f;
static const float JUNCTION_LOOK_AHEAD = 10.0f;
static const float SAFE_DISTANCE_AFTER_JUNCTION = 10.0f;
static const float MIN_JUNCTION_LENGTH = 5.0f;
static const float MIN_SAFE_INTERVAL_LENGTH = 0.9f * SAFE_DISTANCE_AFTER_JUNCTION;
static const float TARGET_WAYPOINT_TIME_HORIZON = 0.3f;
static const float TARGET_WAYPOINT_HORIZON_LENGTH = 0.8f;
static const float JUNCTION_LOOK_AHEAD = 6.0f;
static const float SAFE_DISTANCE_AFTER_JUNCTION = 6.0f;
static const float MIN_JUNCTION_LENGTH = 8.0f;
static const float MIN_SAFE_INTERVAL_LENGTH = 1.5f * SAFE_DISTANCE_AFTER_JUNCTION;
} // namespace WaypointSelection
namespace LaneChange {
@ -118,10 +121,15 @@ static const float MAX_JUNCTION_BLOCK_DISTANCE = 0.5f * WaypointSelection::SAFE_
namespace PID {
static const float MAX_THROTTLE = 0.7f;
static const float MAX_BRAKE = 1.0f;
static const float STEERING_LIMIT = 0.8f;
static const float VELOCITY_INTEGRAL_MAX = 5.0f;
static const float VELOCITY_INTEGRAL_MIN = -5.0f;
static const float DT = 0.05f;
static const float INV_DT = 1.0f / DT;
static const std::vector<float> LONGITUDIAL_PARAM = {2.0f, 0.01f, 0.4f};
static const std::vector<float> LONGITUDIAL_HIGHWAY_PARAM = {4.0f, 0.02f, 0.2f};
static const std::vector<float> LATERAL_PARAM = {9.0f, 0.02f, 1.0f};
static const std::vector<float> LATERAL_HIGHWAY_PARAM = {7.0f, 0.02f, 1.0f};
} // namespace PID
namespace TrackTraffic {

2
LibCarla/source/carla/trafficmanager/PIDController.h
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@ -77,7 +77,7 @@ ActuationSignal RunStep(StateEntry present_state,
lateral_parameters[1] * present_state.deviation_integral +
lateral_parameters[2] * (present_state.deviation - previous_state.deviation) * INV_DT;
steer = std::max(-0.8f, std::min(steer, 0.8f));
steer = std::max(-STEERING_LIMIT, std::min(steer, STEERING_LIMIT));
return ActuationSignal{throttle, brake, steer};
}

14
LibCarla/source/carla/trafficmanager/TrafficManager.cpp
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@ -10,6 +10,7 @@
#include "carla/Sockets.h"
#include "carla/client/detail/Simulator.h"
#include "carla/trafficmanager/Constants.h"
#include "carla/trafficmanager/TrafficManager.h"
#include "carla/trafficmanager/TrafficManagerBase.h"
#include "carla/trafficmanager/TrafficManagerLocal.h"
@ -21,6 +22,9 @@
namespace carla {
namespace traffic_manager {
using namespace constants::SpeedThreshold;
using namespace constants::PID;
std::map<uint16_t, TrafficManagerBase*> TrafficManager::_tm_map;
std::mutex TrafficManager::_mutex;
@ -119,11 +123,11 @@ void TrafficManager::CreateTrafficManagerServer(
};
/// Define local constants
const std::vector<float> longitudinal_param = {2.0f, 0.01f, 0.4f};
const std::vector<float> longitudinal_highway_param = {4.0f, 0.02f, 0.2f};
const std::vector<float> lateral_param = {9.0f, 0.02f, 1.0f};
const std::vector<float> lateral_highway_param = {7.0f, 0.02f, 1.0f};
const float perc_difference_from_limit = 30.0f;
const std::vector<float> longitudinal_param = LONGITUDIAL_PARAM;
const std::vector<float> longitudinal_highway_param = LONGITUDIAL_HIGHWAY_PARAM;
const std::vector<float> lateral_param = LATERAL_PARAM;
const std::vector<float> lateral_highway_param = LATERAL_HIGHWAY_PARAM;
const float perc_difference_from_limit = INITIAL_PERCENTAGE_SPEED_DIFFERENCE;
std::pair<std::string, uint16_t> serverTM;