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change from 2 speed to % less than speed limit.

This commit is contained in:
Jacopo Bartiromo 2019-10-25 13:15:16 +02:00 committed by bernat
parent 2b48d1c340
commit c7d6aca079
4 changed files with 12 additions and 23 deletions
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17
LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp
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@ -4,7 +4,6 @@ namespace traffic_manager {
namespace PlannerConstants {
static const float HIGHWAY_SPEED = 50 / 3.6f;
static const float INTERSECTION_APPROACH_SPEED = 15 / 3.6f;
static const std::vector<float> URBAN_LONGITUDINAL_DEFAULTS = {0.1f, 0.15f, 0.01f};
static const std::vector<float> HIGHWAY_LONGITUDINAL_DEFAULTS = {5.0f, 0.1f, 0.01f};
static const std::vector<float> LATERAL_DEFAULTS = {10.0f, 0.0f, 0.1f};
@ -17,8 +16,7 @@ namespace PlannerConstants {
std::shared_ptr<TrafficLightToPlannerMessenger> traffic_light_messenger,
std::shared_ptr<PlannerToControlMessenger> control_messenger,
AtomicMap<ActorId, float> &vehicle_target_velocity,
float urban_target_velocity = 25 / 3.6f,
float highway_target_velocity = 50 / 3.6f,
float perc_decrease_from_limit = 20.0f,
std::vector<float> longitudinal_parameters = URBAN_LONGITUDINAL_DEFAULTS,
std::vector<float> highway_longitudinal_parameters = HIGHWAY_LONGITUDINAL_DEFAULTS,
std::vector<float> lateral_parameters = LATERAL_DEFAULTS)
@ -27,8 +25,7 @@ namespace PlannerConstants {
traffic_light_messenger(traffic_light_messenger),
control_messenger(control_messenger),
vehicle_target_velocity(vehicle_target_velocity),
urban_target_velocity(urban_target_velocity),
highway_target_velocity(highway_target_velocity),
perc_decrease_from_limit(perc_decrease_from_limit),
longitudinal_parameters(longitudinal_parameters),
highway_longitudinal_parameters(highway_longitudinal_parameters),
lateral_parameters(lateral_parameters) {
@ -76,12 +73,12 @@ namespace PlannerConstants {
traffic_manager::StateEntry previous_state;
previous_state = pid_state_map.at(actor_id);
float dynamic_target_velocity = urban_target_velocity;
// Increase speed if on highway.
float speed_limit = vehicle->GetSpeedLimit() / 3.6f;
float dynamic_target_velocity = speed_limit - (speed_limit*perc_decrease_from_limit)/100.0f;
if (speed_limit > HIGHWAY_SPEED) {
dynamic_target_velocity = highway_target_velocity;
longitudinal_parameters = highway_longitudinal_parameters;
}
@ -93,10 +90,6 @@ namespace PlannerConstants {
}
}
// Decrease speed approaching an intersection.
if (localization_data.approaching_true_junction) {
dynamic_target_velocity = INTERSECTION_APPROACH_SPEED;
}
// State update for vehicle.
StateEntry current_state = controller.StateUpdate(

6
LibCarla/source/carla/trafficmanager/MotionPlannerStage.h
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@ -54,8 +54,7 @@ namespace cc = carla::client;
/// Target velocities for specific vehicles.
AtomicMap<ActorId, float> &vehicle_target_velocity;
/// Target velocities.
float urban_target_velocity;
float highway_target_velocity;
float perc_decrease_from_limit;
/// Configuration parameters for the PID controller.
std::vector<float> longitudinal_parameters;
std::vector<float> highway_longitudinal_parameters;
@ -73,8 +72,7 @@ namespace cc = carla::client;
std::shared_ptr<TrafficLightToPlannerMessenger> traffic_light_messenger,
std::shared_ptr<PlannerToControlMessenger> control_messenger,
AtomicMap<ActorId, float> &vehicle_target_velocity,
float urban_target_velocity,
float highway_target_velocity,
float perc_decrease_from_limit,
std::vector<float> longitudinal_parameters,
std::vector<float> highway_longitudinal_parameters,
std::vector<float> lateral_parameters);

9
LibCarla/source/carla/trafficmanager/TrafficManager.cpp
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@ -6,8 +6,7 @@ namespace traffic_manager {
std::vector<float> longitudinal_PID_parameters,
std::vector<float> longitudinal_highway_PID_parameters,
std::vector<float> lateral_PID_parameters,
float urban_target_velocity,
float highway_target_velocity,
float perc_decrease_from_limit,
cc::Client &client_connection)
: longitudinal_PID_parameters(longitudinal_PID_parameters),
longitudinal_highway_PID_parameters(longitudinal_highway_PID_parameters),
@ -50,8 +49,7 @@ namespace traffic_manager {
traffic_light_planner_messenger,
planner_control_messenger,
vehicle_target_velocity,
urban_target_velocity,
highway_target_velocity,
perc_decrease_from_limit,
longitudinal_PID_parameters,
longitudinal_highway_PID_parameters,
lateral_PID_parameters);
@ -76,10 +74,11 @@ namespace traffic_manager {
std::vector<float> longitudinal_param = {0.1f, 0.15f, 0.01f};
std::vector<float> longitudinal_highway_param = {5.0f, 0.09f, 0.01f};
std::vector<float> lateral_param = {10.0f, 0.0f, 0.1f};
float perc_decrease_from_limit = 20.0f;
TrafficManager* tm_ptr = new TrafficManager(
longitudinal_param, longitudinal_highway_param, lateral_param,
25.0f/3.6f, 50.0f/3.6f, client_connection
perc_decrease_from_limit, client_connection
);
singleton_pointer = std::unique_ptr<TrafficManager>(tm_ptr);

3
LibCarla/source/carla/trafficmanager/TrafficManager.h
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@ -83,8 +83,7 @@ namespace cc = carla::client;
std::vector<float> longitudinal_PID_parameters,
std::vector<float> longitudinal_highway_PID_parameters,
std::vector<float> lateral_PID_parameters,
float urban_target_velocity,
float highway_target_velocity,
float perc_decrease_from_limit,
cc::Client &client_connection);
/// To start the TrafficManager.