LQR-Based lateral controller, to compute steering target. For more details, please refer to "Vehicle dynamics and control." Rajamani, Rajesh. Springer Science & Business Media, 2011. More...

#include <lat_controller.h>

Inheritance diagram for apollo::control::LatController:

Collaboration diagram for apollo::control::LatController:

Public Member Functions
	LatController ()
	constructor More...

virtual	~LatController ()
	destructor More...

common::Status	Init (std::shared_ptr< DependencyInjector > injector, const ControlConf *control_conf) override
	initialize Lateral Controller More...

common::Status	ComputeControlCommand (const localization::LocalizationEstimate localization, const canbus::Chassis chassis, const planning::ADCTrajectory trajectory, ControlCommand cmd) override
	compute steering target based on current vehicle status and target trajectory More...

common::Status	Reset () override
	reset Lateral Controller More...

void	Stop () override
	stop Lateral controller More...

std::string	Name () const override
	Lateral controller name. More...

Public Member Functions inherited from apollo::control::Controller
	Controller ()=default
	constructor More...

virtual	~Controller ()=default
	destructor More...

virtual common::Status	ComputeControlCommand (const localization::LocalizationEstimate localization, const canbus::Chassis chassis, const planning::ADCTrajectory trajectory, control::ControlCommand cmd)=0
	compute control command based on current vehicle status and target trajectory More...

Protected Member Functions
void	UpdateState (SimpleLateralDebug *debug)

void	UpdateDrivingOrientation ()

void	UpdateMatrix ()

void	UpdateMatrixCompound ()

double	ComputeFeedForward (double ref_curvature) const

void	ComputeLateralErrors (const double x, const double y, const double theta, const double linear_v, const double angular_v, const double linear_a, const TrajectoryAnalyzer &trajectory_analyzer, SimpleLateralDebug *debug)

bool	LoadControlConf (const ControlConf *control_conf)

void	InitializeFilters (const ControlConf *control_conf)

void	LoadLatGainScheduler (const LatControllerConf &lat_controller_conf)

void	LogInitParameters ()

void	ProcessLogs (const SimpleLateralDebug debug, const canbus::Chassis chassis)

void	CloseLogFile ()

Protected Attributes
const ControlConf *	control_conf_ = nullptr

common::VehicleParam	vehicle_param_

TrajectoryAnalyzer	trajectory_analyzer_

double	ts_ = 0.0

double	cf_ = 0.0

double	cr_ = 0.0

double	wheelbase_ = 0.0

double	mass_ = 0.0

double	lf_ = 0.0

double	lr_ = 0.0

double	iz_ = 0.0

double	steer_ratio_ = 0.0

double	steer_single_direction_max_degree_ = 0.0

double	max_lat_acc_ = 0.0

int	preview_window_ = 0

double	lookahead_station_low_speed_ = 0.0

double	lookback_station_low_speed_ = 0.0

double	lookahead_station_high_speed_ = 0.0

double	lookback_station_high_speed_ = 0.0

const int	basic_state_size_ = 4

Eigen::MatrixXd	matrix_a_

Eigen::MatrixXd	matrix_ad_

Eigen::MatrixXd	matrix_adc_

Eigen::MatrixXd	matrix_b_

Eigen::MatrixXd	matrix_bd_

Eigen::MatrixXd	matrix_bdc_

Eigen::MatrixXd	matrix_k_

Eigen::MatrixXd	matrix_r_

Eigen::MatrixXd	matrix_q_

Eigen::MatrixXd	matrix_q_updated_

Eigen::MatrixXd	matrix_a_coeff_

Eigen::MatrixXd	matrix_state_

int	lqr_max_iteration_ = 0

double	lqr_eps_ = 0.0

common::DigitalFilter	digital_filter_

std::unique_ptr< Interpolation1D >	lat_err_interpolation_

std::unique_ptr< Interpolation1D >	heading_err_interpolation_

common::MeanFilter	lateral_error_filter_

common::MeanFilter	heading_error_filter_

bool	enable_leadlag_ = false

LeadlagController	leadlag_controller_

bool	enable_mrac_ = false

MracController	mrac_controller_

bool	enable_look_ahead_back_control_ = false

double	previous_lateral_acceleration_ = 0.0

double	previous_heading_rate_ = 0.0

double	previous_ref_heading_rate_ = 0.0

double	previous_heading_acceleration_ = 0.0

double	previous_ref_heading_acceleration_ = 0.0

std::ofstream	steer_log_file_

const std::string	name_

double	query_relative_time_

double	pre_steer_angle_ = 0.0

double	pre_steering_position_ = 0.0

double	minimum_speed_protection_ = 0.1

double	current_trajectory_timestamp_ = -1.0

double	init_vehicle_x_ = 0.0

double	init_vehicle_y_ = 0.0

double	init_vehicle_heading_ = 0.0

double	low_speed_bound_ = 0.0

double	low_speed_window_ = 0.0

double	driving_orientation_ = 0.0

std::shared_ptr< DependencyInjector >	injector_

Detailed Description

LQR-Based lateral controller, to compute steering target. For more details, please refer to "Vehicle dynamics and control." Rajamani, Rajesh. Springer Science & Business Media, 2011.

Constructor & Destructor Documentation

◆ LatController()

apollo::control::LatController::LatController ( )

constructor

◆ ~LatController()

virtual apollo::control::LatController::~LatController ( )

virtual

destructor

Member Function Documentation

◆ CloseLogFile()

void apollo::control::LatController::CloseLogFile ( )

protected

◆ ComputeControlCommand()

common::Status apollo::control::LatController::ComputeControlCommand	(	const localization::LocalizationEstimate *	localization,
		const canbus::Chassis *	chassis,
		const planning::ADCTrajectory *	trajectory,
		ControlCommand *	cmd
	)

override

compute steering target based on current vehicle status and target trajectory

Parameters

localization	vehicle location
chassis	vehicle status e.g., speed, acceleration
trajectory	trajectory generated by planning
cmd	control command

Returns: Status computation status

◆ ComputeFeedForward()

double apollo::control::LatController::ComputeFeedForward ( double ref_curvature ) const

protected

◆ ComputeLateralErrors()

void apollo::control::LatController::ComputeLateralErrors	(	const double	x,
		const double	y,
		const double	theta,
		const double	linear_v,
		const double	angular_v,
		const double	linear_a,
		const TrajectoryAnalyzer &	trajectory_analyzer,
		SimpleLateralDebug *	debug
	)

protected

◆ Init()

common::Status apollo::control::LatController::Init	(	std::shared_ptr< DependencyInjector >	injector,
		const ControlConf *	control_conf
	)

overridevirtual

initialize Lateral Controller

Parameters

control_conf control configurations

Returns: Status initialization status

Implements apollo::control::Controller.

◆ InitializeFilters()

void apollo::control::LatController::InitializeFilters ( const ControlConf * control_conf )

protected

◆ LoadControlConf()

bool apollo::control::LatController::LoadControlConf ( const ControlConf * control_conf )

protected

◆ LoadLatGainScheduler()

void apollo::control::LatController::LoadLatGainScheduler ( const LatControllerConf & lat_controller_conf )

protected

◆ LogInitParameters()

void apollo::control::LatController::LogInitParameters ( )

protected

◆ Name()

std::string apollo::control::LatController::Name ( ) const

overridevirtual

Lateral controller name.

Returns: string controller name in string

Implements apollo::control::Controller.

◆ ProcessLogs()

void apollo::control::LatController::ProcessLogs	(	const SimpleLateralDebug *	debug,
		const canbus::Chassis *	chassis
	)

protected

◆ Reset()

common::Status apollo::control::LatController::Reset ( )

overridevirtual

reset Lateral Controller

Returns: Status reset status

Implements apollo::control::Controller.

◆ Stop()

void apollo::control::LatController::Stop ( )

overridevirtual

stop Lateral controller

Implements apollo::control::Controller.

◆ UpdateDrivingOrientation()

void apollo::control::LatController::UpdateDrivingOrientation ( )

protected

◆ UpdateMatrix()

void apollo::control::LatController::UpdateMatrix ( )

protected

◆ UpdateMatrixCompound()

void apollo::control::LatController::UpdateMatrixCompound ( )

protected

◆ UpdateState()

void apollo::control::LatController::UpdateState ( SimpleLateralDebug * debug )

protected

Member Data Documentation

◆ basic_state_size_

const int apollo::control::LatController::basic_state_size_ = 4

protected

◆ cf_

double apollo::control::LatController::cf_ = 0.0

protected

◆ control_conf_

const ControlConf* apollo::control::LatController::control_conf_ = nullptr

protected

◆ cr_

double apollo::control::LatController::cr_ = 0.0

protected

◆ current_trajectory_timestamp_

double apollo::control::LatController::current_trajectory_timestamp_ = -1.0

protected

◆ digital_filter_

common::DigitalFilter apollo::control::LatController::digital_filter_

protected

◆ driving_orientation_

double apollo::control::LatController::driving_orientation_ = 0.0

protected

◆ enable_leadlag_

bool apollo::control::LatController::enable_leadlag_ = false

protected

◆ enable_look_ahead_back_control_

bool apollo::control::LatController::enable_look_ahead_back_control_ = false

protected

◆ enable_mrac_

bool apollo::control::LatController::enable_mrac_ = false

protected

◆ heading_err_interpolation_

std::unique_ptr<Interpolation1D> apollo::control::LatController::heading_err_interpolation_

protected

◆ heading_error_filter_

common::MeanFilter apollo::control::LatController::heading_error_filter_

protected

◆ init_vehicle_heading_

double apollo::control::LatController::init_vehicle_heading_ = 0.0

protected

◆ init_vehicle_x_

double apollo::control::LatController::init_vehicle_x_ = 0.0

protected

◆ init_vehicle_y_

double apollo::control::LatController::init_vehicle_y_ = 0.0

protected

◆ injector_

std::shared_ptr<DependencyInjector> apollo::control::LatController::injector_

protected

◆ iz_

double apollo::control::LatController::iz_ = 0.0

protected

◆ lat_err_interpolation_

std::unique_ptr<Interpolation1D> apollo::control::LatController::lat_err_interpolation_

protected

◆ lateral_error_filter_

common::MeanFilter apollo::control::LatController::lateral_error_filter_

protected

◆ leadlag_controller_

LeadlagController apollo::control::LatController::leadlag_controller_

protected

◆ lf_

double apollo::control::LatController::lf_ = 0.0

protected

◆ lookahead_station_high_speed_

double apollo::control::LatController::lookahead_station_high_speed_ = 0.0

protected

◆ lookahead_station_low_speed_

double apollo::control::LatController::lookahead_station_low_speed_ = 0.0

protected

◆ lookback_station_high_speed_

double apollo::control::LatController::lookback_station_high_speed_ = 0.0

protected

◆ lookback_station_low_speed_

double apollo::control::LatController::lookback_station_low_speed_ = 0.0

protected

◆ low_speed_bound_

double apollo::control::LatController::low_speed_bound_ = 0.0

protected

◆ low_speed_window_

double apollo::control::LatController::low_speed_window_ = 0.0

protected

◆ lqr_eps_

double apollo::control::LatController::lqr_eps_ = 0.0

protected

◆ lqr_max_iteration_

int apollo::control::LatController::lqr_max_iteration_ = 0

protected

◆ lr_

double apollo::control::LatController::lr_ = 0.0

protected

◆ mass_

double apollo::control::LatController::mass_ = 0.0

protected

◆ matrix_a_

Eigen::MatrixXd apollo::control::LatController::matrix_a_

protected

◆ matrix_a_coeff_

Eigen::MatrixXd apollo::control::LatController::matrix_a_coeff_

protected

◆ matrix_ad_

Eigen::MatrixXd apollo::control::LatController::matrix_ad_

protected

◆ matrix_adc_

Eigen::MatrixXd apollo::control::LatController::matrix_adc_

protected

◆ matrix_b_

Eigen::MatrixXd apollo::control::LatController::matrix_b_

protected

◆ matrix_bd_

Eigen::MatrixXd apollo::control::LatController::matrix_bd_

protected

◆ matrix_bdc_

Eigen::MatrixXd apollo::control::LatController::matrix_bdc_

protected

◆ matrix_k_

Eigen::MatrixXd apollo::control::LatController::matrix_k_

protected

◆ matrix_q_

Eigen::MatrixXd apollo::control::LatController::matrix_q_

protected

◆ matrix_q_updated_

Eigen::MatrixXd apollo::control::LatController::matrix_q_updated_

protected

◆ matrix_r_

Eigen::MatrixXd apollo::control::LatController::matrix_r_

protected

◆ matrix_state_

Eigen::MatrixXd apollo::control::LatController::matrix_state_

protected

◆ max_lat_acc_

double apollo::control::LatController::max_lat_acc_ = 0.0

protected

◆ minimum_speed_protection_

double apollo::control::LatController::minimum_speed_protection_ = 0.1

protected

◆ mrac_controller_

MracController apollo::control::LatController::mrac_controller_

protected

◆ name_

const std::string apollo::control::LatController::name_

protected

◆ pre_steer_angle_

double apollo::control::LatController::pre_steer_angle_ = 0.0

protected

◆ pre_steering_position_

double apollo::control::LatController::pre_steering_position_ = 0.0

protected

◆ preview_window_

int apollo::control::LatController::preview_window_ = 0

protected

◆ previous_heading_acceleration_

double apollo::control::LatController::previous_heading_acceleration_ = 0.0

protected

◆ previous_heading_rate_

double apollo::control::LatController::previous_heading_rate_ = 0.0

protected

◆ previous_lateral_acceleration_

double apollo::control::LatController::previous_lateral_acceleration_ = 0.0

protected

◆ previous_ref_heading_acceleration_

double apollo::control::LatController::previous_ref_heading_acceleration_ = 0.0

protected

◆ previous_ref_heading_rate_

double apollo::control::LatController::previous_ref_heading_rate_ = 0.0

protected

◆ query_relative_time_

double apollo::control::LatController::query_relative_time_

protected

◆ steer_log_file_

std::ofstream apollo::control::LatController::steer_log_file_

protected

◆ steer_ratio_

double apollo::control::LatController::steer_ratio_ = 0.0

protected

◆ steer_single_direction_max_degree_

double apollo::control::LatController::steer_single_direction_max_degree_ = 0.0

protected

◆ trajectory_analyzer_

TrajectoryAnalyzer apollo::control::LatController::trajectory_analyzer_

protected

◆ ts_

double apollo::control::LatController::ts_ = 0.0

protected

◆ vehicle_param_

common::VehicleParam apollo::control::LatController::vehicle_param_

protected

◆ wheelbase_

double apollo::control::LatController::wheelbase_ = 0.0

protected

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

modules/control/controller/lat_controller.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LatController()

◆ ~LatController()

Member Function Documentation

◆ CloseLogFile()

◆ ComputeControlCommand()

◆ ComputeFeedForward()

◆ ComputeLateralErrors()

◆ Init()

◆ InitializeFilters()

◆ LoadControlConf()

◆ LoadLatGainScheduler()

◆ LogInitParameters()

◆ Name()

◆ ProcessLogs()

◆ Reset()

◆ Stop()

◆ UpdateDrivingOrientation()

◆ UpdateMatrix()

◆ UpdateMatrixCompound()

◆ UpdateState()

Member Data Documentation

◆ basic_state_size_

◆ cf_

◆ control_conf_

◆ cr_

◆ current_trajectory_timestamp_

◆ digital_filter_

◆ driving_orientation_

◆ enable_leadlag_

◆ enable_look_ahead_back_control_

◆ enable_mrac_

◆ heading_err_interpolation_

◆ heading_error_filter_

◆ init_vehicle_heading_

◆ init_vehicle_x_

◆ init_vehicle_y_

◆ injector_

◆ iz_

◆ lat_err_interpolation_

◆ lateral_error_filter_

◆ leadlag_controller_

◆ lf_

◆ lookahead_station_high_speed_

◆ lookahead_station_low_speed_

◆ lookback_station_high_speed_

◆ lookback_station_low_speed_

◆ low_speed_bound_

◆ low_speed_window_

◆ lqr_eps_

◆ lqr_max_iteration_

◆ lr_

◆ mass_

◆ matrix_a_

◆ matrix_a_coeff_

◆ matrix_ad_

◆ matrix_adc_

◆ matrix_b_

◆ matrix_bd_

◆ matrix_bdc_

◆ matrix_k_

◆ matrix_q_

◆ matrix_q_updated_

◆ matrix_r_

◆ matrix_state_

◆ max_lat_acc_

◆ minimum_speed_protection_

◆ mrac_controller_

◆ name_

◆ pre_steer_angle_

◆ pre_steering_position_

◆ preview_window_

◆ previous_heading_acceleration_

◆ previous_heading_rate_

◆ previous_lateral_acceleration_

◆ previous_ref_heading_acceleration_