MPCController, combined lateral and longitudinal controllers. More...

#include <mpc_controller.h>

Inheritance diagram for apollo::control::MPCController:

Collaboration diagram for apollo::control::MPCController:

Public Member Functions
	MPCController ()
	constructor More...

virtual	~MPCController ()
	destructor More...

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

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

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

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

std::string	Name () const override
	MPC 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 (SimpleMPCDebug *debug)

void	UpdateMatrix (SimpleMPCDebug *debug)

void	FeedforwardUpdate (SimpleMPCDebug *debug)

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, SimpleMPCDebug *debug)

void	ComputeLongitudinalErrors (const TrajectoryAnalyzer trajectory, SimpleMPCDebug debug)

bool	LoadControlConf (const ControlConf *control_conf)

void	InitializeFilters (const ControlConf *control_conf)

void	LogInitParameters ()

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

void	CloseLogFile ()

double	Wheel2SteerPct (const double wheel_angle)

void	LoadControlCalibrationTable (const MPCControllerConf &mpc_controller_conf)

void	LoadMPCGainScheduler (const MPCControllerConf &mpc_controller_conf)

Protected Attributes
common::VehicleParam	vehicle_param_

TrajectoryAnalyzer	trajectory_analyzer_

std::unique_ptr< Interpolation2D >	control_interpolation_

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	wheel_single_direction_max_degree_ = 0.0

double	max_lat_acc_ = 0.0

const int	basic_state_size_ = 6

const int	controls_ = 2

const int	horizon_ = 10

Eigen::MatrixXd	matrix_a_

Eigen::MatrixXd	matrix_ad_

Eigen::MatrixXd	matrix_b_

Eigen::MatrixXd	matrix_bd_

Eigen::MatrixXd	matrix_c_

Eigen::MatrixXd	matrix_cd_

Eigen::MatrixXd	matrix_k_

Eigen::MatrixXd	matrix_r_

Eigen::MatrixXd	matrix_r_updated_

Eigen::MatrixXd	matrix_q_

Eigen::MatrixXd	matrix_q_updated_

Eigen::MatrixXd	matrix_a_coeff_

Eigen::MatrixXd	matrix_state_

double	previous_heading_error_ = 0.0

double	previous_lateral_error_ = 0.0

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

double	previous_acceleration_ = 0.0

double	previous_acceleration_reference_ = 0.0

int	mpc_max_iteration_ = 0

double	mpc_eps_ = 0.0

common::DigitalFilter	digital_filter_

std::unique_ptr< Interpolation1D >	lat_err_interpolation_

std::unique_ptr< Interpolation1D >	heading_err_interpolation_

std::unique_ptr< Interpolation1D >	feedforwardterm_interpolation_

std::unique_ptr< Interpolation1D >	steer_weight_interpolation_

std::ofstream	mpc_log_file_

const std::string	name_

double	max_acceleration_when_stopped_ = 0.0

double	max_abs_speed_when_stopped_ = 0.0

double	standstill_acceleration_ = 0.0

double	throttle_lowerbound_ = 0.0

double	brake_lowerbound_ = 0.0

double	steer_angle_feedforwardterm_ = 0.0

double	steer_angle_feedforwardterm_updated_ = 0.0

double	max_acceleration_ = 0.0

double	max_deceleration_ = 0.0

common::MeanFilter	lateral_error_filter_

common::MeanFilter	heading_error_filter_

double	minimum_speed_protection_ = 0.1

bool	enable_mpc_feedforward_compensation_ = false

double	unconstrained_control_diff_limit_ = 5.0

std::shared_ptr< DependencyInjector >	injector_

Detailed Description

MPCController, combined lateral and longitudinal controllers.

Constructor & Destructor Documentation

◆ MPCController()

apollo::control::MPCController::MPCController ( )

constructor

◆ ~MPCController()

virtual apollo::control::MPCController::~MPCController ( )

virtual

destructor

Member Function Documentation

◆ CloseLogFile()

void apollo::control::MPCController::CloseLogFile ( )

protected

◆ ComputeControlCommand()

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

override

compute steering target and throttle/ brake 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

◆ ComputeLateralErrors()

void apollo::control::MPCController::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,
		SimpleMPCDebug *	debug
	)

protected

◆ ComputeLongitudinalErrors()

void apollo::control::MPCController::ComputeLongitudinalErrors	(	const TrajectoryAnalyzer *	trajectory,
		SimpleMPCDebug *	debug
	)

protected

◆ FeedforwardUpdate()

void apollo::control::MPCController::FeedforwardUpdate ( SimpleMPCDebug * debug )

protected

◆ Init()

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

overridevirtual

initialize MPC Controller

Parameters

control_conf control configurations

Returns: Status initialization status

Implements apollo::control::Controller.

◆ InitializeFilters()

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

protected

◆ LoadControlCalibrationTable()

void apollo::control::MPCController::LoadControlCalibrationTable ( const MPCControllerConf & mpc_controller_conf )

protected

◆ LoadControlConf()

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

protected

◆ LoadMPCGainScheduler()

void apollo::control::MPCController::LoadMPCGainScheduler ( const MPCControllerConf & mpc_controller_conf )

protected

◆ LogInitParameters()

void apollo::control::MPCController::LogInitParameters ( )

protected

◆ Name()

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

overridevirtual

MPC controller name.

Returns: string controller name in string

Implements apollo::control::Controller.

◆ ProcessLogs()

void apollo::control::MPCController::ProcessLogs	(	const SimpleMPCDebug *	debug,
		const canbus::Chassis *	chassis
	)

protected

◆ Reset()

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

overridevirtual

reset MPC Controller

Returns: Status reset status

Implements apollo::control::Controller.

◆ Stop()

void apollo::control::MPCController::Stop ( )

overridevirtual

stop MPC controller

Implements apollo::control::Controller.

◆ UpdateMatrix()

void apollo::control::MPCController::UpdateMatrix ( SimpleMPCDebug * debug )

protected

◆ UpdateState()

void apollo::control::MPCController::UpdateState ( SimpleMPCDebug * debug )

protected

◆ Wheel2SteerPct()

double apollo::control::MPCController::Wheel2SteerPct ( const double wheel_angle )

protected

Member Data Documentation

◆ basic_state_size_

const int apollo::control::MPCController::basic_state_size_ = 6

protected

◆ brake_lowerbound_

double apollo::control::MPCController::brake_lowerbound_ = 0.0

protected

◆ cf_

double apollo::control::MPCController::cf_ = 0.0

protected

◆ control_interpolation_

std::unique_ptr<Interpolation2D> apollo::control::MPCController::control_interpolation_

protected

◆ controls_

const int apollo::control::MPCController::controls_ = 2

protected

◆ cr_

double apollo::control::MPCController::cr_ = 0.0

protected

◆ digital_filter_

common::DigitalFilter apollo::control::MPCController::digital_filter_

protected

◆ enable_mpc_feedforward_compensation_

bool apollo::control::MPCController::enable_mpc_feedforward_compensation_ = false

protected

◆ feedforwardterm_interpolation_

std::unique_ptr<Interpolation1D> apollo::control::MPCController::feedforwardterm_interpolation_

protected

◆ heading_err_interpolation_

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

protected

◆ heading_error_filter_

common::MeanFilter apollo::control::MPCController::heading_error_filter_

protected

◆ horizon_

const int apollo::control::MPCController::horizon_ = 10

protected

◆ injector_

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

protected

◆ iz_

double apollo::control::MPCController::iz_ = 0.0

protected

◆ lat_err_interpolation_

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

protected

◆ lateral_error_filter_

common::MeanFilter apollo::control::MPCController::lateral_error_filter_

protected

◆ lf_

double apollo::control::MPCController::lf_ = 0.0

protected

◆ lr_

double apollo::control::MPCController::lr_ = 0.0

protected

◆ mass_

double apollo::control::MPCController::mass_ = 0.0

protected

◆ matrix_a_

Eigen::MatrixXd apollo::control::MPCController::matrix_a_

protected

◆ matrix_a_coeff_

Eigen::MatrixXd apollo::control::MPCController::matrix_a_coeff_

protected

◆ matrix_ad_

Eigen::MatrixXd apollo::control::MPCController::matrix_ad_

protected

◆ matrix_b_

Eigen::MatrixXd apollo::control::MPCController::matrix_b_

protected

◆ matrix_bd_

Eigen::MatrixXd apollo::control::MPCController::matrix_bd_

protected

◆ matrix_c_

Eigen::MatrixXd apollo::control::MPCController::matrix_c_

protected

◆ matrix_cd_

Eigen::MatrixXd apollo::control::MPCController::matrix_cd_

protected

◆ matrix_k_

Eigen::MatrixXd apollo::control::MPCController::matrix_k_

protected

◆ matrix_q_

Eigen::MatrixXd apollo::control::MPCController::matrix_q_

protected

◆ matrix_q_updated_

Eigen::MatrixXd apollo::control::MPCController::matrix_q_updated_

protected

◆ matrix_r_

Eigen::MatrixXd apollo::control::MPCController::matrix_r_

protected

◆ matrix_r_updated_

Eigen::MatrixXd apollo::control::MPCController::matrix_r_updated_

protected

◆ matrix_state_

Eigen::MatrixXd apollo::control::MPCController::matrix_state_

protected

◆ max_abs_speed_when_stopped_

double apollo::control::MPCController::max_abs_speed_when_stopped_ = 0.0

protected

◆ max_acceleration_

double apollo::control::MPCController::max_acceleration_ = 0.0

protected

◆ max_acceleration_when_stopped_

double apollo::control::MPCController::max_acceleration_when_stopped_ = 0.0

protected

◆ max_deceleration_

double apollo::control::MPCController::max_deceleration_ = 0.0

protected

◆ max_lat_acc_

double apollo::control::MPCController::max_lat_acc_ = 0.0

protected

◆ minimum_speed_protection_

double apollo::control::MPCController::minimum_speed_protection_ = 0.1

protected

◆ mpc_eps_

double apollo::control::MPCController::mpc_eps_ = 0.0

protected

◆ mpc_log_file_

std::ofstream apollo::control::MPCController::mpc_log_file_

protected

◆ mpc_max_iteration_

int apollo::control::MPCController::mpc_max_iteration_ = 0

protected

◆ name_

const std::string apollo::control::MPCController::name_

protected

◆ previous_acceleration_

double apollo::control::MPCController::previous_acceleration_ = 0.0

protected

◆ previous_acceleration_reference_

double apollo::control::MPCController::previous_acceleration_reference_ = 0.0

protected

◆ previous_heading_acceleration_

double apollo::control::MPCController::previous_heading_acceleration_ = 0.0

protected

◆ previous_heading_error_

double apollo::control::MPCController::previous_heading_error_ = 0.0

protected

◆ previous_heading_rate_

double apollo::control::MPCController::previous_heading_rate_ = 0.0

protected

◆ previous_lateral_acceleration_

double apollo::control::MPCController::previous_lateral_acceleration_ = 0.0

protected

◆ previous_lateral_error_

double apollo::control::MPCController::previous_lateral_error_ = 0.0

protected

◆ previous_ref_heading_acceleration_

double apollo::control::MPCController::previous_ref_heading_acceleration_ = 0.0

protected

◆ previous_ref_heading_rate_

double apollo::control::MPCController::previous_ref_heading_rate_ = 0.0

protected

◆ standstill_acceleration_

double apollo::control::MPCController::standstill_acceleration_ = 0.0

protected

◆ steer_angle_feedforwardterm_

double apollo::control::MPCController::steer_angle_feedforwardterm_ = 0.0

protected

◆ steer_angle_feedforwardterm_updated_

double apollo::control::MPCController::steer_angle_feedforwardterm_updated_ = 0.0

protected

◆ steer_ratio_

double apollo::control::MPCController::steer_ratio_ = 0.0

protected

◆ steer_single_direction_max_degree_

double apollo::control::MPCController::steer_single_direction_max_degree_ = 0.0

protected

◆ steer_weight_interpolation_

std::unique_ptr<Interpolation1D> apollo::control::MPCController::steer_weight_interpolation_

protected

◆ throttle_lowerbound_

double apollo::control::MPCController::throttle_lowerbound_ = 0.0

protected

◆ trajectory_analyzer_

TrajectoryAnalyzer apollo::control::MPCController::trajectory_analyzer_

protected

◆ ts_

double apollo::control::MPCController::ts_ = 0.0

protected

◆ unconstrained_control_diff_limit_

double apollo::control::MPCController::unconstrained_control_diff_limit_ = 5.0

protected

◆ vehicle_param_

common::VehicleParam apollo::control::MPCController::vehicle_param_

protected

◆ wheel_single_direction_max_degree_

double apollo::control::MPCController::wheel_single_direction_max_degree_ = 0.0

protected

◆ wheelbase_

double apollo::control::MPCController::wheelbase_ = 0.0

protected

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

modules/control/controller/mpc_controller.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MPCController()

◆ ~MPCController()

Member Function Documentation

◆ CloseLogFile()

◆ ComputeControlCommand()

◆ ComputeLateralErrors()

◆ ComputeLongitudinalErrors()

◆ FeedforwardUpdate()

◆ Init()

◆ InitializeFilters()

◆ LoadControlCalibrationTable()

◆ LoadControlConf()

◆ LoadMPCGainScheduler()

◆ LogInitParameters()

◆ Name()

◆ ProcessLogs()

◆ Reset()

◆ Stop()

◆ UpdateMatrix()

◆ UpdateState()

◆ Wheel2SteerPct()

Member Data Documentation

◆ basic_state_size_

◆ brake_lowerbound_

◆ cf_

◆ control_interpolation_

◆ controls_

◆ cr_

◆ digital_filter_

◆ enable_mpc_feedforward_compensation_

◆ feedforwardterm_interpolation_

◆ heading_err_interpolation_

◆ heading_error_filter_

◆ horizon_

◆ injector_

◆ iz_

◆ lat_err_interpolation_

◆ lateral_error_filter_

◆ lf_

◆ lr_

◆ mass_

◆ matrix_a_

◆ matrix_a_coeff_

◆ matrix_ad_

◆ matrix_b_

◆ matrix_bd_

◆ matrix_c_

◆ matrix_cd_

◆ matrix_k_

◆ matrix_q_

◆ matrix_q_updated_

◆ matrix_r_

◆ matrix_r_updated_

◆ matrix_state_

◆ max_abs_speed_when_stopped_

◆ max_acceleration_

◆ max_acceleration_when_stopped_

◆ max_deceleration_

◆ max_lat_acc_

◆ minimum_speed_protection_

◆ mpc_eps_

◆ mpc_log_file_

◆ mpc_max_iteration_

◆ name_

◆ previous_acceleration_

◆ previous_acceleration_reference_

◆ previous_heading_acceleration_

◆ previous_heading_error_

◆ previous_heading_rate_

◆ previous_lateral_acceleration_

◆ previous_lateral_error_

◆ previous_ref_heading_acceleration_

◆ previous_ref_heading_rate_

◆ standstill_acceleration_

◆ steer_angle_feedforwardterm_