st_driving_limits.h

Go to the documentation of this file.

/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include <tuple>
#include <utility>
#include <vector>

#include "modules/common/configs/proto/vehicle_config.pb.h"
#include "modules/common/status/status.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/path/path_data.h"
#include "modules/planning/common/path_decision.h"
#include "modules/planning/common/speed/st_boundary.h"
#include "modules/planning/common/speed_limit.h"
#include "modules/planning/reference_line/reference_line.h"

namespace apollo {
namespace planning {

class STDrivingLimits {
 public:
  STDrivingLimits() {}

  void Init(const double max_acc, const double max_dec, const double max_v,
            double curr_v);

  virtual ~STDrivingLimits() = default;

  std::pair<double, double> GetVehicleDynamicsLimits(const double t) const;

  void UpdateBlockingInfo(const double t, const double lower_s,
                          const double lower_v, const double upper_s,
                          const double upper_v);

 private:
  // Private variables for calculating vehicle dynamic limits:
  double max_acc_;
  double max_dec_;
  double max_v_;

  double upper_t0_;
  double upper_v0_;
  double upper_s0_;

  double lower_t0_;
  double lower_v0_;
  double lower_s0_;

  // The limits expressed as v vs. s, which contains the following parts:
  //  1. speed limits at path segments with big curvatures.
  std::vector<std::tuple<double, double, double>> curvature_speed_limits_s_v_;
  //  2. speed limits from traffic limits (speed bumps, etc.).
  std::vector<std::tuple<double, double, double>> traffic_speed_limits_s_v_;
  //  3. speed limits for safety considerations when other obstacles are nearby
  std::vector<std::tuple<double, double, double>> obstacles_speed_limits_s_v_;
};

}  // namespace planning
}  // namespace apollo