trajectory_supervisor.supervisor_modules.supmod_RSS.src.acceleration_profile module

trajectory_supervisor.supervisor_modules.supmod_RSS.src.acceleration_profile.acceleration_profile(a_lat_max: float, a_long_max: float, velocity: float, velocity_angle: float, curvature: float, acc_type: str) → tuple[source]

This function deal with the allowed acceleration profile according to the current velocity and the curvature. The original rough profile has been imported in the function and it will be further refined with interpolation. The friction ellipse and the limit of the motor are utilized to decide the boundary of the acceleration and deceleration. Based on the input value “acc_type”, the acceleration and deceleration can be output accordingly.

Parameters

  • a_lat_max – lateral acceleration limit of the tire

  • a_long_max – longitudinal acceleration limit of the tire

  • velocity – the current velocity of the vehicle

  • velocity_angle – the angle of the current velocity

  • curvature – the 1/radius of the current path

  • acc_type – whether the longitudinal or the lateral acceleration(‘long’, ‘lat’)

Returns

  • acc_max - if acc_type == ‘long’: allowed max. long. acceleration at current vel; if acc_type == ‘lat’: allowed max. lat. acceleration to the left at current vel. and curv. (in Frenet-Frame)

  • dec_max - if acc_type == ‘long’: allowed max. long. decceleration at curr. vel; if acc_type == ‘lat’: allowed max. lat. acceleration to the right at current vel. and curv. (in Frenet-Frame)

Authors
Created on

06.07.2019