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IdmPlanner implements the IDM (Intelligent Driver Model) equation governing longitudinal accelerations of a vehicle in single-lane traffic [1, 2].
It is derived based on qualitative observations of actual driving behavior and captures objectives such as keeping a safe distance behind a lead vehicle, maintaining a desired speed, and accelerating and decelerating within comfortable limits.
The IDM equation produces accelerations that realize smooth transitions between the following three modes:
v_0
.b
.s_0
.See the corresponding .cc file for details about the IDM equation.
Instantiated templates for the following kinds of T's are provided:
They are already available to link against in the containing library.
[1] Martin Treiber and Arne Kesting. Traffic Flow Dynamics, Data, Models, and Simulation. Springer, 2013.
#include <src/systems/idm_planner.h>
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IdmPlanner ()=delete | |
Static Public Member Functions | |
static const T | Evaluate (const IdmPlannerParameters< T > ¶ms, const T &ego_velocity, const T &target_distance, const T &target_distance_dot) |
Evaluates the IDM equation for the chosen planner parameters params , given the current velocity ego_velocity , distance to the lead car target_distance , and the closing velocity target_distance_dot . More... | |
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Evaluates the IDM equation for the chosen planner parameters params
, given the current velocity ego_velocity
, distance to the lead car target_distance
, and the closing velocity target_distance_dot
.
The returned value is a longitudinal acceleration.