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Driving Actions

In the driving stack, the actions lie one level below the behaviors. While the behaviors provide the high level decision making, the actions enable the execution of these decisions in the simulation.

Interface

AutomotiveSimulator.propagate — Function
propagate(veh::Entity{S,D,I}, action::A, roadway::R, Δt::Float64) where {S,D,I,A,R}

Take an entity of type {S,D,I} and move it over Δt seconds to produce a new entity based on the action on the given roadway.

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Propagate vehicle forward in time using a desired acceleration and turn rate

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propagate(veh::Entity{VehicleState,D,I}, action::AccelDesang, roadway::Roadway, Δt::Float64; n_integration_steps::Int=4) where {D,I}

Propagate vehicle forward in time using a desired acceleration and heading angle

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propagate vehicle forward in time given a desired acceleration and steering angle. If steering angle higher than 0.1 radian, the vehicle drives in a circle

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Action types available

AutomotiveSimulator.AccelDesang — Type
AccelDesang

An action type with a longitudinal acceleration and a desired heading angle

Fields

  • a::Float64 longitudinal acceleration [m/s^2]
  • ϕdes::Float64 desired heading angle
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AutomotiveSimulator.AccelSteeringAngle — Type
AccelSteeringAngle

Allows driving the car in a circle based on the steering angle If steering angle less than threshold 0.01 radian, just drives straight

Fields

  • a::Float64 longitudinal acceleration [m/s^2]
  • δ::Float64 Steering angle [rad]
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AutomotiveSimulator.AccelTurnrate — Type
AccelTurnrate

An action type with a longitudinal acceleration and a turn rate

Fields

  • a::Float64 longitudinal acceleration [m/s^2]
  • ω::Float64 desired turn rate [rad/sec]
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AutomotiveSimulator.LaneFollowingAccel — Type
LaneFollowingAccel

Longitudinal acceleration. The resulting vehicle velocity is capped below at 0 (i.e. standstill). Negative velocities are not allowed.

Fields

  • a::Float64 longitudinal acceleration [m/s^2]
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AutomotiveSimulator.LatLonAccel — Type
LatLonAccel

Acceleration in the frenet frame

Fields

  • a_lat::Float64 Lateral acceleration [m/s^2]
  • a_lon::Float64 Longitudinal acceleration [m/s^2]
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AutomotiveSimulator.PedestrianLatLonAccel — Type
PedestrianLatLonAccel

Pedestrian walking action. Acceleration in the Frenet frame, along with desired lane after crossing the street.

Fields

  • a_lat::Float64 lateral acceleration [m/s^2]
  • a_lon::Float64 longitudinal accelaration [m/s^2]
  • lane_des::Lane desired lane to move to
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