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config.yaml
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# simulation parameters
###
# .. code-block:: yaml
#
# - dt: time step size
# - commonroad_benchmark_id: CommonRoad solution file name
# - commonroad_scenario_folder: folder in which CommonRoad scenarios are located (relative to path of this file)
# - verbose_mode: activate/deactivate status output of algorithms and simulation
# - time_measuring: activate/deactivate computation time measuring
# - commonroad_video_creation: activate/deactivate video creation of CommonRoad scenario
# - profile_video_creation: activate/deactivate video creation of profiles
# - plotting_profiles: activate/deactivate plotting of state profiles
# - other_vehicle_plots: list with CommonRoad obstacle IDs which should be considered for plotting of profiles
# - store_profiles: activate/deactivate storage of profiles
# - video_output_folder: folder in which the created videos are stored (relative to path of this file)
# - figure_output_folder: folder in which the created figures are stored (relative to path of this file)
simulation_param:
dt: 0.1
commonroad_benchmark_id: USA_US101-13_5_T-1
commonroad_scenario_folder: scenarios
verbose_mode: false
time_measuring: false
commonroad_video_creation: false
profile_video_creation: false
video_output_folder: videos
plotting_profiles: false
other_vehicle_plots: [140]
store_profiles: true
figure_output_folder: figures
# road network and curvilinear coordinate system parameters
###
# .. code-block:: yaml
#
# - num_chaikins_corner_cutting: number of how often chaikins algorithm should be applied
# - polyline_resampling_step: step size for polyline resampling
# - merging_length: maximum accumulated length of lanalets belonging to a lane
road_network_param:
num_chaikins_corner_cutting: 10
polyline_resampling_step: 0.5
merging_length: 1000
# Ego vehicle parameters
###
# .. code-block:: yaml
#
# - vehicle_type: CommonRoad vehicle number; possible options are 1, 2 or 3 (see CommonRoad vehicle models)
# - a_max: maximum acceleration of ACC vehicle
# - a_min: minimum acceleration of ACC vehicle
# - j_max: maximum jerk of ACC vehicle
# - j_min: minimum jerk of ACC vehicle
# - v_des: desired velocity of ACC vehicle
# - t_react: reaction time of ACC vehicle
# - dynamics_param: physical parameters of ACC vehicle; will be initialized during runtime
# - fov: field of view (sensor range)
# - v_max: maximum allowed velocity considering vehicle dynamics and safety based limit
# - v_min: minimum allowed velocity considering vehicle dynamics
# - v_limit_engine: velocity above which the engine power is not sufficient to cause wheel slip
# - drag_coefficient: drag coefficient
# - frontal area: frontal area fo vehicle
ego_vehicle_param:
vehicle_type: 2
a_max: 3
a_min: -10.0
a_corr: 0.0
j_max: 10
j_min: -10
v_des: 30
t_react: 0.0
dynamics_param: None
fov: 200
v_max: None
v_min: 0
v_limit_engine: 50.8
drag_coefficient: 0
frontal_area: 0
# Input constraint parameters
###
# .. code-block:: yaml
#
# - air_density: air density
# - road_incline_angle: incline angle of the road
# - v_wind: headwind velocity
# - string_stability_horizon: time horizon which is considered for string stability
# - string_stability_gamma: parameter for string stability
input_constr_param:
air_density: 0
road_incline_angle: 0
v_wind: 0
string_stability_horizon: 10
string_stability_gamma: 0.95
# Other vehicle's parameters
###
# .. code-block:: yaml
#
# - vehicle_number: CommonRoad vehicle number; possible options are 1, 2 or 3 (see CommonRoad vehicle models)
# - v_max: maximum velocity of leading vehicle
# - v_min: minimum velocity of leading vehicle
# - a_max: maximum acceleration of leading vehicle
# - a_min: minimum acceleration of leading vehicle
# - j_max: maximum jerk of leading vehicle
# - j_min: minimum jerk of leading vehicle
# - t_react: reaction time of leading vehicle
# - th_theta: orientation threshold for cut-in detection
# - th_offset: distance to center line threshold for cut-in detection
# - n_cutin: number of consecutive time steps for a cut-in occurrence to be finally recognized
other_vehicles_param:
vehicle_number: 2
v_max: 60
v_min: 0
a_max: 5
a_min: -10.5
j_max: 10
j_min: -10
t_react: 0.0
dynamics_param: None
th_theta: 0.035
th_offset: 0.4
n_cutin: 10
# ACC system parameters
###
# - General parameters of the safe ACC
# - Parameters of the emergency controller
# - Parameters of the nominal ACC
# - Parameters of the cut-in reaction
# - Parameters of cruise control
acc_param:
# General ACC parameters
###
# .. code-block:: yaml
#
# - const_dist_offset: minimum desired distance at standstill
# - time_leave: time lag for which vehicle leaving ego vehicle's lane is still considered
# - vehicle_reduction: activate/deactivate vehicle reduction methods
common:
const_dist_offset: 0.5
time_leave: 1
vehicle_reduction: true
# Parameters of emergency controller
###
# .. code-block:: yaml
#
# - num_steps_fb: number steps full brake part of emergency profile
# - emergency_profile: comfortable part of emergency profile
emergency:
num_steps_fb: 190
emergency_profile: [-0.05, -0.1, -0.25, -0.45, -0.75, -1.25, -2.0, -3.0, -4.25, -6.0]
# Nominal ACC parameters
###
# .. code-block:: yaml
#
# - t_h: time horizon for optimization
# - solver: solver for quadratic program; available_solvers
# - cost_s: position cost for optimization
# - cost_v: velocity cost for optimization
# - cost_a: acceleration cost for optimization
# - cost_j: jerk cost for optimization
nominal_acc:
t_h: 6.0
solver: quadprog
cost_s: 5
cost_v: 10
cost_a: 50
cost_j: 100
# Cut-in reaction parameters
###
# .. code-block:: yaml
#
# - cost_s: position cost for optimization
# - cost_v: velocity cost for optimization
# - cost_a: acceleration cost for optimization
# - cost_j: jerk cost for optimization
# - solver: solver for quadratic program; available_solvers
# - a_min_cut_in: minimum assumed acceleration of vehicle during cut-in
# - t_clear_min: maximum clearance time
# - t_clear_max: maximum clearance time
# - t_clear_step: step size of clearance time for generation of clearance time and safe distance lookup table
# - v_ego_step: step size of ego velocity for generation of clearance time and safe distance lookup table
# - v_cutin_step: step size of cut-in vehicle velocity for generation of clearance time and lookup table
# - a_ego_step: step size of ego acceleration for generation of clearance time and safe distance lookup table
# - delta_s_step: step size of distance for generation of clearance time and safe distance lookup table
# - s_safe_step: step size for safe distance
cutin:
cost_s: 15
cost_v: 30
cost_a: 50
cost_j: 100
solver: quadprog
a_min_cut_in: -2
t_clear_min: 1
t_clear_max: 10
t_clear_step: 1
v_ego_step: 5
v_cutin_step: 10
a_ego_step: 2
delta_s_step: 5
s_safe_step: 20
# Cruise Control parameters
###
# .. code-block:: yaml
#
# - solver: solver for quadratic program; available_solvers
# - t_h: time horizon for optimization
# - cost_v: velocity cost for optimization
# - cost_a: acceleration cost for optimization
# - cost_j: jerk cost for optimization
cruise_control:
solver: quadprog
t_h: 6.0
cost_v: 30
cost_a: 50
cost_j: 100
# Visualization parameters
###
# - Parameters for plotting of profiles
# - Parameters for video creation
visualization:
# Parameters for plotting of profiles
###
# .. code-block:: yaml
#
# - width: width of matplotlib figure
# - line_width: line width of profiles
# - font_size: font size of text within the plot
# - axes_line_width: line width of the axes
# - type of figure which should be stored
plot:
width: 3.75
line_width: 0.75
font_size: 9
axes_line_width: 0.25
figure_type: eps
# Parameters for video creation
###
# .. code-block:: yaml
#
# - obstacle_label: activate/deactivate visualization of obstacle label (ID) in video
video:
obstacle_label : false