23 {0, 0, 0, 0, 0, 0, 0, 0},
24 {1, 0, 0, 0, 0, 0, 0, 0},
25 {1, 1, 0, 0, 0, 0, 0, 0},
26 {1, 0, 1, 0, 0, 0, 0, 0},
27 {1, 0, 0, 1, 0, 0, 0, 0},
28 {1, 0, 0, 0, 1, 0, 0, 0},
29 {1, 0, 0, 0, 0, 1, 0, 0},
30 {1, 0, 0, 0, 0, 0, 1, 0}
33 {0, 0, 0, 0, 0, 0, 0, 0},
34 {460, 0, 0, 0, 0, 0, 0, 0},
35 {80, 860, 0, 0, 0, 0, 0, 0},
36 {80, 0, 860, 0, 0, 0, 0, 0},
37 {80, 0, 0, 860, 0, 0, 0, 0},
38 {80, 0, 0, 0, 860, 0, 0, 0},
39 {80, 0, 0, 0, 0, 860, 0, 0},
40 {80, 0, 0, 0, 0, 0, 860, 0}
46 controllerAcceleration(0), frontSpeed(0), frontAcceleration(0),
47 frontControllerAcceleration(0), frontDataReadTime(0), frontAngle(0), frontInitialized(false),
48 autoFeed(false), leaderVehicle(nullptr), leaderVehicleId(
""), frontVehicle(nullptr), frontVehicleId(
""),
50 accHeadwayTime(1.5), accLambda(0.1),
51 useControllerAcceleration(true), leaderSpeed(0),
52 leaderAcceleration(0), leaderControllerAcceleration(0), leaderDataReadTime(0), leaderAngle(0),
53 leaderInitialized(false), caccInitialized(false),
54 useFixedAcceleration(0), fixedAcceleration(0),
56 ccDesiredSpeed(14), ccKp(1), activeController(
Plexe::DRIVER),
57 nInitialized(0), position(-1), nCars(8),
58 caccXi(-1), caccOmegaN(-1), caccC1(-1), caccAlpha1(-1), caccAlpha2(-1),
59 caccAlpha3(-1), caccAlpha4(-1), caccAlpha5(-1), caccSpacing(5),
61 uMin(-1e6), uMax(1e6),
62 ploegH(0.5), ploegKp(0.2), ploegKd(0.7),
63 flatbedKa(2.4), flatbedKv(0.6), flatbedKp(12), flatbedD(5), flatbedH(4),
66 autoLaneChange(false),
68 commitToLaneChange(true), noCommitReason(0), laneChangeCommitTime(-1) {
#define CC_ENGINE_MODEL_FOLM
struct FAKE_CONTROLLER_DATA fakeData
fake controller data.
bool initialized[MAX_N_CARS]
tells whether data about a certain vehicle has been initialized
double K[MAX_N_CARS][MAX_N_CARS]
K matrix.
int L[MAX_N_CARS][MAX_N_CARS]
L matrix.
static const double defaultH[]
static const double defaultB[]
double b[MAX_N_CARS]
vector of damping ratios b
GenericEngineModel * engine
engine model employed by this car
double h[MAX_N_CARS]
vector of time headways h
Position frontPosition
current front vehicle position
static const double defaultK[MAX_N_CARS][MAX_N_CARS]
static const int defaultL[MAX_N_CARS][MAX_N_CARS]
Position leaderPosition
platoon's leader position
void set(double x, double y)
set positions x and y
double leaderAcceleration
double leaderControllerAcceleration
double frontControllerAcceleration