LIBRARY

Examples.LaneChangeMPCExample

Autonomous lane change with ACADOSMPC, translated from the DyadControlSystems lane-change tutorial: the car follows a smooth lateral reference (a point-to-point profile with bounded lateral velocity and acceleration, in place of the tutorial's trajectory limiter) from one lane to the next while accelerating from 30 to 50 km/h, with the tutorial's weights on the state, the controls and the control increments and its bounds on the lateral position, speed, heading, acceleration and steering angle. The reference is held constant over the horizon (no preview) and the tutorial's terminal equality constraint is not imposed. Verified in test/test_acados_tutorials.jl.

Usage

MPCComponents.Examples.LaneChangeMPCExample()

Variables

Name	Description	Units
y	Lateral position	–
r	Lateral reference	–
v	Speed	–
psi	Heading (degrees)	–
a	Acceleration	–
delta	Steering angle (degrees)	–
flag	acados status	–

Behavior

Behavior of this component cannot be rendered because it includes path variables.

Source

"""
Autonomous lane change with `ACADOSMPC`, translated from the DyadControlSystems lane-change tutorial:
the car follows a smooth lateral reference (a point-to-point profile with bounded lateral velocity and
acceleration, in place of the tutorial's trajectory limiter) from one lane to the next while
accelerating from 30 to 50 km/h, with the tutorial's weights on the state, the controls and the control
increments and its bounds on the lateral position, speed, heading, acceleration and steering angle.
The reference is held constant over the horizon (no preview) and the tutorial's terminal equality
constraint is not imposed. Verified in `test/test_acados_tutorials.jl`.
"""
example component LaneChangeMPCExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {}
  plant = MPCComponents.Examples.LaneChangeCarPlant() {}
  "Samplers of the three state variables"
  s = [DiscreteComponents.Sampler() for i in 1:3] {}
  "Reference samplers"
  sr = [DiscreteComponents.Sampler() for i in 1:3] {}
  "Holds of the acceleration and the steering angle"
  zoh = [DiscreteComponents.ZeroOrderHold() for i in 1:2] {}
  "Lateral reference: one lane over, with bounded lateral velocity and acceleration"
  yref = BlockComponents.Sources.KinematicPTP(q0 = [0.0], q1 = [1.5], qd_max = [1.5], qdd_max = [0.4], startTime = 1.0) {}
  "Speed reference, 50 km/h"
  vref = BlockComponents.Sources.Constant(k = 13.88888888888889) {}
  "Heading reference"
  psiref = BlockComponents.Sources.Constant(k = 0.0) {}
  mpc = MPCComponents.ACADOSMPC(dynamics = plant, inputs = ["a", "delta"], state_variables = ["y", "v", "psi"], outputs = ["y", "v", "psi"], Ts = 0.1, Np = 30, Q1 = diagonal([1.0, 0.02, 0.01]), Q2 = diagonal([0.01, 1e-5]), penalize_increments = true, Q3 = diagonal([1.0, 0.001]), umin = [-10.0, -25.0], umax = [1.96, 25.0], constrained = ["y", "v", "psi"], constrained_min = [-1.53, 0.0, -6.0], constrained_max = [1.53, 33.333333333333336, 6.0], integrator = ACADOSIntegrator.IRK(), integrator_stages = 3) {}
  "Lateral position"
  variable y::Real
  "Lateral reference"
  variable r::Real
  "Speed"
  variable v::Real
  "Heading (degrees)"
  variable psi::Real
  "Acceleration"
  variable a::Real
  "Steering angle (degrees)"
  variable delta::Real
  "acados status"
  variable flag::Real
relations
  y = plant.y
  r = yref.q[1]
  v = plant.v
  psi = plant.psi
  a = mpc.u[1]
  delta = mpc.u[2]
  flag = mpc.exitflag
  connect(plant.y_out, s[1].u)
  connect(plant.v_out, s[2].u)
  connect(plant.psi_out, s[3].u)
  connect(yref.q[1], sr[1].u)
  connect(vref.y, sr[2].u)
  connect(psiref.y, sr[3].u)
  connect(s[1].y, mpc.x[1], periodicclock.y)
  for i in 2:3
    connect(s[i].y, mpc.x[i])
  end
  for i in 1:3
    connect(sr[i].y, mpc.r[i])
  end
  for i in 1:2
    connect(mpc.u[i], zoh[i].u)
  end
  connect(zoh[1].y, plant.a)
  connect(zoh[2].y, plant.delta)
metadata {"Dyad": {"doc": {"behavior": false}}}
end

Flattened Source

"""
Autonomous lane change with `ACADOSMPC`, translated from the DyadControlSystems lane-change tutorial:
the car follows a smooth lateral reference (a point-to-point profile with bounded lateral velocity and
acceleration, in place of the tutorial's trajectory limiter) from one lane to the next while
accelerating from 30 to 50 km/h, with the tutorial's weights on the state, the controls and the control
increments and its bounds on the lateral position, speed, heading, acceleration and steering angle.
The reference is held constant over the horizon (no preview) and the tutorial's terminal equality
constraint is not imposed. Verified in `test/test_acados_tutorials.jl`.
"""
example component LaneChangeMPCExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {}
  plant = MPCComponents.Examples.LaneChangeCarPlant() {}
  "Samplers of the three state variables"
  s = [DiscreteComponents.Sampler() for i in 1:3] {}
  "Reference samplers"
  sr = [DiscreteComponents.Sampler() for i in 1:3] {}
  "Holds of the acceleration and the steering angle"
  zoh = [DiscreteComponents.ZeroOrderHold() for i in 1:2] {}
  "Lateral reference: one lane over, with bounded lateral velocity and acceleration"
  yref = BlockComponents.Sources.KinematicPTP(q0 = [0.0], q1 = [1.5], qd_max = [1.5], qdd_max = [0.4], startTime = 1.0) {}
  "Speed reference, 50 km/h"
  vref = BlockComponents.Sources.Constant(k = 13.88888888888889) {}
  "Heading reference"
  psiref = BlockComponents.Sources.Constant(k = 0.0) {}
  mpc = MPCComponents.ACADOSMPC(dynamics = plant, inputs = ["a", "delta"], state_variables = ["y", "v", "psi"], outputs = ["y", "v", "psi"], Ts = 0.1, Np = 30, Q1 = diagonal([1.0, 0.02, 0.01]), Q2 = diagonal([0.01, 1e-5]), penalize_increments = true, Q3 = diagonal([1.0, 0.001]), umin = [-10.0, -25.0], umax = [1.96, 25.0], constrained = ["y", "v", "psi"], constrained_min = [-1.53, 0.0, -6.0], constrained_max = [1.53, 33.333333333333336, 6.0], integrator = ACADOSIntegrator.IRK(), integrator_stages = 3) {}
  "Lateral position"
  variable y::Real
  "Lateral reference"
  variable r::Real
  "Speed"
  variable v::Real
  "Heading (degrees)"
  variable psi::Real
  "Acceleration"
  variable a::Real
  "Steering angle (degrees)"
  variable delta::Real
  "acados status"
  variable flag::Real
relations
  y = plant.y
  r = yref.q[1]
  v = plant.v
  psi = plant.psi
  a = mpc.u[1]
  delta = mpc.u[2]
  flag = mpc.exitflag
  connect(plant.y_out, s[1].u)
  connect(plant.v_out, s[2].u)
  connect(plant.psi_out, s[3].u)
  connect(yref.q[1], sr[1].u)
  connect(vref.y, sr[2].u)
  connect(psiref.y, sr[3].u)
  connect(s[1].y, mpc.x[1], periodicclock.y)
  for i in 2:3
    connect(s[i].y, mpc.x[i])
  end
  for i in 1:3
    connect(sr[i].y, mpc.r[i])
  end
  for i in 1:2
    connect(mpc.u[i], zoh[i].u)
  end
  connect(zoh[1].y, plant.a)
  connect(zoh[2].y, plant.delta)
metadata {"Dyad": {"doc": {"behavior": false}}}
end

Test Cases

No test cases defined.

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