External Velocity Limit Selector#
Purpose#
The external_velocity_limit_selector_node is a node that keeps consistency of external velocity limits. This module subscribes
- velocity limit command sent by API,
- velocity limit command sent by Autoware internal modules.
VelocityLimit.msg contains not only max velocity but also information about the acceleration/jerk constraints on deceleration. The external_velocity_limit_selector_node integrates the lowest velocity limit and the highest jerk constraint to calculate the hardest velocity limit that protects all the deceleration points and max velocities sent by API and Autoware internal modules.
Inner-workings / Algorithms#
WIP
Inputs#
| Name | Type | Description |
|---|---|---|
~input/velocity_limit_from_api |
tier4_planning_msgs::VelocityLimit | velocity limit from api |
~input/velocity_limit_from_internal |
tier4_planning_msgs::VelocityLimit | velocity limit from autoware internal modules |
~input/velocity_limit_clear_command_from_internal |
tier4_planning_msgs::VelocityLimitClearCommand | velocity limit clear command |
Outputs#
| Name | Type | Description |
|---|---|---|
~output/max_velocity |
tier4_planning_msgs::VelocityLimit | current information of the hardest velocity limit |
Parameters#
| Parameter | Type | Description |
|---|---|---|
max_velocity |
double | default max velocity [m/s] |
normal.min_acc |
double | minimum acceleration [m/ss] |
normal.max_acc |
double | maximum acceleration [m/ss] |
normal.min_jerk |
double | minimum jerk [m/sss] |
normal.max_jerk |
double | maximum jerk [m/sss] |
limit.min_acc |
double | minimum acceleration to be observed [m/ss] |
limit.max_acc |
double | maximum acceleration to be observed [m/ss] |
limit.min_jerk |
double | minimum jerk to be observed [m/sss] |
limit.max_jerk |
double | maximum jerk to be observed [m/sss] |