Index
Speed Bump#
Role#
This module plans the velocity of the related part of the path in case there is speed bump regulatory element referring to it.
Activation Timing#
The manager launch speed bump scene module when there is speed bump regulatory element referring to the reference path.
Module Parameters#
Parameter | Type | Description |
---|---|---|
slow_start_margin |
double | [m] margin for ego vehicle to slow down before speed_bump |
slow_end_margin |
double | [m] margin for ego vehicle to accelerate after speed_bump |
print_debug_info |
bool | whether debug info will be printed or not |
Speed Calculation#
- limits for speed bump height and slow down speed to create a linear equation
Parameter | Type | Description |
---|---|---|
min_height |
double | [m] minimum height assumption of the speed bump |
max_height |
double | [m] maximum height assumption of the speed bump |
min_speed |
double | [m/s] minimum speed assumption of slow down speed |
max_speed |
double | [m/s] maximum speed assumption of slow down speed |
Inner-workings / Algorithms#
- Get speed bump regulatory element on the path from lanelet2 map
- Calculate
slow_down_speed
wrt tospeed_bump_height
specified in regulatory element or readslow_down_speed
tag from speed bump annotation if available
Note: If in speed bump annotation slow_down_speed
tag is used then calculating the speed wrt
the speed bump height will be ignored. In such case, specified slow_down_speed
value in [kph]
is being used.
- Get the intersection points between path and speed bump polygon
- Calculate
slow_start_point
&slow_end_point
wrt the intersection points and insert them to path - If
slow_start_point
orslow_end_point
can not be inserted with given/calculated offset values check if any path point can be virtually assigned asslow_start_point
orslow_end_point
- Assign
slow_down_speed
to the path points betweenslow_start_point
orslow_end_point
Future Work#
- In an article here, a bump modeling method is proposed. Simply it is based on fitting the bump in a circle and a radius calculation is done with it. Although the velocity calculation is based on just the height of the bump in the recent implementation, applying this method is intended in the future which will yield more realistic results.