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139 lines
3.6 KiB
139 lines
3.6 KiB
#include <acado_code_generation.hpp>
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#define PI 3.1415926536
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#define deg2rad(d) (d/180.0*PI)
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const int controlHorizon = 50;
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using namespace std;
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int main( )
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{
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USING_NAMESPACE_ACADO
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DifferentialEquation f;
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DifferentialState xx; // x position
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DifferentialState yy; // y position
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DifferentialState psi; // vehicle heading
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DifferentialState delta;
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OnlineData curvature_factor;
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OnlineData v_ref; // m/s
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OnlineData l_poly_r0, l_poly_r1, l_poly_r2, l_poly_r3;
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OnlineData r_poly_r0, r_poly_r1, r_poly_r2, r_poly_r3;
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OnlineData d_poly_r0, d_poly_r1, d_poly_r2, d_poly_r3;
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OnlineData l_prob, r_prob;
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OnlineData lane_width;
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Control t;
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// Equations of motion
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f << dot(xx) == v_ref * cos(psi);
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f << dot(yy) == v_ref * sin(psi);
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f << dot(psi) == v_ref * delta * curvature_factor;
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f << dot(delta) == t;
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auto lr_prob = l_prob + r_prob - l_prob * r_prob;
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auto poly_l = l_poly_r0*(xx*xx*xx) + l_poly_r1*(xx*xx) + l_poly_r2*xx + l_poly_r3;
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auto poly_r = r_poly_r0*(xx*xx*xx) + r_poly_r1*(xx*xx) + r_poly_r2*xx + r_poly_r3;
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auto poly_d = d_poly_r0*(xx*xx*xx) + d_poly_r1*(xx*xx) + d_poly_r2*xx + d_poly_r3;
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auto angle_d = atan(3*d_poly_r0*xx*xx + 2*d_poly_r1*xx + d_poly_r2);
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// When the lane is not visible, use an estimate of its position
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auto weighted_left_lane = l_prob * poly_l + (1 - l_prob) * (poly_d + lane_width/2.0);
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auto weighted_right_lane = r_prob * poly_r + (1 - r_prob) * (poly_d - lane_width/2.0);
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auto c_left_lane = exp(-(weighted_left_lane - yy));
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auto c_right_lane = exp(weighted_right_lane - yy);
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// Running cost
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Function h;
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// Distance errors
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h << poly_d - yy;
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h << lr_prob * c_left_lane;
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h << lr_prob * c_right_lane;
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// Heading error
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h << (v_ref + 1.0 ) * (angle_d - psi);
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// Angular rate error
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h << (v_ref + 1.0 ) * t;
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BMatrix Q(5,5); Q.setAll(true);
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// Q(0,0) = 1.0;
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// Q(1,1) = 1.0;
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// Q(2,2) = 1.0;
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// Q(3,3) = 1.0;
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// Q(4,4) = 2.0;
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// Terminal cost
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Function hN;
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// Distance errors
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hN << poly_d - yy;
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hN << l_prob * c_left_lane;
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hN << r_prob * c_right_lane;
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// Heading errors
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hN << (2.0 * v_ref + 1.0 ) * (angle_d - psi);
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BMatrix QN(4,4); QN.setAll(true);
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// QN(0,0) = 1.0;
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// QN(1,1) = 1.0;
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// QN(2,2) = 1.0;
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// QN(3,3) = 1.0;
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// Non uniform time grid
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// First 5 timesteps are 0.05, after that it's 0.15
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DMatrix numSteps(20, 1);
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for (int i = 0; i < 5; i++){
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numSteps(i) = 1;
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}
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for (int i = 5; i < 20; i++){
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numSteps(i) = 3;
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}
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// Setup Optimal Control Problem
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const double tStart = 0.0;
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const double tEnd = 2.5;
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OCP ocp( tStart, tEnd, numSteps);
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ocp.subjectTo(f);
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ocp.minimizeLSQ(Q, h);
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ocp.minimizeLSQEndTerm(QN, hN);
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// car can't go backward to avoid "circles"
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ocp.subjectTo( deg2rad(-90) <= psi <= deg2rad(90));
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// more than absolute max steer angle
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ocp.subjectTo( deg2rad(-50) <= delta <= deg2rad(50));
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ocp.setNOD(17);
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OCPexport mpc(ocp);
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mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
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mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
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mpc.set( INTEGRATOR_TYPE, INT_RK4 );
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mpc.set( NUM_INTEGRATOR_STEPS, 1 * controlHorizon);
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mpc.set( MAX_NUM_QP_ITERATIONS, 500);
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mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
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mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
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mpc.set( QP_SOLVER, QP_QPOASES );
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mpc.set( HOTSTART_QP, YES );
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mpc.set( GENERATE_TEST_FILE, NO);
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mpc.set( GENERATE_MAKE_FILE, NO );
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mpc.set( GENERATE_MATLAB_INTERFACE, NO );
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mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
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if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
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exit( EXIT_FAILURE );
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mpc.printDimensionsQP( );
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return EXIT_SUCCESS;
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}
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