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Configuration

ConfigurationBuilder

Builds configuration

Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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class ConfigurationBuilder:
    """
    Builds configuration
    """

    @staticmethod
    def get_predefined_configuration(
        planner_config: PlannerConfig = PlannerConfig.DEFAULT,
    ) -> VelocityPlannerConfig:
        """
        Builds predefined velocity planner config
        :param planner_config: planner config
        :return: velocity planner config object
        """
        if planner_config == PlannerConfig.DEFAULT:
            retconf: VelocityPlannerConfig = ConfigurationBuilder.build_default_config()

        else:
            raise NotImplementedError(f"The config {planner_config} is not implemented")

        return retconf

    @staticmethod
    def build_velocity_config(
        optimization_config: OptimizationConfig,
        vehicle_config: VehicleConfig,
        a_min: float,
        a_max: float,
        a_lateral_max: float,
        j_min: float,
        j_max: float,
        v_min_driving: float,
        v_max_street: float,
    ) -> VelocityPlannerConfig:
        """
        Build velocity planner config
        :param optimization_config: optimization config
        :param vehicle_config: vehicle configuration
        :param a_min: minimum acceleration
        :param a_max: maximum acceleration
        :param a_lateral_max: maximum lateral acceleration
        :param j_min: minimum jerk
        :param j_max: maximum jerk
        :param v_min_driving: minimum driving velocity
        :param v_max_street: maximum possible velocity if no rules
        :return:
        """
        return VelocityPlannerConfig(
            optimization_config=optimization_config,
            vehicle_config=vehicle_config,
            a_min=a_min,
            a_max=a_max,
            a_lateral_max=a_lateral_max,
            j_min=j_min,
            j_max=j_max,
            v_min_driving=v_min_driving,
            v_max_street=v_max_street,
        )

    @staticmethod
    def build_vehicle_config(
        mass: float,
        length_rear: float,
        length_front: float,
        inertia_z: float,
        tire_B_front: float,
        tire_C_front: float,
        tire_D_front: float,
        tire_B_rear: float,
        tire_C_rear: float,
        tire_D_rear: float,
    ) -> VehicleConfig:
        """
        Builds vehicle config
        :param mass: vehicle mass
        :param length_rear: length from cg to rear
        :param length_front: length from cg to front
        :param inertia_z: inertia z
        :param tire_B_front: pajecka B parameter for front tire
        :param tire_C_front: pajecka C parameter for front tire
        :param tire_D_front: pajecka D parameter for front tire
        :param tire_B_rear: pajecka B parameter for rear tire
        :param tire_C_rear: pajecka C parameter for rear tire
        :param tire_D_rear: pajecka D parameter for rear tire
        :return:
        """
        return VehicleConfig(
            mass=mass,
            length_rear=length_rear,
            length_front=length_front,
            inertia_z=inertia_z,
            tire_B_front=tire_B_front,
            tire_C_front=tire_C_front,
            tire_D_front=tire_D_front,
            tire_B_rear=tire_B_rear,
            tire_C_rear=tire_C_rear,
            tire_D_rear=tire_D_rear,
        )

    @staticmethod
    def build_optimization_config(
        velocity_maximization_type: VelMaxType,
        jerk_minimization_type: JerkMinType,
        jerk_min_weight: float,
        velocity_bound_type: VelBoundType,
        velocity_constraint: ConstraintType,
        velocity_over_weight: float,
        acceleration_constraint: ConstraintType,
        acceleration_over_weight: float,
        approximated_jerk_constraint: Optional[ConstraintType],
        approximated_jerk_over_weight: float,
        pseudo_jerk_constraint: Optional[ConstraintType],
        pseudo_jerk_over_weight: float,
        solver: SolverBackend,
    ) -> OptimizationConfig:
        """
        Builds optimization config
        :param velocity_maximization_type: type of velocity maximization
        :param jerk_minimization_type: type of jerk minimization
        :param jerk_min_weight: weight for jerk
        :param velocity_bound_type: type of velocity bound
        :param velocity_constraint: type constraint for velocity
        :param velocity_over_weight: weight for velocity in utility
        :param acceleration_constraint: type of acceleration constraint
        :param acceleration_over_weight: acceleration slack weight
        :param approximated_jerk_constraint: type for approximated jerk constraint
        :param approximated_jerk_over_weight: jerk slack weight
        :param pseudo_jerk_constraint: constraint type for pseudo jerk
        :param pseudo_jerk_over_weight: pseudo jerk weight
        :param solver: cvxpy solver
        :return: optimization config object
        """
        return OptimizationConfig(
            velocity_maximization_type=velocity_maximization_type,
            jerk_minimization_type=jerk_minimization_type,
            jerk_min_weight=jerk_min_weight,
            velocity_bound_type=velocity_bound_type,
            velocity_constraint=velocity_constraint,
            velocity_over_weight=velocity_over_weight,
            acceleration_constraint=acceleration_constraint,
            acceleration_over_weight=acceleration_over_weight,
            approximated_jerk_constraint=approximated_jerk_constraint,
            approximated_jerk_over_weight=approximated_jerk_over_weight,
            pseudo_jerk_constraint=pseudo_jerk_constraint,
            pseudo_jerk_over_weight=pseudo_jerk_over_weight,
            solver=solver,
        )

    @staticmethod
    def build_default_optimization_config() -> OptimizationConfig:
        """
        Builds default optimization config
        :return: optimization config
        """
        return ConfigurationBuilder.build_optimization_config(
            velocity_maximization_type=VelMaxType.SCALED_TO_APPROX_VEL,
            jerk_minimization_type=JerkMinType.APPROXIMATED_JERK,
            jerk_min_weight=30.0,
            velocity_bound_type=VelBoundType.APPROX_VEL_BOUNDED,
            velocity_constraint=ConstraintType.SOFT_QUADRATIC,
            velocity_over_weight=10e5,
            acceleration_constraint=ConstraintType.SOFT_QUADRATIC,
            acceleration_over_weight=6 * 10e6,
            approximated_jerk_constraint=None,
            approximated_jerk_over_weight=5 * 10e5,
            pseudo_jerk_constraint=ConstraintType.SOFT_QUADRATIC,
            pseudo_jerk_over_weight=5 * 10e5,
            solver=SolverBackend.CLARABEL,
        )

    @staticmethod
    def build_default_vehicle_config() -> VehicleConfig:
        """
        Builds default vehicle config
        :return: Vehicle Config
        """
        return ConfigurationBuilder.build_vehicle_config(
            length_rear=1.644,
            length_front=1.484,
            mass=2520,
            inertia_z=13600,
            tire_B_front=10,
            tire_C_front=1.3,
            tire_D_front=1.2,
            tire_B_rear=10,
            tire_C_rear=1.6,
            tire_D_rear=2.1,
        )

    @staticmethod
    def build_default_velocity_planner_config(
        optimization_config: OptimizationConfig, vehicle_config: VehicleConfig
    ) -> VelocityPlannerConfig:
        """
        Builds default velocity planner config
        :param optimization_config: optimization config
        :param vehicle_config: vehicle config
        :return: velocity planner config
        """
        return ConfigurationBuilder.build_velocity_config(
            optimization_config=optimization_config,
            vehicle_config=vehicle_config,
            a_lateral_max=2.0,
            a_min=-2.5,
            a_max=1.5,
            j_min=-4.0,
            j_max=3.6,
            v_min_driving=3.0,
            v_max_street=130.0 / 3.6,
        )

    @staticmethod
    def build_default_config() -> VelocityPlannerConfig:
        """
        Builds default config.
        For reasonable default values, confer
        https://www.researchgate.net/publication/326546961_Automated_Driving_System_ADS_High-Level_Quality_Requirements_Analysis_-_Driving_Behavior_Comfort#fullTextFileContent
        :return: default velocity planer config
        """
        optimization_config = ConfigurationBuilder.build_default_optimization_config()

        vehicle_config: VehicleConfig = (
            ConfigurationBuilder.build_default_vehicle_config()
        )

        return ConfigurationBuilder.build_default_velocity_planner_config(
            optimization_config=optimization_config, vehicle_config=vehicle_config
        )

build_default_config() staticmethod

Builds default config. For reasonable default values, confer https://www.researchgate.net/publication/326546961_Automated_Driving_System_ADS_High-Level_Quality_Requirements_Analysis_-_Driving_Behavior_Comfort#fullTextFileContent

Returns:

Type Description
VelocityPlannerConfig

default velocity planer config
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def build_default_config() -> VelocityPlannerConfig:
    """
    Builds default config.
    For reasonable default values, confer
    https://www.researchgate.net/publication/326546961_Automated_Driving_System_ADS_High-Level_Quality_Requirements_Analysis_-_Driving_Behavior_Comfort#fullTextFileContent
    :return: default velocity planer config
    """
    optimization_config = ConfigurationBuilder.build_default_optimization_config()

    vehicle_config: VehicleConfig = (
        ConfigurationBuilder.build_default_vehicle_config()
    )

    return ConfigurationBuilder.build_default_velocity_planner_config(
        optimization_config=optimization_config, vehicle_config=vehicle_config
    )

build_default_optimization_config() staticmethod

Builds default optimization config

Returns:

Type Description
OptimizationConfig

optimization config
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def build_default_optimization_config() -> OptimizationConfig:
    """
    Builds default optimization config
    :return: optimization config
    """
    return ConfigurationBuilder.build_optimization_config(
        velocity_maximization_type=VelMaxType.SCALED_TO_APPROX_VEL,
        jerk_minimization_type=JerkMinType.APPROXIMATED_JERK,
        jerk_min_weight=30.0,
        velocity_bound_type=VelBoundType.APPROX_VEL_BOUNDED,
        velocity_constraint=ConstraintType.SOFT_QUADRATIC,
        velocity_over_weight=10e5,
        acceleration_constraint=ConstraintType.SOFT_QUADRATIC,
        acceleration_over_weight=6 * 10e6,
        approximated_jerk_constraint=None,
        approximated_jerk_over_weight=5 * 10e5,
        pseudo_jerk_constraint=ConstraintType.SOFT_QUADRATIC,
        pseudo_jerk_over_weight=5 * 10e5,
        solver=SolverBackend.CLARABEL,
    )

build_default_vehicle_config() staticmethod

Builds default vehicle config

Returns:

Type Description
VehicleConfig

Vehicle Config
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def build_default_vehicle_config() -> VehicleConfig:
    """
    Builds default vehicle config
    :return: Vehicle Config
    """
    return ConfigurationBuilder.build_vehicle_config(
        length_rear=1.644,
        length_front=1.484,
        mass=2520,
        inertia_z=13600,
        tire_B_front=10,
        tire_C_front=1.3,
        tire_D_front=1.2,
        tire_B_rear=10,
        tire_C_rear=1.6,
        tire_D_rear=2.1,
    )

build_default_velocity_planner_config(optimization_config, vehicle_config) staticmethod

Builds default velocity planner config

Parameters:

Name Type Description Default
optimization_config OptimizationConfig

optimization config

 required
vehicle_config VehicleConfig

vehicle config

 required

Returns:

Type Description
VelocityPlannerConfig

velocity planner config
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def build_default_velocity_planner_config(
    optimization_config: OptimizationConfig, vehicle_config: VehicleConfig
) -> VelocityPlannerConfig:
    """
    Builds default velocity planner config
    :param optimization_config: optimization config
    :param vehicle_config: vehicle config
    :return: velocity planner config
    """
    return ConfigurationBuilder.build_velocity_config(
        optimization_config=optimization_config,
        vehicle_config=vehicle_config,
        a_lateral_max=2.0,
        a_min=-2.5,
        a_max=1.5,
        j_min=-4.0,
        j_max=3.6,
        v_min_driving=3.0,
        v_max_street=130.0 / 3.6,
    )

build_optimization_config(velocity_maximization_type, jerk_minimization_type, jerk_min_weight, velocity_bound_type, velocity_constraint, velocity_over_weight, acceleration_constraint, acceleration_over_weight, approximated_jerk_constraint, approximated_jerk_over_weight, pseudo_jerk_constraint, pseudo_jerk_over_weight, solver) staticmethod

Builds optimization config

Parameters:

Name Type Description Default
velocity_maximization_type VelMaxType

type of velocity maximization

 required
jerk_minimization_type JerkMinType

type of jerk minimization

 required
jerk_min_weight float

weight for jerk

 required
velocity_bound_type VelBoundType

type of velocity bound

 required
velocity_constraint ConstraintType

type constraint for velocity

 required
velocity_over_weight float

weight for velocity in utility

 required
acceleration_constraint ConstraintType

type of acceleration constraint

 required
acceleration_over_weight float

acceleration slack weight

 required
approximated_jerk_constraint Optional[ConstraintType]

type for approximated jerk constraint

 required
approximated_jerk_over_weight float

jerk slack weight

 required
pseudo_jerk_constraint Optional[ConstraintType]

constraint type for pseudo jerk

 required
pseudo_jerk_over_weight float

pseudo jerk weight

 required
solver SolverBackend

cvxpy solver

 required

Returns:

Type Description
OptimizationConfig

optimization config object
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def build_optimization_config(
    velocity_maximization_type: VelMaxType,
    jerk_minimization_type: JerkMinType,
    jerk_min_weight: float,
    velocity_bound_type: VelBoundType,
    velocity_constraint: ConstraintType,
    velocity_over_weight: float,
    acceleration_constraint: ConstraintType,
    acceleration_over_weight: float,
    approximated_jerk_constraint: Optional[ConstraintType],
    approximated_jerk_over_weight: float,
    pseudo_jerk_constraint: Optional[ConstraintType],
    pseudo_jerk_over_weight: float,
    solver: SolverBackend,
) -> OptimizationConfig:
    """
    Builds optimization config
    :param velocity_maximization_type: type of velocity maximization
    :param jerk_minimization_type: type of jerk minimization
    :param jerk_min_weight: weight for jerk
    :param velocity_bound_type: type of velocity bound
    :param velocity_constraint: type constraint for velocity
    :param velocity_over_weight: weight for velocity in utility
    :param acceleration_constraint: type of acceleration constraint
    :param acceleration_over_weight: acceleration slack weight
    :param approximated_jerk_constraint: type for approximated jerk constraint
    :param approximated_jerk_over_weight: jerk slack weight
    :param pseudo_jerk_constraint: constraint type for pseudo jerk
    :param pseudo_jerk_over_weight: pseudo jerk weight
    :param solver: cvxpy solver
    :return: optimization config object
    """
    return OptimizationConfig(
        velocity_maximization_type=velocity_maximization_type,
        jerk_minimization_type=jerk_minimization_type,
        jerk_min_weight=jerk_min_weight,
        velocity_bound_type=velocity_bound_type,
        velocity_constraint=velocity_constraint,
        velocity_over_weight=velocity_over_weight,
        acceleration_constraint=acceleration_constraint,
        acceleration_over_weight=acceleration_over_weight,
        approximated_jerk_constraint=approximated_jerk_constraint,
        approximated_jerk_over_weight=approximated_jerk_over_weight,
        pseudo_jerk_constraint=pseudo_jerk_constraint,
        pseudo_jerk_over_weight=pseudo_jerk_over_weight,
        solver=solver,
    )

build_vehicle_config(mass, length_rear, length_front, inertia_z, tire_B_front, tire_C_front, tire_D_front, tire_B_rear, tire_C_rear, tire_D_rear) staticmethod

Builds vehicle config

Parameters:

Name Type Description Default
mass float

vehicle mass

 required
length_rear float

length from cg to rear

 required
length_front float

length from cg to front

 required
inertia_z float

inertia z

 required
tire_B_front float

pajecka B parameter for front tire

 required
tire_C_front float

pajecka C parameter for front tire

 required
tire_D_front float

pajecka D parameter for front tire

 required
tire_B_rear float

pajecka B parameter for rear tire

 required
tire_C_rear float

pajecka C parameter for rear tire

 required
tire_D_rear float

pajecka D parameter for rear tire

 required

Returns:

Type Description
VehicleConfig
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def build_vehicle_config(
    mass: float,
    length_rear: float,
    length_front: float,
    inertia_z: float,
    tire_B_front: float,
    tire_C_front: float,
    tire_D_front: float,
    tire_B_rear: float,
    tire_C_rear: float,
    tire_D_rear: float,
) -> VehicleConfig:
    """
    Builds vehicle config
    :param mass: vehicle mass
    :param length_rear: length from cg to rear
    :param length_front: length from cg to front
    :param inertia_z: inertia z
    :param tire_B_front: pajecka B parameter for front tire
    :param tire_C_front: pajecka C parameter for front tire
    :param tire_D_front: pajecka D parameter for front tire
    :param tire_B_rear: pajecka B parameter for rear tire
    :param tire_C_rear: pajecka C parameter for rear tire
    :param tire_D_rear: pajecka D parameter for rear tire
    :return:
    """
    return VehicleConfig(
        mass=mass,
        length_rear=length_rear,
        length_front=length_front,
        inertia_z=inertia_z,
        tire_B_front=tire_B_front,
        tire_C_front=tire_C_front,
        tire_D_front=tire_D_front,
        tire_B_rear=tire_B_rear,
        tire_C_rear=tire_C_rear,
        tire_D_rear=tire_D_rear,
    )

build_velocity_config(optimization_config, vehicle_config, a_min, a_max, a_lateral_max, j_min, j_max, v_min_driving, v_max_street) staticmethod

Build velocity planner config

Parameters:

Name Type Description Default
optimization_config OptimizationConfig

optimization config

 required
vehicle_config VehicleConfig

vehicle configuration

 required
a_min float

minimum acceleration

 required
a_max float

maximum acceleration

 required
a_lateral_max float

maximum lateral acceleration

 required
j_min float

minimum jerk

 required
j_max float

maximum jerk

 required
v_min_driving float

minimum driving velocity

 required
v_max_street float

maximum possible velocity if no rules

 required

Returns:

Type Description
VelocityPlannerConfig
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def build_velocity_config(
    optimization_config: OptimizationConfig,
    vehicle_config: VehicleConfig,
    a_min: float,
    a_max: float,
    a_lateral_max: float,
    j_min: float,
    j_max: float,
    v_min_driving: float,
    v_max_street: float,
) -> VelocityPlannerConfig:
    """
    Build velocity planner config
    :param optimization_config: optimization config
    :param vehicle_config: vehicle configuration
    :param a_min: minimum acceleration
    :param a_max: maximum acceleration
    :param a_lateral_max: maximum lateral acceleration
    :param j_min: minimum jerk
    :param j_max: maximum jerk
    :param v_min_driving: minimum driving velocity
    :param v_max_street: maximum possible velocity if no rules
    :return:
    """
    return VelocityPlannerConfig(
        optimization_config=optimization_config,
        vehicle_config=vehicle_config,
        a_min=a_min,
        a_max=a_max,
        a_lateral_max=a_lateral_max,
        j_min=j_min,
        j_max=j_max,
        v_min_driving=v_min_driving,
        v_max_street=v_max_street,
    )

get_predefined_configuration(planner_config=PlannerConfig.DEFAULT) staticmethod

Builds predefined velocity planner config

Parameters:

Name Type Description Default
planner_config PlannerConfig

planner config

 DEFAULT

Returns:

Type Description
VelocityPlannerConfig

velocity planner config object
Source code in commonroad_velocity_planner/configuration/configuration_builder.py 
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@staticmethod
def get_predefined_configuration(
    planner_config: PlannerConfig = PlannerConfig.DEFAULT,
) -> VelocityPlannerConfig:
    """
    Builds predefined velocity planner config
    :param planner_config: planner config
    :return: velocity planner config object
    """
    if planner_config == PlannerConfig.DEFAULT:
        retconf: VelocityPlannerConfig = ConfigurationBuilder.build_default_config()

    else:
        raise NotImplementedError(f"The config {planner_config} is not implemented")

    return retconf

OptimizationConfig dataclass

Configuration used in optimization-based planners

Source code in commonroad_velocity_planner/configuration/optimization_config.py 
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@dataclass(frozen=True)
class OptimizationConfig:
    """
    Configuration used in optimization-based planners
    """

    # normalize velocity to prevent ueberschwingen
    velocity_maximization_type: VelMaxType
    # activating jerk minization
    jerk_minimization_type: JerkMinType
    jerk_min_weight: float
    velocity_bound_type: VelBoundType
    velocity_constraint: ConstraintType
    velocity_over_weight: float
    acceleration_constraint: ConstraintType
    acceleration_over_weight: float
    approximated_jerk_constraint: Optional[ConstraintType]
    approximated_jerk_over_weight: float
    pseudo_jerk_constraint: Optional[ConstraintType]
    pseudo_jerk_over_weight: float
    solver: SolverBackend

VehicleConfig dataclass

Vehicle configuration. Used in bang bang control planners.

Source code in commonroad_velocity_planner/configuration/vehicle_config.py 
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@dataclass
class VehicleConfig:
    """
    Vehicle configuration. Used in bang bang control planners.
    """

    mass: float
    length_rear: float
    length_front: float
    inertia_z: float

    # Tire model
    tire_B_front: float
    tire_C_front: float
    tire_D_front: float
    tire_B_rear: float
    tire_C_rear: float
    tire_D_rear: float

VelocityPlannerConfig dataclass

Velocity planner config, uniting optimization config, vehicle config and several top-level params.

Source code in commonroad_velocity_planner/configuration/velocity_planner_config.py 
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@dataclass(frozen=True)
class VelocityPlannerConfig:
    """
    Velocity planner config, uniting optimization config, vehicle config and several top-level params.
    """

    optimization_config: OptimizationConfig
    vehicle_config: VehicleConfig
    a_min: float
    a_max: float
    a_lateral_max: float
    j_min: float
    j_max: float
    v_min_driving: float
    v_max_street: float
    g: float = 9.81