Function speed_steer_and_fov

Function Documentation

float speed_steer_and_fov(float steering_angle, std::vector<float> ranges, float max_steering, float max_speed, float min_speed, float brake_gain, float speed_distance_gain, float front_deg, float angle_increment)

Calculates the speed of a vehicle based on steering angle and LIDAR front ranges.

This function computes the speed by considering the steering angle and adjusting it based on the LIDAR ranges within a specified field of view (FOV). The speed is influenced by the distance to obstacles (from LIDAR data), a braking gain, and a speed-distance gain.

Parameters:

  • steering_angle – The current steering angle of the vehicle.

  • ranges – A vector of float values representing the distances measured by the LIDAR sensor.

  • max_steering – The maximum steering angle the vehicle can achieve.

  • max_speed – The maximum speed the vehicle can achieve.

  • min_speed – The minimum speed the vehicle can achieve.

  • brake_gain – A gain factor that influences the braking effect based on obstacle distance.

  • speed_distance_gain – A gain factor that influences the speed based on obstacle distance.

  • front_deg – The field of view in degrees to consider in front of the vehicle [deg].

  • angle_increment – The angular resolution of the LIDAR sensor [rad].

Returns:

The calculated speed of the vehicle.