自动驾驶云服务 OCTOPUS-动作 change_speed

时间：2024-09-06 18:25:52

动作 change_speed

表1 change_speed参数
Parameter	Type	Mandatory	Description
reference	entity	no	Default=it.actor. Reference to the entity that is used to determine the target speed. If this argument is omitted, the actor itself is used as reference.
target	speed	yes	Target value for the speed at the end of the action.
rate_profile	dynamics_shape	yes	Assign a shape for the change of the speed variable. This profile affects the acceleration during action execution.
rate_peak	acceleration	yes	Target value for the peak acceleration that must be achieved during the action.

样例

m_profile: dynamics_shape = sinusoidal
Ego.change_speed(reference: lead_vehicle, target: -5.0mps, rate_profile: m_profile, rate_peak: 2mpss)

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自动驾驶云服务 OCTOPUS-动作 change_speed

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