Safety Filter

Visualizer

If you chose to use the MPC Visualizer with the safety filter, the planned trajectory of the safety filter will be shown whenever the filtered input differs from the input provided by the original controller.

Ros Information

ROS Information

Node Names	Description
safety_filter_node	Main entry point of the safety filter

Launch File Arguments

Argument	Default	Description
car_state_topic	safety_filter_node/state	Topic where state of the car is published.
safe_car_input_topic	safety_filter_node/safe_car_input_topic	Topic where the safe control input is published
car_input_topic	safety_filter_node/car_input_topic	Topic where the (unsafe) controller input is published
safety_filter_config	$(find ros_safety_framework)/config/collision_avoidance.yaml	Path to safety filter config.yaml

Subscribed Topics	Description
safety_filter_node/state	Topic where state of the car is published
safety_filter_node/car_input_topic	Topic where unsafe input to the car is published

Published Topics	Description
safety_filter_node/safe_car_input_topic	Topic where the safe input is published

Parameters	Description
track/*	All track informations as defined in the Track Manager
model/*	Shared model parameters for all components
safety_filter_node/visualizer/*	MPC Visualizer specific configuration
safety_filter_node/state_type	State type
safety_filter_node/input_type	Input type
safety_filter_node/safety_filter_type	Safety filter type (e.g. mpc_filter)
safety_filter_node/config/solver_type	solver that is used
safety_filter_node/config/reference_method	method that is used to generate reference trajectory (uniform or const_input)
safety_filter_node/config/dist_targ_multiplier	Multiplier that maps an applied torque to the expected driven distance
safety_filter_node/config/min_terminal_dist	Min distance the car must drive
safety_filter_node/config/max_terminal_dist	Max distance the car can drive
safety_filter_node/config/use_torque_filter	If true, make sure driving distance does only decrease by max dist_decrement_max in each iteration
safety_filter_node/config/dist_decrement_max	Max distence decrementin each iteration
safety_filter_node/config/loookahead_time	By how much the state should be advanced
safety_filter_node/config/threshold	Threshold. If the input norm was modified more than this threhsold, a visual hint is shown with the planned trajectory
safety_filter_node/config/cost_torque	Cost for torque missmatch
safety_filter_node/config/cost_steer	Cost for steer missmatch
safety_filter_node/config/cost_delta_torque	Cost for change in torque over the trajectory
safety_filter_node/config/cost_delta_steer	Cost for change in steer over the trajectory