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V0.3 纯跟踪更稳定

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master_pure
liu 2 years ago
parent de731225c9
commit 90323686b6
1 changed files with 369 additions and 0 deletions
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pure_改进.py
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"""
Path tracking simulation with pure pursuit steering control and PID speed control.
author: Atsushi Sakai (@Atsushi_twi)
"""
import datetime
import time
from loguru import logger
import math
import sqlite3
import threading
import time
import numpy as np
import sped
import tcp4
import test5
k = 0 # look forward gain
Lfc = 5 # look-ahead distance
Kp = 1.0 # speed propotional gain
dt = 0.1 # [s]
L = 2.9 # [m] wheel base of vehicle
tx=0
ty=0
fangxp=0
# show_animation = True
#
class State:
def __init__(self, x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.car_yaw, v=sped.speed):
self.x = x
self.y = y
self.yaw = yaw
self.v = v
def update(state, a):
state.x = tcp4.x_car
# print('stax', state.x)
state.y = tcp4.y_car
# print('stay', state.y)
state.yaw = tcp4.car_yaw
# print('stayaw', state.car_yaw)
state.v = sped.speed + a * dt
# state.x = tcp4.x_car + sped.speed * math.cos(tcp4.car_yaw) * dt
# # print("state",state.x)
# state.y = tcp4.y_car + sped.speed * math.sin(tcp4.car_yaw) * dt
# state.car_yaw = tcp4.car_yaw + sped.speed / L * math.tan(delta) * dt
# state.v = sped.speed + a * dt
return state
# return state
def PIDControl(target, current):
a = Kp * (target - current)
return a
def pure_pursuit_control(state, cx, cy, pind):
global tx,ty,fangxp
ind = calc_target_index(state, cx, cy)
# if pind >= ind:
# ind = pind
if ind < len(cx):
tx = cx[ind]
ty = cy[ind]
else:
tx = cx[-1]
ty = cy[-1]
ind = len(cx) - 1
alpha = math.atan2(ty - state.y, tx - state.x) - state.yaw
if state.v < 0: # back
alpha = math.pi - alpha
Lf = k * state.v + Lfc
delta = math.atan2(2.0 * L * math.sin(alpha) / Lf, 1.0)
if delta > np.pi / 6.0:
delta = np.pi / 6.0
# print('delta1', delta)
elif delta < - np.pi / 6.0:
delta = - np.pi / 6.0
# print('delta2', delta)
angle = delta * 57.3
fangxp = int(angle * 18)
print('fxp', fangxp)
db_file = "turndb.db"
conn = sqlite3.connect(db_file)
cur = conn.cursor()
# sql='INSERT INTO turndb(id) VALUES(1);'
sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
cur.execute(sql)
conn.commit()
cur.close()
conn.close()
time.sleep(0.04)
return delta, ind
def calc_target_index(state, cx, cy):
# search nearest point index
dx = [state.x - icx for icx in cx]
dy = [state.y - icy for icy in cy]
d = [abs(math.sqrt(idx ** 2 + idy ** 2)) for (idx, idy) in zip(dx, dy)]
ind = d.index(min(d))
L = 0.0
Lf = k * state.v + Lfc
# search look ahead target point index
while Lf > L and (ind + 1) < len(cx):
dx = cx[ind + 1] - cx[ind]
dy = cx[ind + 1] - cx[ind]
L += math.sqrt(dx ** 2 + dy ** 2)
ind += 1
return ind
def main():
# target course
cx = [84.61, 84.639, 84.667, 84.7, 84.722, 84.743, 84.775, 84.806, 84.837, 84.869, 84.9, 84.928, 84.949, 84.972,
85.004, 85.028, 85.06, 85.096, 85.123, 85.149, 85.177, 85.208, 85.24, 85.269, 85.298, 85.331, 85.361, 85.391,
85.423,
85.457, 85.488, 85.526, 85.547, 85.572, 85.602, 85.622, 85.648, 85.673, 85.694, 85.721, 85.741, 85.762,
85.786, 85.81, 85.832, 85.856, 85.88, 85.899, 85.923, 85.948, 85.973, 85.996, 86.017, 86.042, 86.068, 86.089,
86.113,
86.131,
86.154, 86.175, 86.195, 86.217, 86.245, 86.262, 86.288, 86.307, 86.33, 86.35, 86.376, 86.398, 86.423,
86.448, 86.474, 86.499, 86.52, 86.548, 86.575, 86.602, 86.624, 86.65, 86.676, 86.7, 86.72, 86.743, 86.77,
86.793, 86.821, 86.836, 86.861, 86.887, 86.916, 86.943, 86.964, 86.988, 87.01, 87.039, 87.066, 87.092, 87.12,
87.145,
87.169, 87.192, 87.221, 87.243, 87.271, 87.295, 87.324, 87.348, 87.369, 87.391, 87.417, 87.445, 87.475,
87.501, 87.525, 87.546, 87.575, 87.6, 87.629, 87.656, 87.685, 87.712, 87.736, 87.77, 87.794, 87.823, 87.852,
87.885,
87.916, 87.939, 87.963, 87.994, 88.019, 88.053, 88.084, 88.114, 88.138, 88.17, 88.196, 88.228, 88.257, 88.288,
88.318, 88.343, 88.373, 88.4, 88.427, 88.461, 88.489, 88.518, 88.548, 88.58, 88.606, 88.633, 88.66, 88.693,
88.712, 88.738, 88.765, 88.791, 88.826, 88.861, 88.888, 88.914, 88.943, 88.969, 88.996, 89.022, 89.052,
89.082,
89.113, 89.135, 89.158, 89.184, 89.218, 89.248, 89.272, 89.297, 89.334, 89.362, 89.39, 89.412, 89.445, 89.475,
89.504,
89.529, 89.561, 89.589, 89.617, 89.65, 89.673, 89.713, 89.736, 89.764, 89.792, 89.825, 89.853, 89.88, 89.913,
89.939, 89.968, 89.997, 90.026, 90.057, 90.086, 90.119, 90.144, 90.165, 90.194, 90.226, 90.251, 90.279,
90.306, 90.336, 90.365, 90.393, 90.424, 90.447, 90.477, 90.508, 90.533, 90.568, 90.601, 90.627, 90.654,
90.685,
90.713, 90.745, 90.776, 90.806, 90.835, 90.862, 90.894, 90.922, 90.949, 90.982, 91.009, 91.043, 91.069,
91.102,
91.138, 91.168, 91.199, 91.228, 91.26, 91.288, 91.316, 91.345, 91.372, 91.407, 91.436, 91.464, 91.494, 91.522,
91.552,
91.578, 91.603, 91.629, 91.66, 91.69, 91.713, 91.742, 91.774, 91.803, 91.823, 91.851, 91.877, 91.908, 91.935,
91.963, 91.993, 92.019, 92.045, 92.071, 92.096, 92.127, 92.154, 92.184, 92.207, 92.233, 92.264, 92.297,
92.324, 92.347, 92.374, 92.403, 92.43, 92.459, 92.487, 92.513, 92.544, 92.568, 92.596, 92.623, 92.652, 92.681,
92.706,
92.732, 92.762, 92.79, 92.826, 92.856, 92.881, 92.91, 92.936, 92.967, 92.991, 93.023, 93.047, 93.075, 93.105,
93.127, 93.155, 93.184, 93.214, 93.24, 93.263, 93.29, 93.32, 93.348, 93.376, 93.407, 93.433, 93.465, 93.498,
93.524, 93.559, 93.588, 93.621, 93.647, 93.675, 93.703, 93.735, 93.763, 93.797, 93.83, 93.858, 93.888, 93.914,
93.944, 93.975, 94.001, 94.026, 94.052, 94.083, 94.11, 94.141, 94.164, 94.188, 94.213, 94.24, 94.27, 94.296,
94.328, 94.355, 94.389, 94.418, 94.451, 94.48, 94.509, 94.535, 94.577, 94.607, 94.639, 94.672, 94.702, 94.724,
94.756, 94.786, 94.816, 94.847, 94.879, 94.907, 94.941, 94.97, 94.999, 95.028, 95.055, 95.089, 95.12, 95.149,
95.177, 95.215, 95.244, 95.275, 95.29, 95.32, 95.351, 95.379, 95.406, 95.435, 95.466, 95.493, 95.522, 95.546,
95.576, 95.612, 95.642, 95.674, 95.706, 95.732, 95.782, 95.812, 95.844, 95.872, 95.9, 95.925, 95.95, 95.985,
96.014, 96.048, 96.078, 96.109, 96.139, 96.17, 96.203, 96.234, 96.266, 96.299, 96.33, 96.364, 96.395, 96.424,
96.456, 96.487, 96.514, 96.546, 96.576, 96.609, 96.638, 96.667, 96.701, 96.735, 96.765, 96.795, 96.825,
96.855, 96.888, 96.918, 96.953, 96.982, 97.013, 97.045, 97.095, 97.123, 97.157, 97.179, 97.208, 97.243,
97.277,
97.308, 97.342, 97.376, 97.407, 97.435, 97.47, 97.501, 97.534, 97.565, 97.595, 97.624, 97.649, 97.684, 97.716,
97.749,
97.776, 97.811, 97.84, 97.869, 97.901, 97.931, 97.96, 97.984, 98.016, 98.042, 98.07, 98.1, 98.128, 98.155,
98.188, 98.218, 98.244, 98.273, 98.304, 98.339, 98.366, 98.397, 98.42, 98.465, 98.495, 98.523, 98.549, 98.578,
98.61,
98.637, 98.667, 98.7, 98.729, 98.757, 98.789, 98.819, 98.843, 98.872, 98.892, 98.921, 98.955, 98.984, 99.01,
99.04, 99.06, 99.09, 99.121, 99.152, 99.178, 99.208, 99.233, 99.26, 99.29, 99.32, 99.349, 99.376, 99.4,
99.428,
99.456, 99.486, 99.514, 99.544, 99.571, 99.598, 99.627, 99.654, 99.682, 99.714, 99.741, 99.769, 99.799,
99.831,
99.859, 99.888, 99.932, 99.957, 99.987, 100.012, 100.043, 100.076, 100.108, 100.135, 100.167, 100.191,
100.221,
100.252, 100.281, 100.311, 100.342, 100.371, 100.394, 100.427, 100.455, 100.49, 100.522, 100.553, 100.58,
100.614,
100.641, 100.672, 100.702, 100.728, 100.761, 100.792, 100.824, 100.849, 100.876, 100.909, 100.942, 100.967,
100.999,
101.031, 101.059, 101.09, 101.121, 101.15, 101.175, 101.204, 101.235, 101.264, 101.288, 101.32, 101.348,
101.38, 101.404, 101.433, 101.468, 101.495, 101.521, 101.551, 101.575, 101.604, 101.632, 101.66, 101.683,
101.716,
101.744, 101.776, 101.808, 101.83, 101.854, 101.889, 101.918, 101.945, 101.967, 101.99, 102.013, 102.033,
102.057,
102.082, 102.102, 102.116, 102.134, 102.149, 102.164, 102.176, 102.184, 102.187, 102.185, 102.183, 102.176,
102.165,
102.141, 102.112, 102.086, 102.058, 102.031, 101.989, 101.955, 101.912, 101.861, 101.805, 101.748, 101.68,
101.606, 101.522, 101.44, 101.353, 101.272, 101.185, 101.09, 100.999, 100.9, 100.804, 100.706, 100.611,
100.505,
100.406, 100.299, 100.195, 100.085, 99.979, 99.867, 99.739, 99.62, 99.493, 99.363, 99.231, 99.102, 98.965,
98.83,
98.623, 98.48, 98.339, 98.198, 98.06, 97.927, 97.794, 97.659, 97.534, 97.402, 97.268, 97.143, 97.023, 96.896,
96.773,
96.645, 96.518, 96.393, 96.26, 96.127, 95.988, 95.845, 95.706, 95.558, 95.409, 95.258, 95.102, 94.945, 94.788,
94.633, 94.475, 94.315, 94.16, 94.002, 93.903, 93.75, 93.589, 93.434, 93.274, 93.118, 92.963, 92.807, 92.648,
92.487, 92.333, 92.18, 92.022, 91.864, 91.711, 91.553, 91.407, 91.252, 91.102, 90.954, 90.806, 90.652, 90.511,
90.354, 90.203, 90.049, 89.89, 89.737, 89.581, 89.422, 89.26, 89.108, 88.949, 88.793, 88.636, 88.48, 88.326,
88.168, 88.01, 87.855, 87.7, 87.548, 87.395, 87.243, 87.088, 86.939, 86.785, 86.635, 86.482, 86.334, 86.185,
86.038, 85.886, 85.666, 85.516, 85.367, 85.217, 85.067, 84.913, 84.766, 84.62, 84.473, 84.322, 84.171, 84.022,
83.871, 83.722, 83.576, 83.429, 83.282, 83.132, 82.981, 82.834, 82.687, 82.524, 82.375, 82.225, 82.072,
81.918, 81.772, 81.618, 81.457, 81.309, 81.154, 80.998, 80.843, 80.694, 80.543, 80.385, 80.237, 80.086,
79.937,
79.785, 79.639, 79.493, 79.355, 79.205, 79.063, 78.922, 78.784, 78.647, 78.517, 78.384, 78.25, 78.119, 77.986,
77.856,
77.741, 77.625, 77.511, 77.403, 77.298, 77.199, 77.065, 76.938, 76.826, 76.707]
cy = [66.014, 65.909, 65.805, 65.693, 65.595, 65.496, 65.384, 65.267, 65.144, 65.021, 64.894, 64.796, 64.695,
64.595, 64.484, 64.373, 64.26, 64.141, 64.023, 63.9, 63.776, 63.65, 63.521, 63.395, 63.261, 63.128, 62.997,
62.864, 62.734, 62.595, 62.453, 62.312, 62.214, 62.114, 61.97, 61.87, 61.769, 61.667, 61.565, 61.464, 61.362,
61.257, 61.157, 61.05, 60.944, 60.842, 60.735, 60.63, 60.523, 60.414, 60.306, 60.198, 60.091, 59.98, 59.867,
59.755, 59.645, 59.535, 59.419, 59.308, 59.196, 59.088, 58.971, 58.855, 58.736, 58.616, 58.494, 58.373,
58.253, 58.133, 58.012, 57.892, 57.767, 57.645, 57.525, 57.404, 57.282, 57.163, 57.041, 56.922, 56.801,
56.682, 56.562, 56.442, 56.323, 56.207, 56.081, 55.967, 55.835, 55.715, 55.585, 55.454, 55.327, 55.196, 55.07,
54.942, 54.814, 54.69, 54.572, 54.443, 54.317, 54.191, 54.067, 53.949, 53.83, 53.713, 53.603, 53.483, 53.364,
53.244, 53.126, 53.007, 52.882, 52.76, 52.634, 52.507, 52.386, 52.26, 52.133, 52.002, 51.873, 51.741, 51.607,
51.472, 51.34, 51.205, 51.072, 50.934, 50.794, 50.655, 50.512, 50.376, 50.235, 50.095, 49.951, 49.808, 49.666,
49.522, 49.381, 49.237, 49.094, 48.955, 48.814, 48.678, 48.541, 48.403, 48.254, 48.045, 47.903, 47.762,
47.626, 47.483, 47.337, 47.193, 47.049, 46.903, 46.759, 46.613, 46.465, 46.313, 46.168, 46.027, 45.881, 45.74,
45.599, 45.457, 45.309, 45.166, 45.021, 44.875, 44.729, 44.582, 44.439, 44.292, 44.143, 43.997, 43.851,
43.709, 43.568, 43.426, 43.279, 43.136, 42.994, 42.849, 42.704, 42.561, 42.418, 42.273, 42.127, 41.986,
41.844, 41.7, 41.552, 41.404, 41.257, 41.112, 40.964, 40.818, 40.672, 40.526, 40.381, 40.236, 40.09, 39.941,
39.797, 39.653, 39.512, 39.362, 39.223, 39.08, 38.94, 38.795, 38.653, 38.508, 38.368, 38.226, 38.078, 37.931,
37.788, 37.639, 37.496, 37.351, 37.206, 37.059, 36.908, 36.763, 36.613, 36.463, 36.319, 36.172, 36.024,
35.877, 35.729, 35.58, 35.434, 35.286, 35.139, 34.995, 34.844, 34.695, 34.552, 34.402, 34.256, 34.107, 33.958,
33.813, 33.663, 33.512, 33.363, 33.211, 33.067, 32.922, 32.773, 32.627, 32.484, 32.336, 32.19, 32.047, 31.903,
31.76, 31.61, 31.469, 31.325, 31.183, 31.039, 30.901, 30.762, 30.625, 30.488, 30.349, 30.213, 30.074, 29.935,
29.797, 29.661, 29.522, 29.393, 29.254, 29.102, 28.959, 28.815, 28.671, 28.524, 28.383, 28.241, 28.104,
27.968, 27.823, 27.69, 27.55, 27.409, 27.267, 27.128, 26.985, 26.842, 26.698, 26.554, 26.406, 26.258, 26.107,
25.96, 25.808, 25.664, 25.513, 25.366, 25.215, 25.069, 24.927, 24.791, 24.654, 24.513, 24.374, 24.234, 24.098,
23.954, 23.812, 23.664, 23.521, 23.375, 23.228, 23.083, 22.934, 22.789, 22.645, 22.499, 22.351, 22.205,
22.057, 21.913, 21.767, 21.628, 21.484, 21.337, 21.191, 21.046, 20.9, 20.758, 20.618, 20.476, 20.33, 20.191,
20.049, 19.908, 19.766, 19.632, 19.489, 19.353, 19.217, 19.076, 18.935, 18.797, 18.659, 18.516, 18.374,
18.227, 18.085, 17.935, 17.789, 17.64, 17.495, 17.344, 17.119, 16.969, 16.823, 16.669, 16.521, 16.371, 16.219,
16.072, 15.926, 15.775, 15.629, 15.483, 15.341, 15.195, 15.05, 14.901, 14.757, 14.61, 14.463, 14.315, 14.167,
14.023, 13.871, 13.726, 13.582, 13.436, 13.291, 13.147, 13.007, 12.863, 12.725, 12.586, 12.446, 12.31, 12.175,
12.043, 11.898, 11.76, 11.621, 11.473, 11.259, 11.114, 10.97, 10.823, 10.671, 10.523, 10.375, 10.233, 10.082,
9.935, 9.788, 9.642, 9.494, 9.342, 9.194, 9.046, 8.896, 8.747, 8.598, 8.451, 8.302, 8.158, 8.012, 7.864,
7.718, 7.569, 7.425, 7.28, 7.132, 6.986, 6.841, 6.693, 6.543, 6.396, 6.246, 6.099, 5.95, 5.801, 5.653, 5.5,
5.351, 5.2, 4.974, 4.821, 4.669, 4.522, 4.373, 4.222, 4.068, 3.918, 3.77, 3.623, 3.472, 3.322, 3.173, 3.025,
2.882, 2.733, 2.583, 2.436, 2.289, 2.144, 1.994, 1.845, 1.695, 1.546, 1.397, 1.245, 1.091, 0.939, 0.791,
0.641, 0.493, 0.346, 0.197, 0.051, -0.102, -0.254, -0.404, -0.553, -0.708, -0.859, -1.012, -1.166, -1.321,
-1.474, -1.628, -1.858, -2.012, -2.164, -2.32, -2.473, -2.626, -2.776, -2.927, -3.078, -3.231, -3.384, -3.535,
-3.686, -3.836, -3.987, -4.136, -4.287, -4.43, -4.58, -4.728, -4.872, -5.013, -5.158, -5.302, -5.442, -5.585,
-5.728, -5.873, -6.015, -6.158, -6.305, -6.447, -6.59, -6.733, -6.877, -7.022, -7.165, -7.307, -7.449, -7.59,
-7.732, -7.871, -8.012, -8.151, -8.29, -8.429, -8.576, -8.718, -8.863, -9.006, -9.153, -9.371, -9.514, -9.657,
-9.789, -9.937, -10.083, -10.229, -10.378, -10.523, -10.668, -10.812, -10.958, -11.103, -11.247, -11.395,
-11.54, -11.689, -11.832, -11.978, -12.121, -12.267, -12.412, -12.559, -12.705, -12.85, -13.006, -13.15,
-13.3, -13.447, -13.593, -13.741, -13.889, -14.033, -14.182, -14.326, -14.474, -14.607, -14.754, -14.903,
-15.051, -15.195, -15.346, -15.491, -15.642, -15.794, -15.945, -16.091, -16.249, -16.401, -16.546, -16.696,
-16.843, -16.986, -17.132, -17.272, -17.413, -17.553, -17.694, -17.839, -17.984, -18.128, -18.271, -18.413,
-18.558, -18.705, -18.857, -19.008, -19.149, -19.293, -19.441, -19.586, -19.73, -19.876, -20.023, -20.169,
-20.317, -20.462, -20.61, -20.763, -20.912, -21.067, -21.225, -21.373, -21.528, -21.675, -21.818, -21.953,
-22.076, -22.203, -22.372, -22.481, -22.601, -22.718, -22.832, -22.95, -23.07, -23.192, -23.315, -23.439,
-23.56, -23.68, -23.799, -23.912, -24.022, -24.132, -24.242, -24.34, -24.435, -24.518, -24.605, -24.686,
-24.761, -24.838, -24.911, -24.978, -25.039, -25.1, -25.154, -25.213, -25.253, -25.307, -25.361, -25.408,
-25.451, -25.493, -25.53, -25.573, -25.62, -25.642, -25.665, -25.683, -25.703, -25.718, -25.732, -25.747,
-25.758, -25.759, -25.769, -25.778, -25.789, -25.799, -25.799, -25.8, -25.8, -25.8, -25.8, -25.807, -25.816,
-25.823, -25.836, -25.841, -25.861, -25.884, -25.908, -25.936, -25.961, -25.99, -26.017, -26.048, -26.084,
-26.118, -26.141, -26.176, -26.213, -26.247, -26.274, -26.299, -26.34, -26.373, -26.403, -26.435, -26.467,
-26.5, -26.532, -26.563, -26.599, -26.624, -26.661, -26.683, -26.715, -26.748, -26.78, -26.813, -26.842,
-26.873, -26.908, -26.943, -26.977, -27.008, -27.043, -27.068, -27.095, -27.133, -27.164, -27.193, -27.224,
-27.255, -27.287, -27.319, -27.348, -27.381, -27.407, -27.448, -27.483, -27.518, -27.55, -27.587, -27.615,
-27.643, -27.673, -27.697, -27.725, -27.753, -27.782, -27.823, -27.849, -27.876, -27.901, -27.931, -27.955,
-27.982, -28.009, -28.036, -28.065, -28.088, -28.117, -28.142, -28.172, -28.201, -28.232, -28.251, -28.278,
-28.304, -28.333, -28.361, -28.38, -28.403, -28.436, -28.464, -28.495, -28.531, -28.558, -28.581, -28.618,
-28.649, -28.679, -28.711, -28.74, -28.769, -28.792, -28.825, -28.851, -28.877, -28.901, -28.931, -28.955,
-28.984, -29.007, -29.039, -29.063, -29.097, -29.129, -29.158, -29.18, -29.206, -29.227, -29.251, -29.28,
-29.304, -29.328, -29.346, -29.369, -29.384, -29.409, -29.426, -29.458, -29.479, -29.499]
target_speed = 10.0 / 3.6 # [m/s]
# initial state
state = State(x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.car_yaw, v=sped.speed)
lastIndex = len(cx) - 1
time = 0.0
x = [state.x]
y = [state.y]
yaw = [state.yaw]
v = [state.v]
t = [0.0]
target_ind = calc_target_index(state, cx, cy)
while True:
ai = PIDControl(target_speed, state.v)
di, target_ind = pure_pursuit_control(state, cx, cy, target_ind)
state = update(state, ai)
time = time + dt
x.append(state.x)
x1 = round(x[-1], 3)
# print('x1', x[-1])
y.append(state.y)
y1 = round(y[-1], 3)
yaw.append(state.yaw)
v.append(state.v)
t.append(time)
shijian = datetime.datetime.now()
# logger.add(
# '预瞄点记录%s-%s-%s,%s:%s.log' % (shijian.year, shijian.month, shijian.day, shijian.hour, shijian.minute))
# logger.debug('y {},x {},tx {}，ty {},fxp{},car_yaw{},北斗x {}，北斗y {},x_car{},y_car{},方位角{}，转换角{}', str(y1),
# str(x1), str(tx), str(ty), str(fangxp),
# str(state.yaw), str(tcp4.east), str(tcp4.north), str(tcp4.x_car),
# str(tcp4.y_car), str(tcp4.beidou[5]), str(tcp4.heading))
# if show_animation:
# plt.cla()
# plt.plot(cx, cy, ".r", label="course")
# plt.plot(x, y, "-b", label="trajectory")
# plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")
# plt.axis("equal")
# plt.grid(True)
# plt.title("Speed[km/h]:" + str(state.v * 3.6)[:4])
# plt.pause(0.001)
#
# # Test
# assert lastIndex >= target_ind, "Cannot goal"
#
# if show_animation:
# plt.plot(cx, cy, ".r", label="course")
# plt.plot(x, y, "-b", label="trajectory")
# plt.legend()
# plt.xlabel("x[m]")
# plt.ylabel("y[m]")
# plt.axis("equal")
# plt.grid(True)
#
# flg, ax = plt.subplots(1)
# plt.plot(t, [iv * 3.6 for iv in v], "-r")
# plt.xlabel("Time[s]")
# plt.ylabel("Speed[km/h]")
# plt.grid(True)
# plt.show()
if __name__ == '__main__':
t1 = threading.Thread(target=test5.can165) # 读取eps状态
t2 = threading.Thread(target=test5.can0a5) # 读取目前方向盘角度
t3 = threading.Thread(target=test5.main)
t4 = threading.Thread(target=test5.update)
t5 = threading.Thread(target=main)
t6 = threading.Thread(target=tcp4.zuo_biao)
t7 = threading.Thread(target=sped.sped)
# 启动线程
t5.start()
t6.start()
t7.start()
t1.start()
t2.start()
t3.start()
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