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V0.2 倒车所有环节（直线、右倒库、出库、左倒库），添加倒车纯跟踪

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liu 2 years ago
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commit 9067c892d0
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pure_change_all.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 geartest2
import pure_change_banck
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
pure = 0
a_trace = 0
brk_open = 0
brk_change=0
e_trace=0
l_out_strat_trace=0
l_in_start_trace=0
right=0
left=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(0.5)
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():
global pure,e_trace
# target course
cx = [70.733, 70.703, 70.681, 70.661, 70.631, 70.608, 70.579, 70.554, 70.533, 70.509, 70.482, 70.457, 70.426,
70.402, 70.38, 70.352, 70.322, 70.298, 70.277, 70.253, 70.23, 70.205, 70.18, 70.151, 70.121, 70.093, 70.072,
70.046, 70.025, 70.0, 69.975, 69.95, 69.919, 69.895, 69.87, 69.84, 69.808, 69.778, 69.753, 69.722, 69.693,
69.668, 69.642, 69.605, 69.573, 69.543, 69.524, 69.5, 69.47, 69.442, 69.414, 69.389, 69.367, 69.344, 69.323,
69.297, 69.28, 69.256, 69.231, 69.21, 69.192, 69.166, 69.147, 69.127, 69.105, 69.087, 69.064, 69.04, 69.014,
68.987, 68.957, 68.926, 68.895, 68.866, 68.837, 68.804, 68.776, 68.746, 68.72, 68.696, 68.663, 68.636, 68.606,
68.573, 68.545, 68.519, 68.488, 68.46, 68.436, 68.406, 68.374, 68.343, 68.317, 68.29, 68.26, 68.228, 68.198,
68.17, 68.147, 68.121, 68.099, 68.075, 68.052, 68.024, 67.995, 67.969, 67.946, 67.912, 67.885, 67.864, 67.832,
67.799, 67.777, 67.748, 67.725, 67.689, 67.668, 67.64, 67.613, 67.584, 67.557, 67.532, 67.506, 67.475, 67.448,
67.415, 67.382, 67.347, 67.314, 67.287, 67.25, 67.221, 67.189, 67.165, 67.14, 67.12, 67.091, 67.064, 67.022,
66.999]
cy = [33.88, 33.985, 34.086, 34.188, 34.298, 34.409, 34.516, 34.633, 34.736, 34.847, 34.962, 35.077, 35.195, 35.318,
35.441, 35.563, 35.688, 35.812, 35.91, 36.011, 36.117, 36.227, 36.343, 36.506, 36.632, 36.758, 36.885, 37.013,
37.147, 37.275, 37.408, 37.542, 37.681, 37.818, 37.956, 38.1, 38.241, 38.382, 38.527, 38.666, 38.804, 38.95,
39.096, 39.24, 39.383, 39.526, 39.626, 39.765, 39.902, 40.033, 40.176, 40.31, 40.432, 40.561, 40.679, 40.793,
40.904, 41.011, 41.116, 41.215, 41.314, 41.442, 41.544, 41.649, 41.758, 41.867, 41.98, 42.1, 42.22, 42.345,
42.467, 42.592, 42.719, 42.839, 42.964, 43.079, 43.189, 43.305, 43.414, 43.517, 43.644, 43.744, 43.871,
43.996, 44.111, 44.229, 44.355, 44.462, 44.564, 44.672, 44.777, 44.88, 44.982, 45.083, 45.18, 45.302, 45.409,
45.505, 45.606, 45.713, 45.815, 45.919, 46.026, 46.127, 46.24, 46.348, 46.448, 46.565, 46.686, 46.786, 46.884,
47.015, 47.122, 47.221, 47.321, 47.448, 47.554, 47.66, 47.761, 47.862, 47.971, 48.082, 48.188, 48.295, 48.411,
48.525, 48.641, 48.76, 48.875, 48.991, 49.111, 49.218, 49.327, 49.433, 49.545, 49.645, 49.748, 49.845, 49.997,
50.097]
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 pure == 1:
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)
print('纯跟踪运行')
e_trace = abs(math.sqrt(pow((float(tcp4.east) - 67.872), 2) + pow((float(tcp4.north) - 45.89), 2)))
print('e_trace', e_trace)
gear_d()
if e_trace < 1.2 and 160 < (float(tcp4.fang_xiang)) < 180:
pure = 2
print('退出纯跟踪')
shache()
print('刹车')
# 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()
# def date_write():
# 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))
def shache():
global brk_open,brk_change
brk_open = 10
brk_change = 1
db_file = "geardb.db"
conn = sqlite3.connect(db_file)
cur = conn.cursor()
# sql='INSERT INTO geardb(id) VALUES(1);'
sql = "update geardb set brk_open='%s',brk_change='%s' WHERE id = 1" % (brk_open, brk_change)
cur.execute(sql)
conn.commit()
cur.close()
conn.close()
def gear_p():
print('P')
gear_cmd = 1
auto_acc = 0
db_file = "geardb.db"
conn = sqlite3.connect(db_file)
cur = conn.cursor()
# sql='INSERT INTO geardb(id) VALUES(1);'
sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1" % (gear_cmd, auto_acc)
cur.execute(sql)
conn.commit()
cur.close()
conn.close()
def shache2():
brk_change=0
db_file = "geardb.db"
conn = sqlite3.connect(db_file)
cur = conn.cursor()
# sql='INSERT INTO geardb(id) VALUES(1);'
sql = "update geardb set brk_change='%s' WHERE id = 1"%brk_change
cur.execute(sql)
conn.commit()
cur.close()
conn.close()
def gear_r():
gear_cmd = 2 # r
print('r')
auto_acc = 70
db_file = "geardb.db"
conn = sqlite3.connect(db_file)
cur = conn.cursor()
# sql='INSERT INTO geardb(id) VALUES(1);'
sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1" % (gear_cmd, auto_acc)
cur.execute(sql)
conn.commit()
cur.close()
conn.close()
def gear_d():
gear_cmd = 4 # r
# print('d')
auto_acc = 50
db_file = "geardb.db"
conn = sqlite3.connect(db_file)
cur = conn.cursor()
# sql='INSERT INTO geardb(id) VALUES(1);'
sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1"%(gear_cmd,auto_acc)
cur.execute(sql)
conn.commit()
cur.close()
conn.close()
def car_back():
global fangxp, a_trace, l_out_strat_trace,right
print('进入右倒库')
while right==1:
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()
# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
l_out_strat_trace=abs(math.sqrt(pow((float(tcp4.east) - 76.06), 2) + pow((float(tcp4.north) - 38.42), 2)))
print('l_out',l_out_strat_trace)
a_trace = abs(math.sqrt(pow((float(tcp4.east) - 68.35), 2) + pow((float(tcp4.north) - 43.85), 2)))
print('a_trace', a_trace)
b_trace = abs(math.sqrt((float(tcp4.east) - 70.15) ** 2 + (float(tcp4.north) - 38.6) ** 2))
c_trace = abs(math.sqrt((float(tcp4.east) - 70.7) ** 2 + (float(tcp4.north) - 38.4) ** 2))
d_trace = abs(math.sqrt((float(tcp4.east) - 72) ** 2 + (float(tcp4.north) - 37.8) ** 2))
# print("tcp4.east",tcp4.east)
print('tcp_fangxiang', tcp4.fang_xiang)
if 140.0 < (float(tcp4.fang_xiang)) < 180.0 and a_trace < 0.7:
fangxp = -540
print('右打死', fangxp)
elif 70 < float(tcp4.fang_xiang) < 110 and b_trace < 1:
fangxp = 0
print('回正', fangxp)
elif 70 < float(tcp4.fang_xiang) < 110 and c_trace < 0.8:
fangxp = -540
print('右打死2', fangxp)
elif 60 < float(tcp4.fang_xiang) < 90 and d_trace < 1:
fangxp = 0
print('回正2', fangxp)
elif l_out_strat_trace<1.5 and 60< float(tcp4.fang_xiang)< 80:
right=2
print('右倒库结束')
# shache()
print('刹车')
else:
print('lose')
time.sleep(0.5)
def car_back_lelf_fly():
global fangxp,l_in_start_trace,left
print('进入左出库')
fangxp=0
while left==1:
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()
# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
l_in_start_trace=abs(math.sqrt(pow((float(tcp4.east)-72),2) + pow((float(tcp4.north)-28.54),2)))
print('l_in',l_in_start_trace)
lfa_trace = abs(math.sqrt(pow((float(tcp4.east)-72.02),2) + pow((float(tcp4.north)-37.51),2)))
print('a_trace',lfa_trace)
lfb_trace = abs(math.sqrt((float(tcp4.east)-71.66) ** 2 + (float(tcp4.north)-31.27)** 2))
# print('b_trace',b_trace)
# print("tcp4.east",tcp4.east)
print('tcp_fangxiang',tcp4.fang_xiang)
if 60.0 < (float(tcp4.fang_xiang)) < 100.0 and lfa_trace<1.2:
fangxp = 540
print('左打死',fangxp)
elif 330.0< float(tcp4.fang_xiang)< 370.0 and lfb_trace<1.2:
fangxp = 0
print('回正',fangxp)
elif l_in_start_trace<1 and 330< float(tcp4.fang_xiang)< 355:
left=2
print('开始左倒库')
# shache()
print('刹车')
else:
print('lose')
print('\n')
time.sleep(0.5)
def car_back_lelf():
global fangxp, l_in_start_trace
print('进入左倒库')
while True:
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()
# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
la_trace = abs(math.sqrt(pow((float(tcp4.east)-71.75),2) + pow((float(tcp4.north)-30.73),2)))
print('a_trace',la_trace)
lb_trace = abs(math.sqrt((float(tcp4.east)-71.06) ** 2 + (float(tcp4.north)-36)** 2))
print('b_trace',lb_trace)
lc_trace = abs(math.sqrt((float(tcp4.east)-71.88) ** 2 + (float(tcp4.north)-36.50) ** 2))
print('c_trace',lc_trace)
ld_trace = abs(math.sqrt((float(tcp4.east)-73.68) ** 2 + (float(tcp4.north)-38.10) ** 2))
print('d_trace',ld_trace)
# print("tcp4.east",tcp4.east)
print('tcp_fangxiang',tcp4.fang_xiang)
if 330.0 < (float(tcp4.fang_xiang)) < 370.0 and la_trace<1.2:
fangxp = 540
print('左打死',fangxp)
elif 40.0< float(tcp4.fang_xiang)< 80.0 and lb_trace<1.2:
fangxp = 0
print('回正',fangxp)
elif 60.0 < float(tcp4.fang_xiang) < 100.0 and lc_trace<1.5:
fangxp = 540
print('左打死',fangxp)
elif 70 < float(tcp4.fang_xiang) < 90 and ld_trace < 1.2:
fangxp = 0
print('回正',fangxp)
else:
print('lose')
print('\n')
time.sleep(0.5)
def car_back_comply():
global pure, brk_open,brk_change,e_trace,l_out_strat_trace,right,fangxp,left
# fangxp = 0
pure= 1
print('开始跟踪')
shache2()
main()
while True:
if e_trace < 1.2 and sped.speed == 0:
# gear_p()
brk_open = 0
# shache2()
# print('松刹车')
gear_r()
print('挂倒挡')
pure_change_banck.back = 1
pure_change_banck.main()
right=1
car_back()
if l_out_strat_trace<1.5 and 60< float(tcp4.fang_xiang)< 80:
print('右倒库结束，开始左飞')
left=1
# fangxp = 0
# gear_p()
brk_open = 0
shache2()
print('松刹车')
gear_d()
car_back_lelf_fly()
if l_in_start_trace<1 and 330< float(tcp4.fang_xiang)< 355:
print('开始左倒库')
# gear_p()
brk_open = 0
shache2()
print('松刹车')
gear_r()
car_back_lelf()
time.sleep(0.05)
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=car_back_comply)
t6 = threading.Thread(target=tcp4.zuo_biao)
t7 = threading.Thread(target=sped.sped)
t8 = threading.Thread(target=geartest2.brk_open_option)
t9 = threading.Thread(target=geartest2.can4b8)
t10 = threading.Thread(target=geartest2.main)
t11 = threading.Thread(target=geartest2.update)
# 启动线程
t5.start()
t6.start()
t7.start()
t1.start()
t2.start()
t3.start()
t8.start()
t9.start()
t10.start()
t11.start()
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