From a9acb322148d032c68bb5dbf65ee8e20c5b424b1 Mon Sep 17 00:00:00 2001 From: liu <387636706@qq.com> Date: Mon, 8 May 2023 10:55:56 +0800 Subject: [PATCH] =?UTF-8?q?V0.1=20=E5=80=92=E8=BD=A6=E7=A8=8B=E5=BA=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pure_back_right.py | 376 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 376 insertions(+) create mode 100644 pure_back_right.py diff --git a/pure_back_right.py b/pure_back_right.py new file mode 100644 index 0000000..ca57ec8 --- /dev/null +++ b/pure_back_right.py @@ -0,0 +1,376 @@ +import time +from loguru import logger +import numpy as np +import math +# import matplotlib.pyplot as plt +import tcp4 +import sqlite3 +import threading +import test5 +import sped + +k = 0 # 前视距离系数 +Lfc = 5 # 前视距离 +Kp = 1.0 # 速度P控制器系数 +dt = 0.1 # 时间间隔，单位：s +L = 2.7 # 车辆轴距，单位：m +fangxp = 0 + + +class VehicleState: + # state = VehicleState(x = tcp4.x_car, y =tcp4.y_car, yaw = tcp4.yaw, v = 0) + + def __init__(self, x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.yaw, v=sped.speed): + self.x = x + self.y = y + self.yaw = yaw + self.v = v + + +def update(state, a, delta): + state.x = tcp4.x_car + sped.speed * math.cos(tcp4.yaw) * dt + # print("state",state.x) + state.y = tcp4.y_car + sped.speed * math.sin(tcp4.yaw) * dt + state.yaw = tcp4.yaw + sped.speed / L * math.tan(delta) * dt + state.v = sped.speed + a * dt + return state + + +def PControl(target, current): + a = Kp * (target - current) + return a + + +def pure_pursuit_control(state, cx, cy, pind): + global fangxp + ind = calc_target_index(state, cx, cy) + # if pind >= ind: + # ind = pind + if ind < len(cx): + tx = cx[ind] + print('tx', tx) + ty = cy[ind] + print('ty', ty) + else: + tx = cx[-1] + # print('tx1',tx) + + ty = cy[-1] + + # print('ty1',ty) + + ind = len(cx) - 1 + + alpha = math.atan2(ty - state.y, tx - state.x) - state.yaw + # print('alpha',alpha) + 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) + # print(delta) + return delta, ind + + +def calc_target_index(state, cx, cy): + # 搜索最临近的路点 + 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)) + # print('ind',ind) + L = 0.0 + Lf = k * state.v + Lfc + 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 + # print('ind1', ind) + + return ind + + +def main(): + # 设置目标路点 + 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, 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calc_target_index(state, cx, cy) + while True: + # print('heading',tcp4.heading) + ai = PControl(target_speed, state.v) + di, target_ind = pure_pursuit_control(state, cx, cy, target_ind) + state = update(state, ai, di) + time = time + dt + x.append(state.x) + x1 = x[-1] + print('x1', x[-1]) + y.append(state.y) + y1 = y[-1] + print('y1', y[-1]) + yaw.append(state.yaw) + yaw1 = y[-1] * 57.3 + print('yaw', yaw[-1]) + t.append(time) + # logger.add('file.log') + # logger.debug('角度 {},y {},x {},北斗角度 {}，北斗x {}，北斗y {}', str(yaw1), str(y1), str(x1),str(tcp4.heading),str(tcp4.east),str(tcp4.north)) + v.append(state.v) + # print('v', v[-1]) + + t.append(time) + # plt.cla() + # plt.plot(cx, cy, ".r", label="course") + # plt.plot(x, y, "-b", label="trajectory") + # plt.plot(cx[target_ind], cy[target_ind], "go", label="target") + # plt.axis("equal") + # plt.grid(True) + # plt.title("Speed[km/h]:" + str(state.v * 3.6)[:4]) + # plt.pause(0.001) + + +def car_back(): + print('进入倒库') + while True: + global 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() + # d = math.sqrt(pow((east - x), 2) + pow((north - y), 2)) + + 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<1: + 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<1: + 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) + else: + print('lose') + time.sleep(0.5) + + + +if __name__ == '__main__': + # 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) + 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() + # t4.start()