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@ -163,7 +163,7 @@ def pure_pursuit_control(state, cx, cy, pind):
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if len(TX_TY)>20:
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if len(TX_TY)>20:
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Lfc=Lfc*curvature*0.5
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Lfc=Lfc*curvature*0.5
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# Lfc=round(Lfc)
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# Lfc=round(Lfc)
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if curvature<0.05:
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if curvature<0.07:
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Lfc=0.4558
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Lfc=0.4558
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if Lfc==0:
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if Lfc==0:
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Lfc=1
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Lfc=1
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@ -336,7 +336,7 @@ def main():
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-28.984, -29.007, -29.039, -29.063, -29.097, -29.129, -29.158, -29.18, -29.206, -29.227, -29.251, -29.28,
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-28.984, -29.007, -29.039, -29.063, -29.097, -29.129, -29.158, -29.18, -29.206, -29.227, -29.251, -29.28,
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-29.304, -29.328, -29.346, -29.369, -29.384, -29.409, -29.426, -29.458, -29.479, -29.499]
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-29.304, -29.328, -29.346, -29.369, -29.384, -29.409, -29.426, -29.458, -29.479, -29.499]
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target_speed = 5/ 3.6 # [m/s]
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target_speed = 3/ 3.6 # [m/s]
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T = 500.0 # 最大模拟时间
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T = 500.0 # 最大模拟时间
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# 设置车辆的出事状态
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# 设置车辆的出事状态
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yaw=math.radians(450-(347+180-360))
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yaw=math.radians(450-(347+180-360))
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