V0.1

pure_test.py

@@ -161,7 +161,9 @@ def pure_pursuit_control(state, cx, cy, pind):
 
     # print('A',A)
     if  len(TX_TY)>20:
-        Lfc=Lfc*curvature
+        Lfc=Lfc*curvature*0.5
+        if Lfc==0:
+            Lfc=2
     print('lcf',Lfc)
     alpta_1=math.atan2(ty - state.y, tx - state.x)
 
@@ -239,25 +241,44 @@ def main():
     global x1,y1
     #  设置目标路点
     cx = [
-           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,
+
+
+
+
+           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,
+          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,
+          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,
@@ -265,12 +286,24 @@ def main():
           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,
+          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 = [
+
+
+
+          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,
@@ -295,15 +328,14 @@ def main():
           -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 = 2 / 3.6  # [m/s]
     T = 500.0  # 最大模拟时间
     # 设置车辆的出事状态
     yaw=math.radians(450-(347+180-360))
-    x_car = np.cos(yaw) * 2.3 + float(100)
+    x_car = np.cos(yaw) * 2.3 + float(96)
     # print('x',x_car)
     # north = beidou[15]  # 北向位置坐标：以基站为原点的地理坐标系下的北向位置，单位：米，小数点后 3 位
-    y_car = -np.sin(yaw) * 2.3 + float(-9.78)
+    y_car = -np.sin(yaw) * 2.3 + float(9.9)
 
     # print('yaw_1',yaw)
 

tcp4.py

@@ -0,0 +1,126 @@
+import datetime
+import math
+import socket
+
+import numpy as np
+from loguru import logger
+
+clientSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+clientSocket.connect(('192.168.43.100', 4002))
+
+# # 发
+# sendData = input('>>')
+# clientSocket.send(sendData.encode('gbk'))
+# 收
+# jishi=0
+# while jishi<= 30:
+
+x = 0
+y = 0
+yaw = 0
+x_car = 0
+y_car = 0
+heading = 0
+east = 0
+north = 0
+beidou = 0
+
+
+def zuo_biao():
+    global yaw, x_car, y_car, east, north, beidou, heading
+    while True:
+        recvData = clientSocket.recv(1024)
+        tcpdata = recvData.decode('gbk')
+        # print(tcpdata)
+        beidou = tcpdata.split(',')
+        # print(beidou)
+        # print(len(beidou))
+        # KSXT = beidou[0]
+        # if KSXT=='$KSXT':
+        KSXT = beidou[0]  # 帧头
+        time0 = beidou[1]  # 时间
+        lon = beidou[2]  # 经度
+        lat = beidou[3]  # 纬度
+        height = beidou[4]  # 海拔
+
+        heading = beidou[5]  # 方位角
+        heading = float(heading)
+        heading = heading + 180
+        if heading > 360:
+            heading = heading - 360
+        if 0 < heading <= 90:
+            yaw = math.radians(90 - float(heading))
+            yaw = round(yaw, 3)
+
+        else:
+            yaw = math.radians(450 - float(heading))
+            yaw = round(yaw, 3)
+        print("yaw", yaw)
+
+        # pitch = beidou[6]  # 俯仰角
+        # tracktrue = beidou[7]  # 速度角
+        # vel = beidou[8]  # 水平速度
+        # roll = beidou[9]  # 横滚  空
+        # pos_qual = beidou[10]  # GNSS定位质量指示符0 = 定位不可用或无效 1 = 单点定位 2 = RTK 浮点解 3 = RTK 固定解
+        # heading_qual = beidou[11]  # GNSS定向质量指示符 0 = 定位不可用或无效 1 = 单点定位 2 = RTK 浮点解 3 = RTK 固定解
+        # solnsvsh = beidou[12]  # 前天线使用卫星数 前天线当前参与解算的卫星数量
+        # solnsvsb = beidou[13]  # 后天线使用卫星数 前天线当前参与解算的卫星数量
+
+        east = beidou[14]  # 东向位置坐标：以基站为原点的地理坐标系下的东向位置，单位：米，小数点后 3 位
+        x_car = np.cos(yaw) * 2.3 + float(east)
+        x_car = round(x_car, 3)
+        # print('x',x_car)
+        north = beidou[15]  # 北向位置坐标：以基站为原点的地理坐标系下的北向位置，单位：米，小数点后 3 位
+        y_car = -np.sin(yaw) * 2.3 + float(north)
+        y_car = round(y_car, 3)
+        shijian = datetime.datetime.now()
+
+    # logger.add(
+    # 	'x,y记录%s-%s-%s,%s:%s.log' % (shijian.year, shijian.month, shijian.day, shijian.hour, shijian.minute))
+    # logger.debug('北斗x {}，北斗y {},x_car{},y_car{},方位角{}，转换角{}', str(east), str(north), str(x_car),
+    # 			 str(y_car), str(beidou[5]), str(heading))
+    # up = beidou[16]  # 天向位置坐标：以基站为原点的地理坐标系下的天顶向位置，单位：米，小数点后 3 位
+    # eastvel = beidou[17]  # 东向速度：地理坐标系下的东向速度，小数点后 3位，单位：Km/h(如无为空)
+    # northvel = beidou[18]  # 北向速度：地理坐标系下的北向速度，小数点后 3位，单位：Km/h(如无为空)
+    # uphvel = beidou[19]  # 天向速度：地理坐标系下的天顶向速度，小数点后3 位，单位：Km/h(如无为空)
+    # unknown = beidou[20]
+    # check = beidou[21]  # 异或校验（十六进制字符串，从帧头开始校验）
+    # east = float(east)
+    # north = float(north)
+
+# print('接收时间为:',datetime.datetime.now())
+# print('方位角：%s;  东向位置坐标：%s; 北向位置坐标：%s; ' % ( heading, east, north))
+# print('\n')
+
+# shijian=datetime.datetime.now()
+
+# file = open('1.txt', 'a')
+# file.write(str('方位角：%s;  东向位置坐标：%s; 北向位置坐标：%s; ' % (heading, east, north)))
+# file.write('\n')
+# jishi=jishi+1
+# time.sleep(0.05)
+
+# else:
+#     print('未接收到定位消息，重新连接')
+#     clientSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+#     clientSocket.connect(('192.168.43.100', 4002))
+#     # clientSocket.close()
+
+# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
+# if 0.2>=d >= 0.1:
+# 	print('大于', d)
+# 	print('\n')
+# 	file = open('1.txt', 'a')
+# 	file.write(str('方位角：%s;  东向位置坐标：%s; 北向位置坐标：%s;与上一点的距离为%s ' % (heading, x, y,d)))
+# 	file.write('\n')
+# 	x = east
+# 	y = north
+# 	print(x, y)
+# else:
+# 	print('不在范围', d)
+# 	print('\n')
+# 	if x==0 and y==0:
+# 		x = east
+# 		y = north
+# time.sleep(0.05)
+# zuo_biao()