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"""
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Path tracking simulation with pure pursuit steering control and PID speed control.
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author: Atsushi Sakai (@Atsushi_twi)
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"""
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import datetime
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import time
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from loguru import logger
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import math
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import sqlite3
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import threading
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import time
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import numpy as np
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import geartest2
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import pure_change_banck
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import sped
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import tcp4
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import test5
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k = 0 # look forward gain
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Lfc = 5 # look-ahead distance
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Kp = 1.0 # speed propotional gain
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dt = 0.1 # [s]
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L = 2.9 # [m] wheel base of vehicle
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tx = 0
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ty = 0
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fangxp = 0
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pure = 0
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a_trace = 0
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brk_open = 0
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brk_change=0
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e_trace=0
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l_out_strat_trace=0
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l_in_start_trace=0
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right=0
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left=0
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# show_animation = True
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#
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class State:
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def __init__(self, x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.car_yaw, v=sped.speed):
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self.x = x
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self.y = y
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self.yaw = yaw
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self.v = v
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def update(state, a):
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state.x = tcp4.x_car
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# print('stax', state.x)
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state.y = tcp4.y_car
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# print('stay', state.y)
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state.yaw = tcp4.car_yaw
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# print('stayaw', state.car_yaw)
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state.v = sped.speed + a * dt
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# state.x = tcp4.x_car + sped.speed * math.cos(tcp4.car_yaw) * dt
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# # print("state",state.x)
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# state.y = tcp4.y_car + sped.speed * math.sin(tcp4.car_yaw) * dt
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# state.car_yaw = tcp4.car_yaw + sped.speed / L * math.tan(delta) * dt
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# state.v = sped.speed + a * dt
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return state
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# return state
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def PIDControl(target, current):
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a = Kp * (target - current)
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return a
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def pure_pursuit_control(state, cx, cy, pind):
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global tx, ty, fangxp
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ind = calc_target_index(state, cx, cy)
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# if pind >= ind:
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# ind = pind
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if ind < len(cx):
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tx = cx[ind]
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ty = cy[ind]
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else:
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tx = cx[-1]
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ty = cy[-1]
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ind = len(cx) - 1
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alpha = math.atan2(ty - state.y, tx - state.x) - state.yaw
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if state.v < 0: # back
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alpha = math.pi - alpha
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Lf = k * state.v + Lfc
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delta = math.atan2(2.0 * L * math.sin(alpha) / Lf, 1.0)
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if delta > np.pi / 6.0:
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delta = np.pi / 6.0
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# print('delta1', delta)
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elif delta < - np.pi / 6.0:
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delta = - np.pi / 6.0
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# print('delta2', delta)
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angle = delta * 57.3
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fangxp = int(angle * 18)
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print('fxp', fangxp)
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db_file = "turndb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO turndb(id) VALUES(1);'
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sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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time.sleep(0.5)
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return delta, ind
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def calc_target_index(state, cx, cy):
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# search nearest point index
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dx = [state.x - icx for icx in cx]
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dy = [state.y - icy for icy in cy]
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d = [abs(math.sqrt(idx ** 2 + idy ** 2)) for (idx, idy) in zip(dx, dy)]
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ind = d.index(min(d))
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L = 0.0
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Lf = k * state.v + Lfc
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# search look ahead target point index
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while Lf > L and (ind + 1) < len(cx):
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dx = cx[ind + 1] - cx[ind]
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dy = cx[ind + 1] - cx[ind]
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L += math.sqrt(dx ** 2 + dy ** 2)
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ind += 1
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return ind
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def main():
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global pure,e_trace
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# target course
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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66.999]
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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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,
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50.097]
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target_speed = 10.0 / 3.6 # [m/s]
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# initial state
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state = State(x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.car_yaw, v=sped.speed)
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lastIndex = len(cx) - 1
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time = 0.0
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x = [state.x]
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y = [state.y]
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yaw = [state.yaw]
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v = [state.v]
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t = [0.0]
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target_ind = calc_target_index(state, cx, cy)
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while pure == 1:
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ai = PIDControl(target_speed, state.v)
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di, target_ind = pure_pursuit_control(state, cx, cy, target_ind)
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state = update(state, ai)
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time = time + dt
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x.append(state.x)
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x1 = round(x[-1], 3)
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# print('x1', x[-1])
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y.append(state.y)
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y1 = round(y[-1], 3)
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yaw.append(state.yaw)
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v.append(state.v)
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t.append(time)
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print('纯跟踪运行')
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e_trace = abs(math.sqrt(pow((float(tcp4.east) - 67.872), 2) + pow((float(tcp4.north) - 45.89), 2)))
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print('e_trace', e_trace)
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gear_d()
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if e_trace < 1.2 and 160 < (float(tcp4.fang_xiang)) < 180:
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pure = 2
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print('退出纯跟踪')
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shache()
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print('刹车')
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# logger.add(
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# '预瞄点记录%s-%s-%s,%s:%s.log' % (shijian.year, shijian.month, shijian.day, shijian.hour, shijian.minute))
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# 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),
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# str(x1), str(tx), str(ty), str(fangxp),
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# str(state.yaw), str(tcp4.east), str(tcp4.north), str(tcp4.x_car),
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# str(tcp4.y_car), str(tcp4.beidou[5]), str(tcp4.heading))
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# if show_animation:
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# plt.cla()
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# plt.plot(cx, cy, ".r", label="course")
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# plt.plot(x, y, "-b", label="trajectory")
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# plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")
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# plt.axis("equal")
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# plt.grid(True)
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# plt.title("Speed[km/h]:" + str(state.v * 3.6)[:4])
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# plt.pause(0.001)
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#
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# # Test
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# assert lastIndex >= target_ind, "Cannot goal"
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#
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# if show_animation:
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# plt.plot(cx, cy, ".r", label="course")
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# plt.plot(x, y, "-b", label="trajectory")
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# plt.legend()
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# plt.xlabel("x[m]")
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# plt.ylabel("y[m]")
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# plt.axis("equal")
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# plt.grid(True)
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#
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# flg, ax = plt.subplots(1)
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# plt.plot(t, [iv * 3.6 for iv in v], "-r")
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# plt.xlabel("Time[s]")
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# plt.ylabel("Speed[km/h]")
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# plt.grid(True)
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# plt.show()
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# def date_write():
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# shijian = datetime.datetime.now()
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#
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# logger.add(
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# '预瞄点记录%s-%s-%s,%s:%s.log' % (shijian.year, shijian.month, shijian.day, shijian.hour, shijian.minute))
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# 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),
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# str(x1), str(tx), str(ty), str(fangxp),
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# str(state.yaw), str(tcp4.east), str(tcp4.north), str(tcp4.x_car),
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# str(tcp4.y_car), str(tcp4.beidou[5]), str(tcp4.heading))
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def shache():
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global brk_open,brk_change
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brk_open = 10
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brk_change = 1
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db_file = "geardb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO geardb(id) VALUES(1);'
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sql = "update geardb set brk_open='%s',brk_change='%s' WHERE id = 1" % (brk_open, brk_change)
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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def gear_p():
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print('P')
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gear_cmd = 1
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auto_acc = 0
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db_file = "geardb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO geardb(id) VALUES(1);'
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sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1" % (gear_cmd, auto_acc)
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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def shache2():
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brk_change=0
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db_file = "geardb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO geardb(id) VALUES(1);'
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sql = "update geardb set brk_change='%s' WHERE id = 1"%brk_change
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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def gear_r():
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gear_cmd = 2 # r
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print('r')
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auto_acc = 70
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db_file = "geardb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO geardb(id) VALUES(1);'
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sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1" % (gear_cmd, auto_acc)
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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def gear_d():
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gear_cmd = 4 # r
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# print('d')
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auto_acc = 50
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db_file = "geardb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO geardb(id) VALUES(1);'
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sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1"%(gear_cmd,auto_acc)
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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def car_back():
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global fangxp, a_trace, l_out_strat_trace,right
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print('进入右倒库')
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while right==1:
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db_file = "turndb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO turndb(id) VALUES(1);'
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sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
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l_out_strat_trace=abs(math.sqrt(pow((float(tcp4.east) - 76.06), 2) + pow((float(tcp4.north) - 38.42), 2)))
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print('l_out',l_out_strat_trace)
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a_trace = abs(math.sqrt(pow((float(tcp4.east) - 68.35), 2) + pow((float(tcp4.north) - 43.85), 2)))
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print('a_trace', a_trace)
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b_trace = abs(math.sqrt((float(tcp4.east) - 70.15) ** 2 + (float(tcp4.north) - 38.6) ** 2))
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c_trace = abs(math.sqrt((float(tcp4.east) - 70.7) ** 2 + (float(tcp4.north) - 38.4) ** 2))
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d_trace = abs(math.sqrt((float(tcp4.east) - 72) ** 2 + (float(tcp4.north) - 37.8) ** 2))
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# print("tcp4.east",tcp4.east)
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print('tcp_fangxiang', tcp4.fang_xiang)
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if 140.0 < (float(tcp4.fang_xiang)) < 180.0 and a_trace < 0.7:
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fangxp = -540
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print('右打死', fangxp)
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elif 70 < float(tcp4.fang_xiang) < 110 and b_trace < 1:
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fangxp = 0
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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()
|