代码1
"""
cubic spline planner
"""
import math
import numpy as np
import bisect
class Spline:
u"""
Cubic Spline class
"""
def __init__(self, x, y):
self.b, self.c, self.d, self.w = [], [], [], []
self.x = x
self.y = y
self.nx = len(x) # dimension of x
h = np.diff(x)
# calc coefficient c
self.a = [iy for iy in y]
# calc coefficient c
A = self.__calc_A(h)
B = self.__calc_B(h)
self.c = np.linalg.solve(A, B)
# print(self.c1)
# calc spline coefficient b and d
for i in range(self.nx - 1):
self.d.append((self.c[i + 1] - self.c[i]) / (3.0 * h[i]))
tb = (self.a[i + 1] - self.a[i]) / h[i] - h[i] * \
(self.c[i + 1] + 2.0 * self.c[i]) / 3.0
self.b.append(tb)
def calc(self, t):
u"""
Calc position
if t is outside of the input x, return None
"""
if t < self.x[0]:
return None
elif t > self.x[-1]:
return None
i = self.__search_index(t)
dx = t - self.x[i]
result = self.a[i] + self.b[i] * dx + \
self.c[i] * dx ** 2.0 + self.d[i] * dx ** 3.0
return result
def calcd(self, t):
u"""
Calc first derivative
if t is outside of the input x, return None
"""
if t < self.x[0]:
return None
elif t > self.x[-1]:
return None
i = self.__search_index(t)
dx = t - self.x[i]
result = self.b[i] + 2.0 * self.c[i] * dx + 3.0 * self.d[i] * dx ** 2.0
return result
def calcdd(self, t):
u"""
Calc second derivative
"""
if t < self.x[0]:
return None
elif t > self.x[-1]:
return None
i = self.__search_index(t)
dx = t - self.x[i]
result = 2.0 * self.c[i] + 6.0 * self.d[i] * dx
return result
def __search_index(self, x):
u"""
search data segment index
"""
return bisect.bisect(self.x, x) - 1
def __calc_A(self, h):
u"""
calc matrix A for spline coefficient c
"""
A = np.zeros((self.nx, self.nx))
A[0, 0] = 1.0
for i in range(self.nx - 1):
if i != (self.nx - 2):
A[i + 1, i + 1] = 2.0 * (h[i] + h[i + 1])
A[i + 1, i] = h[i]
A[i, i + 1] = h[i]
A[0, 1] = 0.0
A[self.nx - 1, self.nx - 2] = 0.0
A[self.nx - 1, self.nx - 1] = 1.0
# print(A)
return A
def __calc_B(self, h):
u"""
calc matrix B for spline coefficient c
"""
B = np.zeros(self.nx)
for i in range(self.nx - 2):
B[i + 1] = 3.0 * (self.a[i + 2] - self.a[i + 1]) / \
h[i + 1] - 3.0 * (self.a[i + 1] - self.a[i]) / h[i]
# print(B)
return B
class Spline2D:
u"""
2D Cubic Spline class
"""
def __init__(self, x, y):
self.s = self.__calc_s(x, y)
self.sx = Spline(self.s, x)
self.sy = Spline(self.s, y)
def __calc_s(self, x, y):
dx = np.diff(x)
dy = np.diff(y)
self.ds = [math.sqrt(idx ** 2 + idy ** 2)
for (idx, idy) in zip(dx, dy)]
s = [0]
s.extend(np.cumsum(self.ds))
return s
def calc_position(self, s):
u"""
calc position
"""
x = self.sx.calc(s)
y = self.sy.calc(s)
return x, y
def calc_curvature(self, s):
u"""
calc curvature
"""
dx = self.sx.calcd(s)
ddx = self.sx.calcdd(s)
dy = self.sy.calcd(s)
ddy = self.sy.calcdd(s)
k = (ddy * dx - ddx * dy) / (dx ** 2 + dy ** 2)
return k
def calc_yaw(self, s):
u"""
calc yaw
"""
dx = self.sx.calcd(s)
dy = self.sy.calcd(s)
yaw = math.atan2(dy, dx)
return yaw
def calc_spline_course(x, y, ds=0.1):
sp = Spline2D(x, y)
s = list(np.arange(0, sp.s[-1], ds))
rx, ry, ryaw, rk = [], [], [], []
for i_s in s:
ix, iy = sp.calc_position(i_s)
rx.append(ix)
ry.append(iy)
ryaw.append(sp.calc_yaw(i_s))
rk.append(sp.calc_curvature(i_s))
return rx, ry, ryaw, rk, s
def main():
print("Spline 2D test")
import matplotlib.pyplot as plt
x = [-2.5, 0.0, 2.5, 5.0, 7.5, 3.0, -1.0]
y = [0.7, -6, 5, 6.5, 0.0, 5.0, -2.0]
ds = 0.1 # [m] distance of each intepolated points
sp = Spline2D(x, y)
s = np.arange(0, sp.s[-1], ds)
rx, ry, ryaw, rk = [], [], [], []
for i_s in s:
ix, iy = sp.calc_position(i_s)
rx.append(ix)
ry.append(iy)
ryaw.append(sp.calc_yaw(i_s))
rk.append(sp.calc_curvature(i_s))
flg, ax = plt.subplots(1)
plt.plot(x, y, "xb", label="input")
plt.plot(rx, ry, "-r", label="spline")
plt.grid(True)
plt.axis("equal")
plt.xlabel("x[m]")
plt.ylabel("y[m]")
plt.legend()
flg, ax = plt.subplots(1)
plt.plot(s, [math.degrees(iyaw) for iyaw in ryaw], "-r", label="yaw")
plt.grid(True)
plt.legend()
plt.xlabel("line length[m]")
plt.ylabel("yaw angle[deg]")
flg, ax = plt.subplots(1)
plt.plot(s, rk, "-r", label="curvature")
plt.grid(True)
plt.legend()
plt.xlabel("line length[m]")
plt.ylabel("curvature [1/m]")
plt.show()
if __name__ == '__main__':
main()
代码2
"""
Path tracking simulation with Stanley steering control and PID speed control.
author: Atsushi Sakai (@Atsushi_twi)
控制增益k,它决定了转向角命令对横向误差的敏感程度。
k越大,转向角越大,横向误差越小,但也可能导致过冲或振荡2。
车辆轴距L,它影响了车辆的转弯半径和稳定性。
L越大,车辆越难转弯,横向误差越大3。
参考速度target_speed,它决定了车辆在路径上的运动状态。
target_speed越大,车辆越难跟随曲线路径,横向误差越大3。
"""
import sys
#sys.path.append("../../PathPlanning/CubicSpline/")
import numpy as np
import math
import matplotlib.pyplot as plt
import cubic_spline_planner
# 导入xlwt库,用于操作excel文件
import xlwt
#k = 0.5 # control gain
k = 0.5 # control gain
Kp = 0.5 # speed propotional gain
dt = 0.1 # [s] time difference
#L = 2.9 # [m] Wheel base of vehicle
L = 2.9 # [m] Wheel base of vehicle
max_steer = math.radians(30.0) # [rad] max steering angle
show_animation = True
#########################################
########### 是 否 保 存################
Save_data = True
#Save_data = False
#########################################
steering_angle = []
""" # 定义PID参数
Kp = 1.5# 比例增益
Ki = 0.00 # 积分增益
Kd = 0.00 # 微分增益 """
""" # 定义PID参数 DU 80km
Kp = 1.555# 比例增益
Ki = 0.00 # 积分增益
Kd = 0.0 # 微分增益 """
# 定义PID参数 DU 30km
Kp = 1.16 # 比例增益
Ki = 0.0 # 积分增益
Kd = 0.0 # 微分增益
""" # 定义PID参数 DU 50km
Kp = 1.305 # 比例增益
Ki = 0.0 # 积分增益
Kd = 0.01 # 微分增益 """
# 定义全局变量
error_sum = 0.0 # 误差累积值
theta_e_prev = 0.0 # 上一次的误差
#state是定义一个类(class)的语句,
# 用于创建一个名为State的类,
# 它有四个属性(attribute),
# 分别是x,y,yaw,v。
# 这个类可以用来表示车辆的状态(state),
# 包括位置(x,y)、航向角(yaw)和速度(v)。
# 这个类还有一个初始化方法(init),用于给属性赋初值。
class State:
def __init__(self, x=0.0, y=0.0, yaw=0.0, v=0.0):
self.x = x
self.y = y
self.yaw = yaw
self.v = v
"""
这是定义一个函数(function)的语句,用def开头,后面跟着函数名和参数列表。
函数是一段可以重复使用的代码,它可以接收一些输入(参数),并返回一些输出(return)。
这个函数的功能是根据车辆的加速度(a)和转向角(delta),
更新车辆的状态(state),包括位置(x,y)、航向角(yaw)和速度(v)。
状态是一个类的实例(instance),可以用点号访问它的属性(attribute)。
函数内部有一个if-elif语句,用于判断转向角是否超过最大值,如果超过,则将其限制在最大值范围内。
然后,使用简单的运动学模型来计算车辆在dt时间内的状态变化,并赋值给状态对象。
"""
def update(state, a, delta):
if delta >= max_steer:
delta = max_steer
elif delta <= -max_steer:
delta = -max_steer
state.x = state.x + state.v * math.cos(state.yaw) * dt
state.y = state.y + state.v * math.sin(state.yaw) * dt
state.yaw = state.yaw + state.v / L * math.tan(delta) * dt
state.yaw = pi_2_pi(state.yaw)
state.v = state.v + a * dt
# 添加这一行代码
steering_angle.append(delta*180/3.14)
return state
####不要加速度了,直接给初值
def PIDControl(target, current):
a = Kp * (target - current)
return a
def stanley_control(state, cx, cy, cyaw, pind):
global error_sum # 声明全局变量
global theta_e_prev
ind, efa = calc_target_index(state, cx, cy)
if pind >= ind:
ind = pind
# 计算期望航向角和实际航向角之间的误差,并限制在[-pi, pi]范围内
theta_e = pi_2_pi(cyaw[ind] - state.yaw)
# 使用PID公式计算转向角delta
delta = Kp * theta_e + Ki * error_sum + Kd * (theta_e - theta_e_prev) / dt
# 更新error_sum和theta_e_prev的值
error_sum += theta_e * dt
theta_e_prev = theta_e
return delta, ind
#pi_2_pi函数来将航向角限制在[-pi, pi]范围内
# 并返回更新后的状态对象。
def pi_2_pi(angle):
while (angle > math.pi):
angle = angle - 2.0 * math.pi
while (angle < -math.pi):
angle = angle + 2.0 * math.pi
return angle
#calc_target_index函数
# 用于计算车辆前轴位置与参考路径上最近点的索引和距离。
# 函数内部先计算了车辆前轴的坐标,
# 然后遍历了参考路径上的所有点,找到了距离最小的点,
# 并返回了它的索引和距离。
# 如果车辆前轴与最近点之间的夹角大于0,
# 则说明车辆偏离了路径,此时将距离取反。
def calc_target_index(state, cx, cy):
# calc frant axle position
fx = state.x + L * math.cos(state.yaw)
fy = state.y + L * math.sin(state.yaw)
# search nearest point index
dx = [fx - icx for icx in cx]
dy = [fy - icy for icy in cy]
d = [math.sqrt(idx ** 2 + idy ** 2) for (idx, idy) in zip(dx, dy)]
mind = min(d)
ind = d.index(mind)
tyaw = pi_2_pi(math.atan2(fy - cy[ind], fx - cx[ind]) - state.yaw)
if tyaw > 0.0:
mind = - mind
return ind, mind
def main():
with open('E:\CarTrackingCode\S—path.txt') as f:
# 跳过第一行标题
next(f)
# 创建两个空列表存储x,y坐标点
X_path = []
Y_path = []
# 遍历每一行
for line in f:
# 去掉换行符
line = line.strip()
# 按空格分割字符串
x, y = line.split()
# 将坐标转换为浮点数
y = float(y)
x = float(x)
# 将x,y坐标添加到列表中
X_path.append(x)
Y_path.append(y)
# target course
ax = X_path
ay = Y_path
# target course
#ax = [0,10,20,30,40,50,60,70,80,90,100, 110,120,130, 140,150,160,170,180,190,200]
#ay = [0, 0, 0, 0, 3, 3, 0,-3,-3, 0, 0,2.5, 5, 5,2.5,0,-2.5, -5, -5, -2.5,0,0]
# target course
#ax = [0.0,30, 60, 90, 120]
#ay = [0.0, 5,-5, 8, -8]
cx, cy, cyaw, ck, s = cubic_spline_planner.calc_spline_course(
ax, ay, ds=0.1)
#######################################修改仿真速度#############################################################################
target_speed = 30 / 3.6 # [m/s]
T = 50.0 # max simulation time
#######################################修改仿真时间
#######################################修改仿真时间
#######################################修改仿真时间
#######################################修改仿真时间
#######################################修改仿真时间
# initial state
state = State(x=0.0, y=0.0, yaw=math.radians(0.0), v=0.0)
lastIndex = len(cx) - 1
time = 0.0
x = [state.x]
y = [state.y]
yaw = [state.yaw]
v = [state.v]
t = [0.0]
Lather_err = []
Delta_data= []
Theta_d_data =[]
Theta_e_data =[]
r = []
target_ind, mind = calc_target_index(state, cx, cy)
while T >= time and lastIndex > target_ind:
ai = PIDControl(target_speed, state.v)
di, target_ind= stanley_control(state, cx, cy, cyaw, target_ind)
state = update(state, ai, di)
time = time + dt
target_ind_NoYong, mind = calc_target_index(state, cx, cy)
# 修改增益,调整横向误差数值########################################################################################
Lather_err.append(mind)
x.append(state.x)
y.append(state.y)
yaw.append(state.yaw)
v.append(state.v)
t.append(time)
Delta_data.append(di)
#Theta_e_data.append(theta_e_data)
#Theta_d_data.append(theta_d_data)
# 根据公式求取横摆角速度
r = [((yaw[i+1] - yaw[i]))*180/3.14 / dt for i in range(len(yaw) - 1)]
if show_animation:
plt.cla()
plt.plot(cx, cy, "-r", label="ReferenceLine")
plt.plot(x, y, "--b", label="Trajectory")
plt.plot(cx[target_ind], cy[target_ind], "xg")
#plt.axis("equal")
# 双移线
plt.xlim([-1, 200])
plt.ylim([-1, 5])
# 设置X轴和Y轴的范围,双纽线
#plt.xlim([-200, 200])
#plt.ylim([-80, 80])
## 设置X轴和Y轴的范围_蛇形线
#plt.xlim([0, 200])
#plt.ylim([-6, 6])
## 设置X轴和Y轴的范围_双U形线
#plt.ylim([-1, 50])
#plt.xlim([-20, 40])
# 圆形
#plt.ylim([-5, 55])
#plt.xlim([-30, 30])
plt.grid(True)
plt.legend()
plt.title("Driving speed[km/h]:" + str(state.v * 3.6)[:4])
#plt.title("Driving speed[km/h]:30" )
plt.pause(0.001)
###############################################################################################################################
if Save_data:
# 创建一个workbook对象
wb = xlwt.Workbook()
# 创建一个sheet对象,并命名为data
ws = wb.add_sheet('data')
for i in range(len(Lather_err)):
ws.write(i, 0, Lather_err[i]) # 将Lather_err的值写入到第一行第八列
ws.write(i, 1, Delta_data[i]) # 将Delta_data的值写入到第一行第九列
ws.write(i, 2 ,r[i]) # 将r的值写入到第一行第十列
#ws.write(i, 3 ,x[i]) # 将r的值写入到第一行第十列
#ws.write(i, 4 ,y[i]) # 将r的值写入到第一行第十列
# 使用当前时间加车速作为excel文件名,例如2021-12-15-16-30-45_30.xls,注意将速度从m/s转换为km/h并取整数部分
file_name = 'S30_lerr_Delta_HengBaiJiaospeed' + '.xls'
# 使用save()方法将workbook保存为excel文件,并给它一个文件名
wb.save(file_name)
########################################################################################################################
# Test
assert lastIndex >= target_ind-5, "Cannot goal"
###############
#print(Lather_err)
if show_animation:
#plt.plot(cx, cy, "-r", label="course")
#plt.plot(x, y, "-b", label="trajectory")
#plt.plot(ax, ay, "xb", label="input")
#plt.plot(cx, cy, "-r", label="spline")
#plt.plot(x, y, "-g", label="tracking")
#plt.legend()
# 设置X轴和Y轴的范围
#plt.xlim([-1, 200])
#plt.ylim([-1, 5])
#plt.xlabel("x[m]")
#plt.ylabel("y[m]")
#plt.axis("equal")
#plt.grid(True)
# 绘制参考轨迹
flg, ax = plt.subplots(1)
plt.plot(cx, cy, "-b", label="DoubleLineChange")
plt.xlabel("X(m)")
plt.ylabel("Y(m)")
plt.grid(True)
plt.legend()
# 显示航向角
flg, ax = plt.subplots(1)
plt.plot(yaw, "-r")
plt.xlabel("Time(s)")
plt.ylabel("Yaw")
plt.grid(True)
plt.legend()
# 显示转向角(这个和前轮转角以及航向角有什么区别?)
# 就是前轮转角
#flg, ax = plt.subplots(1)
#plt.plot(Delta_data[5:len(Delta_data)], "-g")
#plt.xlabel("Time[s]")
#plt.ylabel("Delta")
#plt.grid(True)
# 显示横摆角速度
flg, ax = plt.subplots(1)
plt.plot(r, "-g")
plt.xlabel("Time(s)")
plt.ylabel("Yaw_Velocity(°/s)")
plt.grid(True)
plt.legend()
#显示横向误差
flg, ax = plt.subplots(1)
plt.plot(Lather_err[:len(Lather_err)-2], "-r")
print(Lather_err)
#print('###############################')
#print(Lather_err[:len(Lather_err)-1])
plt.xlabel("Time(s)")
plt.ylabel("Lateral err(m)")
plt.ylim([-0.25, 0.25])
plt.grid(True)
plt.legend()
# 在速度图下面,增加一个新的子图来显示前轮转角图
flg2 , ax2 = plt.subplots(1)
plt.plot(steering_angle[5:], '-b')
plt.ylabel('Steering angle(rad)')
plt.xlabel('Time(s)')
plt.grid(True)
plt.legend()
plt.show()
print(cx)
if __name__ == '__main__':
main()