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55 lines
1.5 KiB
55 lines
1.5 KiB
6 years ago
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#!/usr/bin/env python3
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import numpy as np
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from selfdrive.controls.lib.vehicle_model import VehicleModel, calc_slip_factor
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from selfdrive.car.honda.interface import CarInterface
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def mpc_path_prediction(sa, u, psi_0, dt, VM):
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# sa and u needs to be numpy arrays
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sa_w = sa * np.pi / 180. / VM.CP.steerRatio
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x = np.zeros(len(sa))
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y = np.zeros(len(sa))
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psi = np.ones(len(sa)) * psi_0
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for i in range(0, len(sa)-1):
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x[i+1] = x[i] + np.cos(psi[i]) * u[i] * dt
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y[i+1] = y[i] + np.sin(psi[i]) * u[i] * dt
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psi[i+1] = psi[i] + sa_w[i] * u[i] * dt * VM.curvature_factor(u[i])
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return x, y, psi
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def model_path_prediction(sa, u, psi_0, dt, VM):
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# steady state solution
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sa_r = sa * np.pi / 180.
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x = np.zeros(len(sa))
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y = np.zeros(len(sa))
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psi = np.ones(len(sa)) * psi_0
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for i in range(0, len(sa)-1):
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out = VM.steady_state_sol(sa_r[i], u[i])
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x[i+1] = x[i] + np.cos(psi[i]) * u[i] * dt - np.sin(psi[i]) * out[0] * dt
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y[i+1] = y[i] + np.sin(psi[i]) * u[i] * dt + np.cos(psi[i]) * out[0] * dt
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psi[i+1] = psi[i] + out[1] * dt
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return x, y, psi
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if __name__ == "__main__":
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CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
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print(CP)
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VM = VehicleModel(CP)
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print(VM.steady_state_sol(.1, 0.15))
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print(calc_slip_factor(VM))
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print("Curv", VM.curvature_factor(30.))
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dt = 0.05
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st = 20
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u = np.ones(st) * 1.
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sa = np.ones(st) * 1.
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out = mpc_path_prediction(sa, u, dt, VM)
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out_model = model_path_prediction(sa, u, dt, VM)
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print("mpc", out)
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print("model", out_model)
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