Merge branch 'main' of gitlab.ec-lyon.fr:epsa-personnal-git/epsa-pae-ai-self-driving

Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/README.md

+# 2D-car-dynamics-simulation
+2D car simulator

Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py

+import xml.etree.ElementTree as ET
+from track_2_generator import create_track
+from shapely.geometry import Polygon, Point, LineString
+import numpy as np
+
+from matplotlib.pyplot import plot, legend
+import json
+
+"""loading track"""
+track_points = create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
+track = Polygon(track_points)
+#outside_l = create_double_circles(0.59375, (0.5,0.5),(1.5,0.5))
+
+"""
+x_shift, y_shift = 1433.0000000000002, -406.0866103896103*2#Tom: 1433.0000000000002, -406.0866103896103*2 / Damien: -540, 960
+R_simu = 150#Tom: 150 / Damien: 350
+R_reel = 0.5
+x_shift, y_shift = x_shift/R_simu-4.77, y_shift/R_simu+2.7 #Tom:-4.77,2.7 / Damien: 1.88, -2.5
+"""
+
+def get_error(name, R_simu, center_x, center_y, start=-1, end=-1):
+    
+    """loading trajectory"""
+    with open(name) as json_file:
+        data = json.load(json_file)
+    
+    x_shift, y_shift = center_x/R_simu, center_y/R_simu
+    
+    time = data["time"]
+    x_l = [(i/R_simu-x_shift)/2+1 for i in data["x"]]
+    y_l = [(i/R_simu-y_shift)/2+0.5 for i in data["y"]]
+    e_l = []
+    
+    if start>=0:
+        x_l = x_l[start:]
+        y_l = y_l[start:]
+        time = time[start:]
+    if end>=0:
+        x_l = x_l[0:end]
+        y_l = y_l[0:end]
+        time = time[0:end]
+
+    for x,y in zip(x_l,y_l):
+        front_center = Point(np.array([x,y]))
+        e = track.distance(front_center)
+        e_l.append(e)
+        
+    return x_l, y_l, time, e_l
+
+#plot([x for x,y in track_points], [y for x,y in track_points])
+#plot([i[0] for i in outside_l], [i[1] for i in outside_l])
+
+prefix = 'paths/'
+suffix = '_normal.json'
+Tom = get_error(prefix+'errorT'+suffix, 150, 1733, -666, 70, 450)
+Damien = get_error(prefix+'errorD'+suffix, 350, 930, 510, 25)
+plot(Damien[2],Damien[3])
+plot(*Tom[2:])

Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_data_display.py

+import pygame
+
+
+class CarDataDisplay:
+    def __init__(self, car, track):
+        self.car = car
+        self.track = track
+        pygame.font.init()
+
+    def display_data(self, screen, position=(0, 0), font='Verdana', size=20):
+        font_color = (255, 255, 255)
+        font = pygame.font.SysFont(font, size)
+        vel_long = font.render('Long velocity: ' + str(round(self.car.velocity.x * 3.6, 2)), False, font_color)
+        vel_lat = font.render("Lat velocity: " + str(round(self.car.velocity.y * 3.6, 2)), False, font_color)
+        rpm = font.render('Engine RPM: ' + str(round(self.car.wheel_rpm * self.car.diff_ratio * self.car.gears[self.car.gear], 2)),
+                          False, font_color)
+        gear = font.render('Gear: ' + str(self.car.gear), False, font_color)
+        steering = font.render('Steering: ' + str(self.car.steering), False, font_color)
+        throttle = font.render('Throttle: ' + str(self.car.throttle), False, font_color)
+        brake = font.render('brake: ' + str(self.car.brakes), False, font_color)
+        velocity = font.render('Velocity: ' + str(round((self.car.velocity.x**2+self.car.velocity.y**2)**0.5 * 3.6, 2)), False, font_color)
+        pos_x = font.render('position.x: ' + str(self.track.car_pos[0]), False, font_color)
+        pos_y = font.render('position.y: ' + str(self.track.car_pos[1]), False, font_color)
+        track_phase = font.render('phase: ' + str(self.track.track_phase), False, font_color)
+        lap_number = font.render('lap: ' + str(self.track.lap_nb), False, font_color)
+        
+        #screen.blit(vel_long, position)
+        #screen.blit(vel_lat, (position[0], position[1] + (size * 5 / 4)))
+        #screen.blit(rpm, (position[0], position[1] + 2 * (size * 5 / 4)))
+        #screen.blit(gear, (position[0], position[1] + 3 * (size * 5/4)))
+        screen.blit(velocity, (position[0], position[1] + 1 * (size * 5/4)))
+        screen.blit(steering, (position[0], position[1] + 2 * (size * 5/4)))
+        screen.blit(throttle, (position[0], position[1] + 3 * (size * 5/4)))
+        screen.blit(pos_x, (position[0], position[1] + 4 * (size * 5/4)))
+        screen.blit(pos_y, (position[0], position[1] + 5 * (size * 5/4)))
+        screen.blit(track_phase, (position[0], position[1] + 6 * (size * 5/4)))
+        screen.blit(lap_number, (position[0], position[1] + 7 * (size * 5/4)))
+        #screen.blit(brake, (position[0], position[1] + 6 * (size * 5/4)))
\ No newline at end of file

Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_drawer.py

+from shapely.geometry.polygon import Polygon
+from shapely.affinity import rotate
+import pygame
+
+
+class CarDrawer:
+    def __init__(self, length=55, width=20, init_position=(1366/2, 768/2)):
+        self.length = length
+        self.width = width
+        self.trace = []
+        self.init_position = init_position
+        pos_x = self.init_position[0]
+        pos_y = self.init_position[1]
+        self.r_center = (pos_x, pos_y)
+
+        self.car_model = Polygon([(pos_x - self.length * 2 / 10, pos_y - self.width / 2),
+                                  (pos_x - self.length * 2 / 10, pos_y + self.width / 2),
+                                  (pos_x + self.length * 8 / 10, pos_y + self.width / 2),
+                                  (pos_x + self.length * 8 / 10, pos_y - self.width / 2)])
+
+        self.f_axle =    Polygon([(pos_x + self.length * 6 / 10, pos_y + self.width * 5 / 6),
+                                  (pos_x + self.length * 6 / 10, pos_y - self.width * 5 / 6),
+                                  (pos_x + self.length * 6 / 10, pos_y + self.width * 5 / 6)])
+        self.f_tire_1 =  Polygon([(pos_x + self.length * 4.5 / 10, pos_y + self.width * 5 / 6),
+                                  (pos_x + self.length * 4.5 / 10, pos_y + self.width * 7 / 6),
+                                  (pos_x + 7.5 / 10 * self.length, pos_y + self.width * 7 / 6),
+                                  (pos_x + 7.5 / 10 * self.length, pos_y + self.width * 5 / 6)])
+        self.f_tire_2 =  Polygon([(pos_x + self.length * 4.5 / 10, pos_y - self.width * 5 / 6),
+                                  (pos_x + self.length * 4.5 / 10, pos_y - self.width * 7 / 6),
+                                  (pos_x + 7.5 / 10 * self.length, pos_y - self.width * 7 / 6),
+                                  (pos_x + 7.5 / 10 * self.length, pos_y - self.width * 5 / 6)])
+        self.r_axle =    Polygon([(pos_x, pos_y + self.width * 5 / 6),
+                                  (pos_x, pos_y - self.width * 5 / 6),
+                                  (pos_x, pos_y + self.width * 5 / 6)])
+        self.r_tire_1 =  Polygon([(pos_x + self.length * 1.5 / 10, pos_y + self.width * 5 / 6),
+                                  (pos_x + self.length * 1.5 / 10, pos_y + self.width * 7 / 6),
+                                  (pos_x - 1.5 / 10 * self.length, pos_y + self.width * 7 / 6),
+                                  (pos_x - 1.5 / 10 * self.length, pos_y + self.width * 5 / 6)])
+        self.r_tire_2 =  Polygon([(pos_x + self.length * 1.5 / 10, pos_y - self.width * 5 / 6),
+                                  (pos_x + self.length * 1.5 / 10, pos_y - self.width * 7 / 6),
+                                  (pos_x - 1.5 / 10 * self.length, pos_y - self.width * 7 / 6),
+                                  (pos_x - 1.5 / 10 * self.length, pos_y - self.width * 5 / 6)])
+
+    def draw(self, screen, car):
+        car_color = (181, 25, 253)
+        angle = -car.angle
+        steering = car.steering
+
+        car_model = rotate(self.car_model, angle, self.r_center)
+        x, y = car_model.exterior.xy
+        pygame.draw.polygon(screen, (0, 0, 255), [(xx, yy) for xx, yy in zip(x, y)])
+        f_axle = rotate(self.f_axle, angle, self.r_center)
+        x_axle, y_axle = f_axle.exterior.xy
+        pygame.draw.polygon(screen, car_color, [(xx, yy) for xx, yy in zip(x_axle, y_axle)], 2)
+        f_tire_1 = rotate(self.f_tire_1, angle, self.r_center)
+        f_tire_1 = rotate(f_tire_1, - steering, (x_axle[0], y_axle[0]))
+        x, y = f_tire_1.exterior.xy
+        pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+        f_tire_2 = rotate(self.f_tire_2, angle, self.r_center)
+        f_tire_2 = rotate(f_tire_2, - steering, (x_axle[1], y_axle[1]))
+        x, y = f_tire_2.exterior.xy
+        pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+        r_axle = rotate(self.r_axle, angle, self.r_center)
+        x, y = r_axle.exterior.xy
+        pygame.draw.polygon(screen, car_color, [(xx, yy) for xx, yy in zip(x, y)], 2)
+        r_tire_1 = rotate(self.r_tire_1, angle, self.r_center)
+        x, y = r_tire_1.exterior.xy
+        pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+        r_tire_2 = rotate(self.r_tire_2, angle, self.r_center)
+        x, y = r_tire_2.exterior.xy
+        pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+        rect = pygame.Rect(self.r_center[0], self.r_center[1], 5, 5)
+        pygame.draw.rect(screen, (255, 0, 0), rect)

Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_model.py

+from pygame.math import Vector2
+from math import tan, radians, degrees, pi, atan2, sin, cos
+import numpy as np
+import random
+
+class Car:
+    def __init__(self, x, y, angle=0.0, length=5):
+        self.position = Vector2(x, y)
+        self.velocity = Vector2(0.0, 0.0)
+        self.angle = angle
+        self.length = length
+        self.width = 2
+        self.brake_deceleration = 30000
+        self.free_deceleration = 2
+
+        self.acceleration = Vector2(0, 0)
+        self.steering = 0.0
+        self.gear = 0
+        self.throttle = 0
+        self.brakes = 0
+        self.wheel_rpm = 0
+        self.rpm = 2000
+        self.angular_velocity = 0
+        self.force = Vector2(0, 0)
+
+        # Parts:
+        self.engine = Engine()
+
+        # Characteristics:
+        self.gears = {0: 0, 1: 3, 2: 2, 3: 1.5, 4: 1.25, 5: 1, 6: 0.75, -1: -2.9}
+        self.diff_ratio = 3.42
+        self.n = 0.8  # power transfer efficiency
+        self.wheel_radius = 0.35
+        self.mass = 1100
+        self.rear_wheels_mass = 100
+        self.c_drag = 0.4257
+        self.cornering_stiffness_f = -5.0
+        self.cornering_stiffness_r = -5.2
+        self.max_grip = 2.0
+        self.max_steering = 20
+
+    def get_driver_input(self, throttle, gear, brakes, steering_angle):
+        self.brakes = brakes
+        self.gear = gear
+        #on ajoute des vibrations
+        #self.steering+=random.randint(-5,5)
+        self.steering = steering_angle
+        self.throttle = abs(throttle)
+
+    def update(self, dt):
+        self.rpm = self.wheel_rpm * self.diff_ratio * self.gears[self.gear]
+
+        if self.rpm < 2000:
+            self.rpm = 2000
+
+        traction_force = self.engine.get_torque(self.rpm, self.throttle) * self.diff_ratio * \
+                         self.gears[self.gear] * (self.n / self.wheel_radius) - \
+                         self.brake_deceleration * self.brakes * np.sign(self.velocity.x)
+
+        resistance_force = Vector2(- self.c_drag * self.velocity.x * abs(self.velocity.x) - 12.8 * self.velocity.x,
+                                   - self.c_drag * self.velocity.y * abs(self.velocity.y) - 12.8 * self.velocity.y)
+
+        if self.velocity.x > 5.55:
+            yawspeed = 2 * self.angular_velocity
+
+            if self.velocity.x == 0:
+                rot_angle = 0
+                sideslip = 0
+
+            else:
+                rot_angle = atan2(yawspeed, self.velocity.x)
+                sideslip = atan2(self.velocity.y, self.velocity.x)
+
+            slipanglefront = sideslip + rot_angle - radians(self.steering)
+            slipanglerear = sideslip - rot_angle
+
+            flatf = Vector2(0, 0)
+            flatr = Vector2(0, 0)
+
+            flatf.x = 0
+            flatf.y = self.cornering_stiffness_f * slipanglefront
+            flatf.y = min(self.max_grip, flatf.y)
+            flatf.y = max(-self.max_grip, flatf.y)
+            flatf.y *= self.mass * 4.9
+
+            flatr.x = 0
+            flatr.y = self.cornering_stiffness_r * slipanglerear
+            flatr.y = min(self.max_grip, flatr.y)
+            flatr.y = max(- self.max_grip, flatr.y)
+            flatr.y *= self.mass * 4.9
+
+            self.force.x = traction_force + sin(radians(self.steering)) * flatf.x + flatr.x + resistance_force.x
+            self.force.y = cos(radians(self.steering)) * flatf.y + flatr.y + resistance_force.y
+
+            torque = 1.5 * (flatf.y - flatr.y)
+
+            self.acceleration = self.force / self.mass
+            self.wheel_rpm = self.velocity.x / self.wheel_radius * 30 / pi
+
+            self.velocity += self.acceleration * dt
+            self.position += self.velocity.rotate(-self.angle) * dt
+
+            angular_acceleration = torque / 1000
+            self.angular_velocity += angular_acceleration * dt
+            self.angle += degrees(self.angular_velocity) * dt
+
+        else:
+            self.force.x = traction_force + resistance_force.x
+            self.force.y = resistance_force.y
+            self.acceleration = self.force / self.mass
+            self.wheel_rpm = self.velocity.x / self.wheel_radius * 30 / pi
+
+            self.velocity += self.acceleration * dt
+            if self.steering:
+                turning_radius = self.length / tan(radians(self.steering))
+                angular_velocity = self.velocity.x / turning_radius
+            else:
+                angular_velocity = 0
+
+            self.position += self.velocity.rotate(-self.angle) * dt
+            self.angle += degrees(angular_velocity) * dt
+
+
+class Engine:
+    def __init__(self):
+        self.rpm_lut = np.array([1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000])
+        self.torque_lut = np.array([200, 325, 475, 550, 550, 500, 375, 300, 0])
+
+    def get_torque(self, rpm, throttle):
+        if rpm < 1000:
+            rpm = 1000
+        torque = np.interp(rpm, self.rpm_lut, self.torque_lut)
+        return torque * throttle

Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/errorFPS.json

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\ No newline at end of file