def reduce_speed_if_vehicle_on_side(speed, side):
"""Reduce the speed if there is some vehicle on the side given in argument."""
minRatio = 1
for i in range(3):
name = "front " + overtakingSide + " " + str(i)
ratio = sensors[name].getValue() / sensors[name].getMaxValue()
if ratio < minRatio:
minRatio = ratio
return minRatio * speed
get_filtered_speed.previousSpeeds = []
driver = Driver()
for name in sensorsNames:
sensors[name] = driver.getDistanceSensor("distance sensor " + name)
sensors[name].enable(10)
gps = driver.getGPS("gps")
gps.enable(10)
camera = driver.getCamera("camera")
# uncomment those lines to enable the camera
camera.enable(10)
camera.recognitionEnable(50)
while driver.step() != -1:
# adjust speed according to front vehicle
frontDistance = sensors["front"].getValue()
frontRange = sensors["front"].getMaxValue()
speed = maxSpeed * frontDistance / frontRange
def auto_drive_call(m_order_queue, respond_dict):
"""
Runs drive instance in the simulation.
Defining and enabling sensors.
:param respond_dict: dictionary to send value VA process
:param m_order_queue:
:type m_order_queue: multiprocessing.Queue To provide communication between voice assistant process.
:rtype None
"""
# Driver initialize
auto_drive = Driver()
auto_drive.setAntifogLights(True)
auto_drive.setDippedBeams(True)
TIME_STEP = int(auto_drive.getBasicTimeStep())
# distance sensors
dist_sensor_names = [
"front", "front right 0", "front right 1", "front right 2",
"front right 3", "front left 0", "front left 1", "front left 2",
"front left 3", "rear", "rear left", "rear right", "right", "left"
]
dist_sensors = {}
for name in dist_sensor_names:
dist_sensors[name] = auto_drive.getDistanceSensor("distance sensor " +
name)
dist_sensors[name].enable(TIME_STEP)
# GPS
gps = auto_drive.getGPS("gps")
gps.enable(TIME_STEP)
# Compass
compass = auto_drive.getCompass("compass")
compass.enable(TIME_STEP)
# get and enable front camera
front_camera1 = auto_drive.getCamera("front camera 1")
front_camera1.enable(TIME_STEP)
front_camera2 = auto_drive.getCamera("front camera 2")
front_camera2.enable(TIME_STEP)
front_camera3 = auto_drive.getCamera("front camera 3")
front_camera3.enable(TIME_STEP)
front_cams = {
"right": front_camera2,
"left": front_camera1,
"center": front_camera3
}
# get and enable back camera
back_camera = auto_drive.getCamera("camera2")
back_camera.enable(TIME_STEP * 10)
# back_camera.recognitionEnable(TIME_STEP * 10)
# Get the display devices.
# The display can be used to visually show the tracked position.
# For showing lane detection
display_front = auto_drive.getDisplay('display')
display_front.setColor(0xFF00FF)
# To establish communication between Emergency Vehicle
receiver = auto_drive.getReceiver("receiver")
receiver.enable(TIME_STEP)
# To establish communication between other vehicles
emitter = auto_drive.getEmitter("emitter")
# lidar devices
lidars = []
Log = list()
error_Log = list()
for i in range(auto_drive.getNumberOfDevices()):
device = auto_drive.getDeviceByIndex(i)
if device.getNodeType() == Node.LIDAR:
lidars.append(device)
device.enable(TIME_STEP * 10)
device.enablePointCloud()
if not lidars:
error_Log.append(" [ DRIVER CALL] This vehicle has no 'Lidar' node.")
# Set first values
auto_drive.setCruisingSpeed(40)
auto_drive.setSteeringAngle(0)
VA_order, emergency_message, prev_gps, gps_val = None, None, None, None
# Main Loop
while auto_drive.step() != -1:
start_time = time.time()
# for lidar in lidars:
# lidar.getPointCloud()
if m_order_queue.qsize() > 0:
VA_order = m_order_queue.get()
else:
VA_order = None
""" If an Emergency Vehicle in the emergency state closer than 4 metre it sends emergency message
to cars in front of it and other cars has sends messages as a chain to clear the way """
if receiver.getQueueLength() > 0:
message = receiver.getData()
# for sending emergency message to AutoCars front of our AutoCar
# emitter.send(message)
emergency_message = struct.unpack("?", message)
emergency_message = emergency_message[0]
receiver.nextPacket()
else:
emergency_message = False
gps_val = round(sqrt(gps.getValues()[0]**2 + gps.getValues()[2]**2), 2)
if gps_val is None:
error_Log.append("[DRIVER CALL] couldn't get gps value..")
else:
prev_gps = gps_val
if prev_gps is not None and gps_val is not None:
gps_val = prev_gps
if gps_val is not None:
# To calculate direction of the car
cmp_val = compass.getValues()
angle = ((atan2(cmp_val[0], cmp_val[2])) * (180 / pi)) + 180
# goes on Z axis
if 335 <= angle <= 360 or 0 <= angle <= 45 or 135 <= angle <= 225:
axis = 1
# goes on X axis
elif 225 <= angle < 335 or 45 <= angle < 135:
axis = 0
obj_data, LIDAR_data = Obj_Recognition.main(
dist_sensor_names, lidars, dist_sensors, front_cams,
back_camera)
DataFusion.main(auto_drive, gps_val, obj_data, LIDAR_data,
emergency_message, display_front, front_cams,
dist_sensors, VA_order, respond_dict, gps,
axis)
else:
error_Log.append("[DRIVER CALL] couldn't get gps value..")
Log.append(str(time.time() - start_time))
with open("Logs\Driver_Log.csv", 'a') as file:
wr = writer(file, quoting=QUOTE_ALL)
wr.writerow(Log)
if len(error_Log):
with open("Logs\error_Log.csv", 'a', newline="") as file:
wr = writer(file, quoting=QUOTE_ALL)
wr.writerow(error_Log)
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""vehicle_driver_altino controller."""
from vehicle import Driver
sensorMax = 1000
driver = Driver()
basicTimeStep = int(driver.getBasicTimeStep())
sensorTimeStep = 4 * basicTimeStep
front_left_sensor = driver.getDistanceSensor('front_left_sensor')
front_center_sensor = driver.getDistanceSensor('front_center_sensor')
front_right_sensor = driver.getDistanceSensor('front_right_sensor')
headlights = driver.getLED("headlights")
backlights = driver.getLED("backlights")
keyboard = driver.getKeyboard()
keyboard.enable(sensorTimeStep)
front_left_sensor.enable(sensorTimeStep)
front_center_sensor.enable(sensorTimeStep)
front_right_sensor.enable(sensorTimeStep)
side_left_sensor = driver.getDistanceSensor('side_left_sensor')
side_right_sensor = driver.getDistanceSensor('side_right_sensor')
# name of the available distance sensors
sensorsNames = [
'front', 'front right 0', 'front right 1', 'front right 2', 'front left 0',
'front left 1', 'front left 2', 'rear', 'rear left', 'rear right', 'right',
'left'
]
sensors = {}
#выставим максимальную скорость, загрузка водителя и установка угла поворота колес в 0.0
maxSpeed = 50
driver = Driver()
driver.setSteeringAngle(0.0)
# get and enable the distance sensors
for name in sensorsNames:
sensors[name] = driver.getDistanceSensor('distance sensor ' + name)
sensors[name].enable(10)
#define values for PID
kp = 0.12 # коэффициент пропорциональной составляющей
ki = 0.0022 # коэффициент интегральной составляющей
kd = 1 # коэффициент дифференциальной составляющей
iMin = -1.0 # минимальная сумма ошибок интегральной составляющей
iMax = 1.0 # максимальная сумма ошибок интегральной составляющей
iSum = 0.0 # сумма ошибок интегральной составляющей. Изначально равна 0.
oldY = 0.0 # Отклонение на предыдущей итерации. Изначально примем равным 0.
# бесконечный цикл работы контроллера. Мало ли, вдруг кто не знает.
