From f5f3ac336ee3f40b946776ade255448cbae1d23a Mon Sep 17 00:00:00 2001 From: ShisatoYano Date: Tue, 25 Jun 2024 15:12:06 +0000 Subject: [PATCH] implemented target steer angle and yaw rate calculation --- src/components/control/pid/pid_controller.py | 21 ++++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/src/components/control/pid/pid_controller.py b/src/components/control/pid/pid_controller.py index 7e7416c..88e2961 100644 --- a/src/components/control/pid/pid_controller.py +++ b/src/components/control/pid/pid_controller.py @@ -60,6 +60,23 @@ def _calculate_target_acceleration_mps2(self, state): diff_speed_mps = self.course.calculate_speed_difference_mps(state, self.target_course_index) self.target_accel_mps2 = self.SPEED_PROPORTIONAL_GAIN * diff_speed_mps + def _calculate_target_steer_angle_rad(self, state): + """ + Private function to calculate steering angle input + state: Vehicle's state object + """ + + diff_angle_rad = self.course.calculate_angle_difference_rad(state, self.target_course_index) + self.target_steer_rad = atan2((2 * self.WHEEL_BASE_M * sin(diff_angle_rad)), self.look_ahead_distance_m) + + def _calculate_target_yaw_rate_rps(self, state): + """ + Private function to calculate yaw rate input + state: Vehicle's state object + """ + + self.target_yaw_rate_rps = state.get_speed_mps() * tan(self.target_steer_rad) / self.WHEEL_BASE_M + def update(self, state): """ Function to update data for path tracking @@ -73,3 +90,7 @@ def update(self, state): self._calculate_target_course_index(state) self._calculate_target_acceleration_mps2(state) + + self._calculate_target_steer_angle_rad(state) + + self._calculate_target_yaw_rate_rps(state)