From 69403532d929e1876fc0673d9a6da0fb05a162c4 Mon Sep 17 00:00:00 2001 From: Arya Venkatesan Date: Wed, 2 Jul 2025 23:04:17 -0400 Subject: [PATCH 1/4] Initial Pure Pursuit implementation using binary search --- examples/driving/arya.scenic | 80 +++++++++++++++++++++ src/scenic/domains/driving/behaviors.scenic | 69 +++++++++++++++--- src/scenic/domains/driving/controllers.py | 44 ++++++++++++ src/scenic/domains/driving/simulators.py | 10 +++ 4 files changed, 194 insertions(+), 9 deletions(-) create mode 100644 examples/driving/arya.scenic diff --git a/examples/driving/arya.scenic b/examples/driving/arya.scenic new file mode 100644 index 000000000..91898ecbc --- /dev/null +++ b/examples/driving/arya.scenic @@ -0,0 +1,80 @@ +''' +To run this file using the MetaDrive simulator: + scenic examples/driving/arya.scenic --2d --model scenic.simulators.metadrive.model --simulate + +To run this file using the Carla simulator: + scenic examples/driving/arya.scenic --2d --model scenic.simulators.carla.model --simulate + + +TODO: + Make some kinda waypoints that the car can follow + make the car follow the waypoints using pure pursuit. +''' + +param map = localPath('../../assets/maps/CARLA/Town05.xodr') +param carla_map = 'Town05' +param time_step = 1.0/10 + +model scenic.domains.driving.model + +behavior PullIntoRoad(): + while (distance from self to ego) > 15: + wait + do FollowLaneBehavior(laneToFollow=ego.lane) + +ego = new Car with behavior DriveAvoidingCollisions(avoidance_threshold=5, pure_pursuit=True) + +rightCurb = ego.laneGroup.curb +spot = new OrientedPoint on visible rightCurb +badAngle = Uniform(1.0, -1.0) * Range(10, 20) deg +#parkedCar = new Car left of spot by 0.5, + #facing badAngle relative to roadDirection, + #with behavior PullIntoRoad + +#require (distance to parkedCar) > 20 + +monitor StopAfterInteraction(): + for i in range(50): + wait + while ego.speed > 2: + wait + for i in range(50): + wait + terminate +require monitor StopAfterInteraction() +terminate after 15 seconds # in case ego never breaks + +""" +['_3DClass', '__class__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', +'__format__', '__ge__', '__getattr__', '__getattribute__', '__getnewargs_ex__', '__getstate__', +'__gt__', '__hash__', '__init__', '__init_subclass__', '__le__', '__lt__', '__module__', +'__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', +'__str__', '__subclasshook__', '__weakref__', '_allProperties', '_boundingPolygon', +'_cache_clearers', '_canSee2D', '_clearCaches', '_collect_action', '_conditioned', +'_constProps', '_control', '_copyWith', '_corners2D', '_crossing', '_defaults', +'_dependencies', '_dynamicFinalProperties', '_dynamicProperties', '_dynamicProxy', '_element', +'_finalProperties', '_hasStaticBounds', '_intersection', '_isConvex', '_isLazy', '_isPlanarBox', +'_lane', '_laneGroup', '_laneSection', '_needsLazyEval', '_needsSampling', '_nonObservingEntity', +'_observingEntity', '_override', '_parentScenario', '_prepareSpecifiers', '_propertiesSet', +'_props_transformed', '_recomputeDynamicFinals', '_register', '_relations', '_requiredProperties', +'_reset_control', '_resolveSpecifiers', '_revert', '_road', '_sampleParent', '_scaledShape', +'_scenic_properties', '_simulatorProvidedProperties', '_specify', '_with', '_withProperties', +'_withSpecifiers', 'allowCollisions', 'angularSpeed', 'angularVelocity', 'back', 'backLeft', +'backRight', 'backSurface', 'baseOffset', 'behavior', 'bottom', 'bottomBackLeft', 'bottomBackRight', +'bottomFrontLeft', 'bottomFrontRight', 'bottomSurface', 'boundingBox', 'cameraOffset', 'canSee', +'color', 'conditionTo', 'contactTolerance', 'containsPoint', 'corners', 'crossing', 'deserializeValue', +'distancePast', 'distanceTo', 'distanceToClosest', 'dumpAsScenicCode', 'element', 'elevation', +'evaluateIn', 'evaluateInner', 'front', 'frontLeft', 'frontRight', 'frontSurface', 'getContextValues', +'heading', 'headingStdDev', 'height', 'hh', 'hl', 'hw', 'inradius', 'intersection', 'intersects', +'isCar', 'isVehicle', 'lane', 'laneGroup', 'laneSection', 'lastActions', 'left', 'leftSurface', +'length', 'makeContext', 'metaDriveActor', 'mutationScale', 'mutator', 'occluding', 'occupiedSpace', +'onDirection', 'onSurface', 'oppositeLaneGroup', 'orientation', 'orientationStdDev', 'parentOrientation', +'pitch', 'planarInradius', 'position', 'positionStdDev', 'properties', 'radius', 'regionContainedIn', +'relativePosition', 'relativize', 'render', 'requireVisible', 'right', 'rightSurface', 'road', +'roadDeviation', 'roll', 'sample', 'sampleAll', 'sampleGiven', 'serializeValue', 'setBraking', +'setHandbrake', 'setPosition', 'setReverse', 'setSteering', 'setThrottle', 'setVelocity', 'shape', +'show2D', 'show3D', 'showVisibleRegion', 'sideComponentThresholds', 'speed', 'startDynamicSimulation', +'surface', 'toHeading', 'toOrientation', 'toVector', 'top', 'topBackLeft', 'topBackRight', +'topFrontLeft', 'topFrontRight', 'topSurface', 'velocity', 'viewAngle', 'viewAngles', 'viewRayCount', +'viewRayDensity', 'viewRayDistanceScaling', 'visibleDistance', 'visibleRegion', 'width', 'yaw'] +""" \ No newline at end of file diff --git a/src/scenic/domains/driving/behaviors.scenic b/src/scenic/domains/driving/behaviors.scenic index 173500190..7487c67bd 100644 --- a/src/scenic/domains/driving/behaviors.scenic +++ b/src/scenic/domains/driving/behaviors.scenic @@ -16,9 +16,9 @@ behavior ConstantThrottleBehavior(x): while True: take SetThrottleAction(x), SetReverseAction(False), SetHandBrakeAction(False) -behavior DriveAvoidingCollisions(target_speed=25, avoidance_threshold=10): - try: - do FollowLaneBehavior(target_speed=target_speed) +behavior DriveAvoidingCollisions(target_speed=25, avoidance_threshold=10, pure_pursuit=False): + try: + do FollowLaneBehavior(target_speed=target_speed, purePursuit=pure_pursuit) interrupt when self.distanceToClosest(_model.Vehicle) <= avoidance_threshold: take SetThrottleAction(0), SetBrakeAction(1) @@ -39,7 +39,7 @@ behavior WalkForwardBehavior(): behavior ConstantThrottleBehavior(x): take SetThrottleAction(x) -behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTraffic=False): +behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTraffic=False, purePursuit=False): """ Follow's the lane on which the vehicle is at, unless the laneToFollow is specified. Once the vehicle reaches an intersection, by default, the vehicle will take the straight route. @@ -77,7 +77,10 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra nearby_intersection = current_lane.centerline[-1] # instantiate longitudinal and lateral controllers - _lon_controller, _lat_controller = simulation().getLaneFollowingControllers(self) + if(purePursuit): + _lon_controller, _lat_controller = simulation().getPurePursuitControllers(self) + else: + _lon_controller, _lat_controller = simulation().getLaneFollowingControllers(self) while True: @@ -129,11 +132,59 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra in_turning_lane = False entering_intersection = False target_speed = original_target_speed - _lon_controller, _lat_controller = simulation().getLaneFollowingControllers(self) - nearest_line_points = current_centerline.nearestSegmentTo(self.position) - nearest_line_segment = PolylineRegion(nearest_line_points) - cte = nearest_line_segment.signedDistanceTo(self.position) + if(purePursuit): + _lon_controller, _lat_controller = simulation().getPurePursuitControllers(self) + else: + _lon_controller, _lat_controller = simulation().getLaneFollowingControllers(self) + + + if(not purePursuit): + nearest_line_points = current_centerline.nearestSegmentTo(self.position) + nearest_line_segment = PolylineRegion(nearest_line_points) + cte = nearest_line_segment.signedDistanceTo(self.position) + + #Debugging prints + #print(f"\n___Debugging___") + #print(self.heading) + #print(nearest_line_segment.orientation.) + else: + #get the lookahead distance + lookahead_distance = _lat_controller.ld + + #approximate where the point on the path is (that is one lookahead distance away) + + theta = self.heading + math.pi/2 + x = lookahead_distance * cos(theta) # maybe make this line and the next two (four?) a helper function + y = lookahead_distance * sin(theta) + lookahead_point = (self.position.coordinates[0] + x, self.position.coordinates[1] + y, 0) + + adjustment = 0.4 + nearest_line_points = current_centerline.nearestSegmentTo(lookahead_point) + nearest_line_segment = PolylineRegion(nearest_line_points) + error = nearest_line_segment.signedDistanceTo(lookahead_point) + + while error > 0.115 or adjustment > 0.01: + if error > 0: + theta -= adjustment + else: + theta += adjustment + + x = lookahead_distance * cos(theta) + y = lookahead_distance * sin(theta) + lookahead_point = (self.position.coordinates[0] + x, self.position.coordinates[1] + y, 0) + + adjustment /= 2 + nearest_line_points = current_centerline.nearestSegmentTo(lookahead_point) + nearest_line_segment = PolylineRegion(nearest_line_points) + error = nearest_line_segment.signedDistanceTo(lookahead_point) + + + #get the difference in radians between the target and going straight (+/- needs to be figured out) (set cte here) + cte = (self.heading + math.pi/2) - theta + # cte = theta - (self.heading- math.pi/2) + + if is_oppositeTraffic: cte = -cte diff --git a/src/scenic/domains/driving/controllers.py b/src/scenic/domains/driving/controllers.py index ce7d46135..d9bb72a3e 100644 --- a/src/scenic/domains/driving/controllers.py +++ b/src/scenic/domains/driving/controllers.py @@ -13,6 +13,7 @@ """ from collections import deque +from math import sin import numpy as np @@ -107,3 +108,46 @@ def run_step(self, cte): self.output = self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm) return np.clip(self.output, -1, 1) + +class PurePursuitLateralController: + """ + Pure Pursuit Controller + + Arguments: + wb: wheelbase length + ld: lookahead distance + dt: time step + """ + + def __init__(self, wb = 4.5, ld = 4, dt = 0.1): + """ + Todo: + find the actual wheelbase and update the default number + - it says car length is 4.5 meters, but im not sure if thats wheelbase + experiment with the lookahead distance to see what works the best + """ + self.dt = dt + self.wb = wb + self.ld = ld + + def run_step(self, cte): + """Estimate the steering angle of the vehicle based on the pure pursuit equations. + + Arguments: + cte: cross-track error (distance to right of desired trajectory) + + Returns: + a signal between -1 and 1, with -1 meaning maximum steering to the left. + + Todo: + Find if the equation needs to be updated to consider negative vs positive cte + find what maximum steering distance is in radians and scale the return value accordingly + -It is not listed in the documentation + """ + rv = np.arctan((2 * self.wb * sin(cte)) / self.ld) + + return rv + + + + diff --git a/src/scenic/domains/driving/simulators.py b/src/scenic/domains/driving/simulators.py index 1fa1c1b64..0667d470b 100644 --- a/src/scenic/domains/driving/simulators.py +++ b/src/scenic/domains/driving/simulators.py @@ -4,6 +4,7 @@ from scenic.domains.driving.controllers import ( PIDLateralController, PIDLongitudinalController, + PurePursuitLateralController, ) @@ -43,7 +44,16 @@ def getLaneFollowingControllers(self, agent): ) lat_controller = PIDLateralController(K_P=0.2, K_D=0.1, K_I=0.0, dt=dt) return lon_controller, lat_controller + + def getPurePursuitControllers(self, agent): + dt = self.timestep + + #just assuming this is a car for development + lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.1, K_I=0.7, dt=dt) + lat_controller = PurePursuitLateralController(dt = dt) + return lon_controller, lat_controller + def getTurningControllers(self, agent): """Get longitudinal and lateral controllers for turning.""" dt = self.timestep From edcba6b22f6da6907f705ad019730c05c0adfe57 Mon Sep 17 00:00:00 2001 From: Arya Venkatesan Date: Fri, 18 Jul 2025 00:34:45 -0400 Subject: [PATCH 2/4] Revised Pure Pursuit Logic --- examples/driving/arya.scenic | 2 +- pid_err.csv | 102 ++++ plot_data.csv | 539 ++++++++++++++++++++ pure_pursuit_err.csv | 102 ++++ src/scenic/domains/driving/behaviors.scenic | 122 +++-- src/scenic/domains/driving/controllers.py | 6 +- 6 files changed, 839 insertions(+), 34 deletions(-) create mode 100644 pid_err.csv create mode 100644 plot_data.csv create mode 100644 pure_pursuit_err.csv diff --git a/examples/driving/arya.scenic b/examples/driving/arya.scenic index 91898ecbc..ef524c98c 100644 --- a/examples/driving/arya.scenic +++ b/examples/driving/arya.scenic @@ -22,7 +22,7 @@ behavior PullIntoRoad(): wait do FollowLaneBehavior(laneToFollow=ego.lane) -ego = new Car with behavior DriveAvoidingCollisions(avoidance_threshold=5, pure_pursuit=True) +ego = new Car with behavior DriveAvoidingCollisions(avoidance_threshold=5, pure_pursuit=True, plot=True) rightCurb = ego.laneGroup.curb spot = new OrientedPoint on visible rightCurb diff --git a/pid_err.csv b/pid_err.csv new file mode 100644 index 000000000..a4a3bc9c9 --- /dev/null +++ b/pid_err.csv @@ -0,0 +1,102 @@ 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diff --git a/src/scenic/domains/driving/behaviors.scenic b/src/scenic/domains/driving/behaviors.scenic index 7487c67bd..f73764280 100644 --- a/src/scenic/domains/driving/behaviors.scenic +++ b/src/scenic/domains/driving/behaviors.scenic @@ -4,10 +4,15 @@ These behaviors are automatically imported when using the driving domain. """ import math +import matplotlib.pyplot as plt +import csv from scenic.domains.driving.actions import * import scenic.domains.driving.model as _model from scenic.domains.driving.roads import ManeuverType +from shapely.geometry import Point as ShapelyPoint +from shapely.geometry import LineString +from shapely.geometry import MultiPoint def concatenateCenterlines(centerlines=[]): return PolylineRegion.unionAll(centerlines) @@ -16,9 +21,9 @@ behavior ConstantThrottleBehavior(x): while True: take SetThrottleAction(x), SetReverseAction(False), SetHandBrakeAction(False) -behavior DriveAvoidingCollisions(target_speed=25, avoidance_threshold=10, pure_pursuit=False): +behavior DriveAvoidingCollisions(target_speed=25, avoidance_threshold=10, pure_pursuit=False, plot=False): try: - do FollowLaneBehavior(target_speed=target_speed, purePursuit=pure_pursuit) + do FollowLaneBehavior(target_speed=target_speed, purePursuit=pure_pursuit, plot=plot) interrupt when self.distanceToClosest(_model.Vehicle) <= avoidance_threshold: take SetThrottleAction(0), SetBrakeAction(1) @@ -39,7 +44,7 @@ behavior WalkForwardBehavior(): behavior ConstantThrottleBehavior(x): take SetThrottleAction(x) -behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTraffic=False, purePursuit=False): +behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTraffic=False, purePursuit=False, plot=False): """ Follow's the lane on which the vehicle is at, unless the laneToFollow is specified. Once the vehicle reaches an intersection, by default, the vehicle will take the straight route. @@ -52,6 +57,7 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra :param target_speed: Its unit is in m/s. By default, it is set to 10 m/s :param laneToFollow: If the lane to follow is different from the lane that the vehicle is on, this parameter can be used to specify that lane. By default, this variable will be set to None, which means that the vehicle will follow the lane that it is currently on. """ + plotData = [] past_steer_angle = 0 past_speed = 0 # making an assumption here that the agent starts from zero speed @@ -149,40 +155,74 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra #print(self.heading) #print(nearest_line_segment.orientation.) else: - #get the lookahead distance - lookahead_distance = _lat_controller.ld - #approximate where the point on the path is (that is one lookahead distance away) + # Define variables + lookahead_distance = _lat_controller.ld + circlular_region = CircularRegion(self.position, lookahead_distance, resolution = 64) + polyline_circle = circlular_region.boundary + shapely_boundary = polyline_circle.lineString # extract shapley circle and shapely path + line = current_centerline.lineString + distance = current_centerline.lineString.project(ShapelyPoint(self.position.coordinates[0], self.position.coordinates[1])) + coords = [] + try: + coords = list(line.coords) # lineString case + except NotImplementedError: + for geom in line.geoms: # multilinestring case + coords.extend(list(geom.coords)) - theta = self.heading + math.pi/2 - x = lookahead_distance * cos(theta) # maybe make this line and the next two (four?) a helper function - y = lookahead_distance * sin(theta) - lookahead_point = (self.position.coordinates[0] + x, self.position.coordinates[1] + y, 0) - adjustment = 0.4 - nearest_line_points = current_centerline.nearestSegmentTo(lookahead_point) - nearest_line_segment = PolylineRegion(nearest_line_points) - error = nearest_line_segment.signedDistanceTo(lookahead_point) - - while error > 0.115 or adjustment > 0.01: - if error > 0: - theta -= adjustment - else: - theta += adjustment + # Splitting the path into two parts, the part in front of the ego and behind it + + output = [] + for j, p in enumerate(coords): + pd = line.project(ShapelyPoint(p[0], p[1])) + if pd == distance: + output = [ + LineString(coords[:j+1]), + LineString(coords[j:])] + break + if pd > distance: + cp = line.interpolate(distance) + output = [ + LineString(coords[:j] + [(cp.x, cp.y, 0)]), + LineString([(cp.x, cp.y, 0)] + coords[j:])] + break + + + # Get intersection points of the circle with the second half of the path + + shapely_intersection = shapely_boundary.intersection(output[1]) + candidate_points = [] + if isinstance(shapely_intersection, ShapelyPoint): + candidate_points = [shapely_intersection] + elif isinstance(shapely_intersection, MultiPoint): + candidate_points = list(shapely_intersection.geoms) + assert all(isinstance(p, ShapelyPoint) for p in candidate_points) - x = lookahead_distance * cos(theta) - y = lookahead_distance * sin(theta) - lookahead_point = (self.position.coordinates[0] + x, self.position.coordinates[1] + y, 0) + + # Find lookahead point by traversing the path + + if len(candidate_points) == 0: + print("No candidate point found") + cte = 0 + else: + lookahead_point = candidate_points[0] + best_distance = output[1].project(ShapelyPoint(candidate_points[0].x, candidate_points[0].y)) + if len(candidate_points) > 1: + for point in candidate_points: + point_distance = output[1].project(ShapelyPoint(point.x, point.y)) + if point_distance < distance: + lookahead_point = point + best_distance = point_distance + + + # Find the theta value/cte to feed to the pure pursuit algorithm - adjustment /= 2 - nearest_line_points = current_centerline.nearestSegmentTo(lookahead_point) - nearest_line_segment = PolylineRegion(nearest_line_points) - error = nearest_line_segment.signedDistanceTo(lookahead_point) - + theta = math.atan2(lookahead_point.y - self.position.coordinates[1], lookahead_point.x - self.position.coordinates[0]) + cte = (self.heading + math.pi/2) - theta + - #get the difference in radians between the target and going straight (+/- needs to be figured out) (set cte here) - cte = (self.heading + math.pi/2) - theta - # cte = theta - (self.heading- math.pi/2) + # done if is_oppositeTraffic: @@ -200,6 +240,26 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra past_steer_angle = current_steer_angle past_speed = current_speed + if plot: + + nearest_line_points = current_centerline.nearestSegmentTo(self.position) + nearest_line_segment = PolylineRegion(nearest_line_points) + err = abs(nearest_line_segment.signedDistanceTo(self.position)) + plotData.append(err) + + """ + if len(plotData) == 125: + with open('pid_err.csv', 'a', newline='') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(plotData) + """ + + plt.plot(plotData) + plt.ylabel('some numbers') + plt.draw() + plt.pause(0.001) + plt.clf() + behavior FollowTrajectoryBehavior(target_speed = 10, trajectory = None, turn_speed=None): """ diff --git a/src/scenic/domains/driving/controllers.py b/src/scenic/domains/driving/controllers.py index d9bb72a3e..e682007d8 100644 --- a/src/scenic/domains/driving/controllers.py +++ b/src/scenic/domains/driving/controllers.py @@ -117,9 +117,10 @@ class PurePursuitLateralController: wb: wheelbase length ld: lookahead distance dt: time step + cl: car length """ - def __init__(self, wb = 4.5, ld = 4, dt = 0.1): + def __init__(self, cl = 4.5, ld = 7, dt = 0.1): """ Todo: find the actual wheelbase and update the default number @@ -127,7 +128,8 @@ def __init__(self, wb = 4.5, ld = 4, dt = 0.1): experiment with the lookahead distance to see what works the best """ self.dt = dt - self.wb = wb + carLengthToWheelBaseRatio = 0.65 + self.wb = cl * carLengthToWheelBaseRatio self.ld = ld def run_step(self, cte): From 9358558bf53b888499a7486247b4043997291750 Mon Sep 17 00:00:00 2001 From: Arya Venkatesan Date: Fri, 1 Aug 2025 14:34:50 -0400 Subject: [PATCH 3/4] refactored code --- examples/driving/arya.scenic | 40 +---- src/scenic/domains/driving/behaviors.scenic | 181 +++----------------- src/scenic/domains/driving/controllers.py | 105 +++++++++++- src/scenic/domains/driving/simulators.py | 5 +- 4 files changed, 132 insertions(+), 199 deletions(-) diff --git a/examples/driving/arya.scenic b/examples/driving/arya.scenic index ef524c98c..f7d72a18c 100644 --- a/examples/driving/arya.scenic +++ b/examples/driving/arya.scenic @@ -20,9 +20,10 @@ model scenic.domains.driving.model behavior PullIntoRoad(): while (distance from self to ego) > 15: wait - do FollowLaneBehavior(laneToFollow=ego.lane) + _lon_controller, _lat_controller = simulation().getPurePursuitControllers() + do FollowLaneBehavior(_lon_controller, _lat_controller, laneToFollow=ego.lane) -ego = new Car with behavior DriveAvoidingCollisions(avoidance_threshold=5, pure_pursuit=True, plot=True) +ego = new Car with behavior DriveAvoidingCollisions(_lon_controller, _lat_controller, avoidance_threshold=5, pure_pursuit=True, plot=True) rightCurb = ego.laneGroup.curb spot = new OrientedPoint on visible rightCurb @@ -43,38 +44,3 @@ monitor StopAfterInteraction(): terminate require monitor StopAfterInteraction() terminate after 15 seconds # in case ego never breaks - -""" -['_3DClass', '__class__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', -'__format__', '__ge__', '__getattr__', '__getattribute__', '__getnewargs_ex__', '__getstate__', -'__gt__', '__hash__', '__init__', '__init_subclass__', '__le__', '__lt__', '__module__', -'__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', -'__str__', '__subclasshook__', '__weakref__', '_allProperties', '_boundingPolygon', -'_cache_clearers', '_canSee2D', '_clearCaches', '_collect_action', '_conditioned', -'_constProps', '_control', '_copyWith', '_corners2D', '_crossing', '_defaults', -'_dependencies', '_dynamicFinalProperties', '_dynamicProperties', '_dynamicProxy', '_element', -'_finalProperties', '_hasStaticBounds', '_intersection', '_isConvex', '_isLazy', '_isPlanarBox', -'_lane', '_laneGroup', '_laneSection', '_needsLazyEval', '_needsSampling', '_nonObservingEntity', -'_observingEntity', '_override', '_parentScenario', '_prepareSpecifiers', '_propertiesSet', -'_props_transformed', '_recomputeDynamicFinals', '_register', '_relations', '_requiredProperties', -'_reset_control', '_resolveSpecifiers', '_revert', '_road', '_sampleParent', '_scaledShape', -'_scenic_properties', '_simulatorProvidedProperties', '_specify', '_with', '_withProperties', -'_withSpecifiers', 'allowCollisions', 'angularSpeed', 'angularVelocity', 'back', 'backLeft', -'backRight', 'backSurface', 'baseOffset', 'behavior', 'bottom', 'bottomBackLeft', 'bottomBackRight', -'bottomFrontLeft', 'bottomFrontRight', 'bottomSurface', 'boundingBox', 'cameraOffset', 'canSee', -'color', 'conditionTo', 'contactTolerance', 'containsPoint', 'corners', 'crossing', 'deserializeValue', -'distancePast', 'distanceTo', 'distanceToClosest', 'dumpAsScenicCode', 'element', 'elevation', -'evaluateIn', 'evaluateInner', 'front', 'frontLeft', 'frontRight', 'frontSurface', 'getContextValues', -'heading', 'headingStdDev', 'height', 'hh', 'hl', 'hw', 'inradius', 'intersection', 'intersects', -'isCar', 'isVehicle', 'lane', 'laneGroup', 'laneSection', 'lastActions', 'left', 'leftSurface', -'length', 'makeContext', 'metaDriveActor', 'mutationScale', 'mutator', 'occluding', 'occupiedSpace', -'onDirection', 'onSurface', 'oppositeLaneGroup', 'orientation', 'orientationStdDev', 'parentOrientation', -'pitch', 'planarInradius', 'position', 'positionStdDev', 'properties', 'radius', 'regionContainedIn', -'relativePosition', 'relativize', 'render', 'requireVisible', 'right', 'rightSurface', 'road', -'roadDeviation', 'roll', 'sample', 'sampleAll', 'sampleGiven', 'serializeValue', 'setBraking', -'setHandbrake', 'setPosition', 'setReverse', 'setSteering', 'setThrottle', 'setVelocity', 'shape', -'show2D', 'show3D', 'showVisibleRegion', 'sideComponentThresholds', 'speed', 'startDynamicSimulation', -'surface', 'toHeading', 'toOrientation', 'toVector', 'top', 'topBackLeft', 'topBackRight', -'topFrontLeft', 'topFrontRight', 'topSurface', 'velocity', 'viewAngle', 'viewAngles', 'viewRayCount', -'viewRayDensity', 'viewRayDistanceScaling', 'visibleDistance', 'visibleRegion', 'width', 'yaw'] -""" \ No newline at end of file diff --git a/src/scenic/domains/driving/behaviors.scenic b/src/scenic/domains/driving/behaviors.scenic index f73764280..5a6acf0cf 100644 --- a/src/scenic/domains/driving/behaviors.scenic +++ b/src/scenic/domains/driving/behaviors.scenic @@ -21,14 +21,11 @@ behavior ConstantThrottleBehavior(x): while True: take SetThrottleAction(x), SetReverseAction(False), SetHandBrakeAction(False) -behavior DriveAvoidingCollisions(target_speed=25, avoidance_threshold=10, pure_pursuit=False, plot=False): +behavior DriveAvoidingCollisions(_lon_controller, _lat_controller, target_speed=25, avoidance_threshold=10): try: - do FollowLaneBehavior(target_speed=target_speed, purePursuit=pure_pursuit, plot=plot) + do FollowLaneBehavior(_lon_controller, _lat_controller, target_speed=target_speed) interrupt when self.distanceToClosest(_model.Vehicle) <= avoidance_threshold: - take SetThrottleAction(0), SetBrakeAction(1) - -behavior AccelerateForwardBehavior(): - take SetReverseAction(False), SetHandBrakeAction(False), SetThrottleAction(0.5) + take SetThrottleAction(0), SetBrakeActioakeAction(False), SetThrottleAction(0.5) behavior WalkForwardBehavior(): """Walk forward behavior for pedestrians. @@ -44,7 +41,7 @@ behavior WalkForwardBehavior(): behavior ConstantThrottleBehavior(x): take SetThrottleAction(x) -behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTraffic=False, purePursuit=False, plot=False): +behavior FollowLaneBehavior(_lon_controller = None, _lat_controller = None, target_speed = 10, laneToFollow=None, is_oppositeTraffic=False): """ Follow's the lane on which the vehicle is at, unless the laneToFollow is specified. Once the vehicle reaches an intersection, by default, the vehicle will take the straight route. @@ -57,7 +54,18 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra :param target_speed: Its unit is in m/s. By default, it is set to 10 m/s :param laneToFollow: If the lane to follow is different from the lane that the vehicle is on, this parameter can be used to specify that lane. By default, this variable will be set to None, which means that the vehicle will follow the lane that it is currently on. """ - plotData = [] + + #Initializing controllers to default if not specified + if _lon_controller is None or _lat_controller is None: + default_lon_controller, default_lat_controller = simulation().getPurePursuitControllers(self) + + if _lon_controller is None: + _lon_controller = default_lon_controller + + _lon_controller = + if _lat_controller is None: + _lat_controller = default_lat_controller + past_steer_angle = 0 past_speed = 0 # making an assumption here that the agent starts from zero speed @@ -82,12 +90,6 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra else: nearby_intersection = current_lane.centerline[-1] - # instantiate longitudinal and lateral controllers - if(purePursuit): - _lon_controller, _lat_controller = simulation().getPurePursuitControllers(self) - else: - _lon_controller, _lat_controller = simulation().getLaneFollowingControllers(self) - while True: if self.speed is not None: @@ -139,129 +141,33 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra entering_intersection = False target_speed = original_target_speed - if(purePursuit): - _lon_controller, _lat_controller = simulation().getPurePursuitControllers(self) - else: - _lon_controller, _lat_controller = simulation().getLaneFollowingControllers(self) - - - if(not purePursuit): - nearest_line_points = current_centerline.nearestSegmentTo(self.position) - nearest_line_segment = PolylineRegion(nearest_line_points) - cte = nearest_line_segment.signedDistanceTo(self.position) - - #Debugging prints - #print(f"\n___Debugging___") - #print(self.heading) - #print(nearest_line_segment.orientation.) - else: - - # Define variables - lookahead_distance = _lat_controller.ld - circlular_region = CircularRegion(self.position, lookahead_distance, resolution = 64) - polyline_circle = circlular_region.boundary - shapely_boundary = polyline_circle.lineString # extract shapley circle and shapely path - line = current_centerline.lineString - distance = current_centerline.lineString.project(ShapelyPoint(self.position.coordinates[0], self.position.coordinates[1])) - coords = [] - try: - coords = list(line.coords) # lineString case - except NotImplementedError: - for geom in line.geoms: # multilinestring case - coords.extend(list(geom.coords)) - - - # Splitting the path into two parts, the part in front of the ego and behind it - - output = [] - for j, p in enumerate(coords): - pd = line.project(ShapelyPoint(p[0], p[1])) - if pd == distance: - output = [ - LineString(coords[:j+1]), - LineString(coords[j:])] - break - if pd > distance: - cp = line.interpolate(distance) - output = [ - LineString(coords[:j] + [(cp.x, cp.y, 0)]), - LineString([(cp.x, cp.y, 0)] + coords[j:])] - break - - - # Get intersection points of the circle with the second half of the path - - shapely_intersection = shapely_boundary.intersection(output[1]) - candidate_points = [] - if isinstance(shapely_intersection, ShapelyPoint): - candidate_points = [shapely_intersection] - elif isinstance(shapely_intersection, MultiPoint): - candidate_points = list(shapely_intersection.geoms) - assert all(isinstance(p, ShapelyPoint) for p in candidate_points) - - - # Find lookahead point by traversing the path - - if len(candidate_points) == 0: - print("No candidate point found") - cte = 0 - else: - lookahead_point = candidate_points[0] - best_distance = output[1].project(ShapelyPoint(candidate_points[0].x, candidate_points[0].y)) - if len(candidate_points) > 1: - for point in candidate_points: - point_distance = output[1].project(ShapelyPoint(point.x, point.y)) - if point_distance < distance: - lookahead_point = point - best_distance = point_distance - - - # Find the theta value/cte to feed to the pure pursuit algorithm - - theta = math.atan2(lookahead_point.y - self.position.coordinates[1], lookahead_point.x - self.position.coordinates[0]) - cte = (self.heading + math.pi/2) - theta + if _lon_controller is None or _lat_controller is None: + default_lon_controller, default_lat_controller = simulation().getPurePursuitControllers(self) + if _lon_controller is None: + _lon_controller = default_lon_controller - # done + _lon_controller = + if _lat_controller is None: + _lat_controller = default_lat_controller - if is_oppositeTraffic: - cte = -cte - speed_error = target_speed - current_speed # compute throttle : Longitudinal Control throttle = _lon_controller.run_step(speed_error) # compute steering : Lateral Control - current_steer_angle = _lat_controller.run_step(cte) + current_steer_angle = _lat_controller.run_step(current_centerline, self, is_oppositeTraffic) take RegulatedControlAction(throttle, current_steer_angle, past_steer_angle) past_steer_angle = current_steer_angle past_speed = current_speed - if plot: + #plot code starts here - nearest_line_points = current_centerline.nearestSegmentTo(self.position) - nearest_line_segment = PolylineRegion(nearest_line_points) - err = abs(nearest_line_segment.signedDistanceTo(self.position)) - plotData.append(err) - """ - if len(plotData) == 125: - with open('pid_err.csv', 'a', newline='') as csvfile: - writer = csv.writer(csvfile) - writer.writerow(plotData) - """ - - plt.plot(plotData) - plt.ylabel('some numbers') - plt.draw() - plt.pause(0.001) - plt.clf() - - -behavior FollowTrajectoryBehavior(target_speed = 10, trajectory = None, turn_speed=None): +behavior FollowTrajectoryBehavior(_lon_controller = None, _lat_controller = None, target_speed = 10, trajectory = None, turn_speed=None): """ Follows the given trajectory. The behavior terminates once the end of the trajectory is reached. @@ -280,40 +186,7 @@ behavior FollowTrajectoryBehavior(target_speed = 10, trajectory = None, turn_spe traj_centerline = [traj.centerline for traj in trajectory] trajectory_centerline = concatenateCenterlines(traj_centerline) - # instantiate longitudinal and lateral controllers - _lon_controller,_lat_controller = simulation().getLaneFollowingControllers(self) - past_steer_angle = 0 - - if trajectory[-1].maneuvers: - end_intersection = trajectory[-1].maneuvers[0].intersection - if end_intersection == None: - end_intersection = trajectory[-1].centerline[-1] - else: - end_intersection = trajectory[-1].centerline[-1] - - while True: - if self in _model.network.intersectionRegion: - do TurnBehavior(trajectory_centerline, target_speed=turn_speed) - - if (distance from self to end_intersection) < distanceToEndpoint: - break - - if self.speed is not None: - current_speed = self.speed - else: - current_speed = 0 - - cte = trajectory_centerline.signedDistanceTo(self.position) - speed_error = target_speed - current_speed - - # compute throttle : Longitudinal Control - throttle = _lon_controller.run_step(speed_error) - - # compute steering : Latitudinal Control - current_steer_angle = _lat_controller.run_step(cte) - - take RegulatedControlAction(throttle, current_steer_angle, past_steer_angle) - past_steer_angle = current_steer_angle + do.FollowLaneBehavior(_lon_controller = _lon_controller, _lat_controller = _lat_controller, target_speed = target_speed, laneToFollow = traj_centerline) diff --git a/src/scenic/domains/driving/controllers.py b/src/scenic/domains/driving/controllers.py index e682007d8..6456234e5 100644 --- a/src/scenic/domains/driving/controllers.py +++ b/src/scenic/domains/driving/controllers.py @@ -17,6 +17,14 @@ import numpy as np +from scenic.domains.driving.actions import * +from scenic.domains.driving.roads import ManeuverType +from shapely.geometry import Point as ShapelyPoint +from shapely.geometry import LineString +from shapely.geometry import MultiPoint +from scenic.core.regions import PolylineRegion +from scenic.core.regions import CircularRegion + class PIDLongitudinalController: """Longitudinal control using a PID to reach a target speed. @@ -81,7 +89,7 @@ def __init__(self, K_P=0.3, K_D=0.2, K_I=0, dt=0.1): self.windup_guard = 20.0 self.output = 0 - def run_step(self, cte): + def run_step(self, input_trajectory, ego, opposite_traffic): """Estimate the steering angle of the vehicle based on the PID equations. Arguments: @@ -90,6 +98,14 @@ def run_step(self, cte): Returns: a signal between -1 and 1, with -1 meaning maximum steering to the left. """ + + nearest_line_points = input_trajectory.nearestSegmentTo(ego.position) + nearest_line_segment = PolylineRegion(nearest_line_points) + cte = nearest_line_segment.signedDistanceTo(ego.position) + + if opposite_traffic: + cte = -1 * cte + error = cte delta_error = error - self.last_error self.PTerm = self.Kp * error @@ -118,9 +134,10 @@ class PurePursuitLateralController: ld: lookahead distance dt: time step cl: car length + clbwr: car length to wheel base ratio """ - def __init__(self, cl = 4.5, ld = 7, dt = 0.1): + def __init__(self, cl = 4.5, ld = 7, dt = 0.1, clwbr = 0.65): """ Todo: find the actual wheelbase and update the default number @@ -128,11 +145,11 @@ def __init__(self, cl = 4.5, ld = 7, dt = 0.1): experiment with the lookahead distance to see what works the best """ self.dt = dt - carLengthToWheelBaseRatio = 0.65 - self.wb = cl * carLengthToWheelBaseRatio + self.wb = cl * clwbr self.ld = ld + self.past_cte = 0 - def run_step(self, cte): + def run_step(self, input_trajectory, ego, opposite_traffic): """Estimate the steering angle of the vehicle based on the pure pursuit equations. Arguments: @@ -145,7 +162,85 @@ def run_step(self, cte): Find if the equation needs to be updated to consider negative vs positive cte find what maximum steering distance is in radians and scale the return value accordingly -It is not listed in the documentation + + + #takes current position and the path + #add plot """ + # Define variables + lookahead_distance = self.ld + circlular_region = CircularRegion(ego.position, lookahead_distance, resolution = 64) + polyline_circle = circlular_region.boundary + shapely_boundary = polyline_circle.lineString # extract shapley circle and shapely path + line = input_trajectory.lineString + distance = input_trajectory.lineString.project(ShapelyPoint(ego.position.coordinates[0], ego.position.coordinates[1])) + coords = [] + try: + coords = list(line.coords) # lineString case + except NotImplementedError: + for geom in line.geoms: # multilinestring case + coords.extend(list(geom.coords)) + + + # Splitting the path into two parts, the part in front of the ego and behind it + + output = [] + for j, p in enumerate(coords): + pd = line.project(ShapelyPoint(p[0], p[1])) + if pd == distance: + output = [ + LineString(coords[:j+1]), + LineString(coords[j:])] + break + if pd > distance: + cp = line.interpolate(distance) + output = [ + LineString(coords[:j] + [(cp.x, cp.y, 0)]), + LineString([(cp.x, cp.y, 0)] + coords[j:])] + break + + + # Get intersection points of the circle with the second half of the path + + shapely_intersection = shapely_boundary.intersection(output[1]) + candidate_points = [] + if isinstance(shapely_intersection, ShapelyPoint): + candidate_points = [shapely_intersection] + elif isinstance(shapely_intersection, MultiPoint): + candidate_points = list(shapely_intersection.geoms) + assert all(isinstance(p, ShapelyPoint) for p in candidate_points) + + + # Find lookahead point by traversing the path + + if len(candidate_points) == 0: + # print("No candidate point found") + # Sometimes no point is found, this is an error + # In that case, dont touch steering wheel + # Pure Pursuit is a self correcting algorithm so it should be fine + cte = self.past_cte + else: + lookahead_point = candidate_points[0] + best_distance = output[1].project(ShapelyPoint(candidate_points[0].x, candidate_points[0].y)) + if len(candidate_points) > 1: + for point in candidate_points: + point_distance = output[1].project(ShapelyPoint(point.x, point.y)) + if point_distance < distance: + lookahead_point = point + best_distance = point_distance + + + # Find the theta value/cte to feed to the pure pursuit algorithm + + theta = math.atan2(lookahead_point.y - ego.position.coordinates[1], lookahead_point.x - ego.position.coordinates[0]) + cte = (self.heading + math.pi/2) - theta + self.past_cte = cte + + if opposite_traffic: + cte = -1 * cte + + # done + rv = np.arctan((2 * self.wb * sin(cte)) / self.ld) return rv diff --git a/src/scenic/domains/driving/simulators.py b/src/scenic/domains/driving/simulators.py index 0667d470b..07ed684c1 100644 --- a/src/scenic/domains/driving/simulators.py +++ b/src/scenic/domains/driving/simulators.py @@ -45,12 +45,11 @@ def getLaneFollowingControllers(self, agent): lat_controller = PIDLateralController(K_P=0.2, K_D=0.1, K_I=0.0, dt=dt) return lon_controller, lat_controller - def getPurePursuitControllers(self, agent): + def getPurePursuitControllers(self, agent, cl = 4.5, ld = 7, clwbr = 0.65): dt = self.timestep - #just assuming this is a car for development lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.1, K_I=0.7, dt=dt) - lat_controller = PurePursuitLateralController(dt = dt) + lat_controller = PurePursuitLateralController(cl = 4.5, ld = 7, dt = dt, clwbr = 0.65) return lon_controller, lat_controller From 1470080a444731728c5a59b93be67343cb060c04 Mon Sep 17 00:00:00 2001 From: Arya Venkatesan Date: Sat, 2 Aug 2025 23:13:16 -0400 Subject: [PATCH 4/4] changes in response to github comments --- examples/driving/arya.scenic | 7 +- pid_err.csv | 102 ---- plot_data.csv | 539 -------------------- pure_pursuit_err.csv | 102 ---- src/scenic/domains/driving/behaviors.scenic | 57 ++- src/scenic/domains/driving/controllers.py | 42 +- src/scenic/domains/driving/simulators.py | 2 +- 7 files changed, 54 insertions(+), 797 deletions(-) delete mode 100644 pid_err.csv delete mode 100644 plot_data.csv delete mode 100644 pure_pursuit_err.csv diff --git a/examples/driving/arya.scenic b/examples/driving/arya.scenic index f7d72a18c..b5d14978b 100644 --- a/examples/driving/arya.scenic +++ b/examples/driving/arya.scenic @@ -20,10 +20,9 @@ model scenic.domains.driving.model behavior PullIntoRoad(): while (distance from self to ego) > 15: wait - _lon_controller, _lat_controller = simulation().getPurePursuitControllers() - do FollowLaneBehavior(_lon_controller, _lat_controller, laneToFollow=ego.lane) + do FollowLaneBehavior(laneToFollow=ego.lane) -ego = new Car with behavior DriveAvoidingCollisions(_lon_controller, _lat_controller, avoidance_threshold=5, pure_pursuit=True, plot=True) +ego = new Car with behavior DriveAvoidingCollisions(avoidance_threshold=5) rightCurb = ego.laneGroup.curb spot = new OrientedPoint on visible rightCurb @@ -43,4 +42,4 @@ monitor StopAfterInteraction(): wait terminate require monitor StopAfterInteraction() -terminate after 15 seconds # in case ego never breaks +terminate after 30 seconds # in case ego never breaks diff --git a/pid_err.csv b/pid_err.csv deleted file mode 100644 index a4a3bc9c9..000000000 --- a/pid_err.csv +++ /dev/null @@ -1,102 +0,0 @@ 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diff --git a/src/scenic/domains/driving/behaviors.scenic b/src/scenic/domains/driving/behaviors.scenic index 5a6acf0cf..a9282b2ec 100644 --- a/src/scenic/domains/driving/behaviors.scenic +++ b/src/scenic/domains/driving/behaviors.scenic @@ -21,11 +21,17 @@ behavior ConstantThrottleBehavior(x): while True: take SetThrottleAction(x), SetReverseAction(False), SetHandBrakeAction(False) -behavior DriveAvoidingCollisions(_lon_controller, _lat_controller, target_speed=25, avoidance_threshold=10): +behavior DriveAvoidingCollisions(lon_controller = None, lat_controller = None, target_speed=25, avoidance_threshold=10): + _lon_controller = lon_controller + _lat_controller = lat_controller try: do FollowLaneBehavior(_lon_controller, _lat_controller, target_speed=target_speed) interrupt when self.distanceToClosest(_model.Vehicle) <= avoidance_threshold: - take SetThrottleAction(0), SetBrakeActioakeAction(False), SetThrottleAction(0.5) + take SetThrottleAction(0), SetBrakeAction(1) + +behavior AccelerateForwardBehavior(): + take SetReverseAction(False), SetHandBrakeAction(False), SetThrottleAction(0.5) + take SetThrottleAction(0), SetHandBrakeAction(False), SetThrottleAction(0.5) behavior WalkForwardBehavior(): """Walk forward behavior for pedestrians. @@ -41,7 +47,7 @@ behavior WalkForwardBehavior(): behavior ConstantThrottleBehavior(x): take SetThrottleAction(x) -behavior FollowLaneBehavior(_lon_controller = None, _lat_controller = None, target_speed = 10, laneToFollow=None, is_oppositeTraffic=False): +behavior FollowLaneBehavior(lon_controller = None, lat_controller = None, target_speed = 10, laneToFollow=None, is_oppositeTraffic=False): """ Follow's the lane on which the vehicle is at, unless the laneToFollow is specified. Once the vehicle reaches an intersection, by default, the vehicle will take the straight route. @@ -56,15 +62,14 @@ behavior FollowLaneBehavior(_lon_controller = None, _lat_controller = None, targ """ #Initializing controllers to default if not specified - if _lon_controller is None or _lat_controller is None: + if lon_controller is None or lat_controller is None: default_lon_controller, default_lat_controller = simulation().getPurePursuitControllers(self) - if _lon_controller is None: - _lon_controller = default_lon_controller + if lon_controller is None: + lon_controller = default_lon_controller - _lon_controller = - if _lat_controller is None: - _lat_controller = default_lat_controller + if lat_controller is None: + lat_controller = default_lat_controller past_steer_angle = 0 @@ -141,24 +146,23 @@ behavior FollowLaneBehavior(_lon_controller = None, _lat_controller = None, targ entering_intersection = False target_speed = original_target_speed - if _lon_controller is None or _lat_controller is None: + if lon_controller is None or lat_controller is None: default_lon_controller, default_lat_controller = simulation().getPurePursuitControllers(self) - if _lon_controller is None: - _lon_controller = default_lon_controller + if lon_controller is None: + lon_controller = default_lon_controller - _lon_controller = - if _lat_controller is None: - _lat_controller = default_lat_controller + if lat_controller is None: + lat_controller = default_lat_controller speed_error = target_speed - current_speed # compute throttle : Longitudinal Control - throttle = _lon_controller.run_step(speed_error) + throttle = lon_controller.run_step(speed_error) # compute steering : Lateral Control - current_steer_angle = _lat_controller.run_step(current_centerline, self, is_oppositeTraffic) + current_steer_angle = lat_controller.run_step(current_centerline, self, is_oppositeTraffic) take RegulatedControlAction(throttle, current_steer_angle, past_steer_angle) past_steer_angle = current_steer_angle @@ -167,7 +171,7 @@ behavior FollowLaneBehavior(_lon_controller = None, _lat_controller = None, targ #plot code starts here -behavior FollowTrajectoryBehavior(_lon_controller = None, _lat_controller = None, target_speed = 10, trajectory = None, turn_speed=None): +behavior FollowTrajectoryBehavior(lon_controller = None, lat_controller = None, target_speed = 10, trajectory = None, turn_speed=None): """ Follows the given trajectory. The behavior terminates once the end of the trajectory is reached. @@ -186,7 +190,10 @@ behavior FollowTrajectoryBehavior(_lon_controller = None, _lat_controller = None traj_centerline = [traj.centerline for traj in trajectory] trajectory_centerline = concatenateCenterlines(traj_centerline) - do.FollowLaneBehavior(_lon_controller = _lon_controller, _lat_controller = _lat_controller, target_speed = target_speed, laneToFollow = traj_centerline) + _lon_controller = lon_controller + _lat_controller = lat_controller + + do FollowLaneBehavior(lon_controller = _lon_controller, lat_controller = _lat_controller, target_speed = target_speed, laneToFollow = traj_centerline) @@ -203,7 +210,7 @@ behavior TurnBehavior(trajectory, target_speed=6): trajectory_centerline = concatenateCenterlines([traj.centerline for traj in trajectory]) # instantiate longitudinal and lateral controllers - _lon_controller, _lat_controller = simulation().getTurningControllers(self) + lon_controller, lat_controller = simulation().getTurningControllers(self) past_steer_angle = 0 @@ -217,10 +224,10 @@ behavior TurnBehavior(trajectory, target_speed=6): speed_error = target_speed - current_speed # compute throttle : Longitudinal Control - throttle = _lon_controller.run_step(speed_error) + throttle = lon_controller.run_step(speed_error) # compute steering : Latitudinal Control - current_steer_angle = _lat_controller.run_step(cte) + current_steer_angle = lat_controller.run_step(cte) take RegulatedControlAction(throttle, current_steer_angle, past_steer_angle) past_steer_angle = current_steer_angle @@ -249,7 +256,7 @@ behavior LaneChangeBehavior(laneSectionToSwitch, is_oppositeTraffic=False, targe nearby_intersection = current_lane.centerline[-1] # instantiate longitudinal and lateral controllers - _lon_controller, _lat_controller = simulation().getLaneChangingControllers(self) + lon_controller, lat_controller = simulation().getLaneChangingControllers(self) past_steer_angle = 0 @@ -294,10 +301,10 @@ behavior LaneChangeBehavior(laneSectionToSwitch, is_oppositeTraffic=False, targe speed_error = target_speed - current_speed # compute throttle : Longitudinal Control - throttle = _lon_controller.run_step(speed_error) + throttle = lon_controller.run_step(speed_error) # compute steering : Latitudinal Control - current_steer_angle = _lat_controller.run_step(cte) + current_steer_angle = lat_controller.run_step(cte) take RegulatedControlAction(throttle, current_steer_angle, past_steer_angle) past_steer_angle = current_steer_angle diff --git a/src/scenic/domains/driving/controllers.py b/src/scenic/domains/driving/controllers.py index 6456234e5..d8f45844b 100644 --- a/src/scenic/domains/driving/controllers.py +++ b/src/scenic/domains/driving/controllers.py @@ -13,7 +13,7 @@ """ from collections import deque -from math import sin +import math import numpy as np @@ -134,10 +134,10 @@ class PurePursuitLateralController: ld: lookahead distance dt: time step cl: car length - clbwr: car length to wheel base ratio + clwbr: car length to wheel base ratio """ - def __init__(self, cl = 4.5, ld = 7, dt = 0.1, clwbr = 0.65): + def __init__(self, cl, ld = 7, dt = 0.1, clwbr = 0.65): """ Todo: find the actual wheelbase and update the default number @@ -146,8 +146,10 @@ def __init__(self, cl = 4.5, ld = 7, dt = 0.1, clwbr = 0.65): """ self.dt = dt self.wb = cl * clwbr + self.clwbr = clwbr self.ld = ld self.past_cte = 0 + self.max_steering_angle = np.arctan((2 * self.wb) / self.ld) def run_step(self, input_trajectory, ego, opposite_traffic): """Estimate the steering angle of the vehicle based on the pure pursuit equations. @@ -171,7 +173,7 @@ def run_step(self, input_trajectory, ego, opposite_traffic): lookahead_distance = self.ld circlular_region = CircularRegion(ego.position, lookahead_distance, resolution = 64) polyline_circle = circlular_region.boundary - shapely_boundary = polyline_circle.lineString # extract shapley circle and shapely path + shapely_boundary = polyline_circle.lineString # extract shapely circle and shapely path line = input_trajectory.lineString distance = input_trajectory.lineString.project(ShapelyPoint(ego.position.coordinates[0], ego.position.coordinates[1])) coords = [] @@ -184,17 +186,17 @@ def run_step(self, input_trajectory, ego, opposite_traffic): # Splitting the path into two parts, the part in front of the ego and behind it - output = [] + split_trajectory = [] for j, p in enumerate(coords): pd = line.project(ShapelyPoint(p[0], p[1])) if pd == distance: - output = [ + split_trajectory = [ LineString(coords[:j+1]), LineString(coords[j:])] break if pd > distance: cp = line.interpolate(distance) - output = [ + split_trajectory = [ LineString(coords[:j] + [(cp.x, cp.y, 0)]), LineString([(cp.x, cp.y, 0)] + coords[j:])] break @@ -202,12 +204,14 @@ def run_step(self, input_trajectory, ego, opposite_traffic): # Get intersection points of the circle with the second half of the path - shapely_intersection = shapely_boundary.intersection(output[1]) - candidate_points = [] + shapely_intersection = shapely_boundary.intersection(split_trajectory[1]) + if isinstance(shapely_intersection, ShapelyPoint): candidate_points = [shapely_intersection] elif isinstance(shapely_intersection, MultiPoint): candidate_points = list(shapely_intersection.geoms) + else: + candidate_points = [] assert all(isinstance(p, ShapelyPoint) for p in candidate_points) @@ -220,31 +224,21 @@ def run_step(self, input_trajectory, ego, opposite_traffic): # Pure Pursuit is a self correcting algorithm so it should be fine cte = self.past_cte else: + candidate_points.sort(key=lambda point: split_trajectory[1].project(ShapelyPoint(point.x, point.y))) lookahead_point = candidate_points[0] - best_distance = output[1].project(ShapelyPoint(candidate_points[0].x, candidate_points[0].y)) - if len(candidate_points) > 1: - for point in candidate_points: - point_distance = output[1].project(ShapelyPoint(point.x, point.y)) - if point_distance < distance: - lookahead_point = point - best_distance = point_distance # Find the theta value/cte to feed to the pure pursuit algorithm theta = math.atan2(lookahead_point.y - ego.position.coordinates[1], lookahead_point.x - ego.position.coordinates[0]) - cte = (self.heading + math.pi/2) - theta + cte = (ego.heading + math.pi/2) - theta self.past_cte = cte if opposite_traffic: cte = -1 * cte - # done - - rv = np.arctan((2 * self.wb * sin(cte)) / self.ld) + # perform pure pursuit calculation and normalize it from -1 to 1 + steering_angle = np.arctan((2 * self.wb * math.sin(cte)) / self.ld) + rv = steering_angle / self.max_steering_angle return rv - - - - diff --git a/src/scenic/domains/driving/simulators.py b/src/scenic/domains/driving/simulators.py index 07ed684c1..75ff38eff 100644 --- a/src/scenic/domains/driving/simulators.py +++ b/src/scenic/domains/driving/simulators.py @@ -49,7 +49,7 @@ def getPurePursuitControllers(self, agent, cl = 4.5, ld = 7, clwbr = 0.65): dt = self.timestep lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.1, K_I=0.7, dt=dt) - lat_controller = PurePursuitLateralController(cl = 4.5, ld = 7, dt = dt, clwbr = 0.65) + lat_controller = PurePursuitLateralController(cl = agent.length, ld = 7, dt = dt, clwbr = 0.65) return lon_controller, lat_controller