Useful functions used for path and trajectory planning at TUM/FTM
Project description
Description
This repository provides some helper functions we frequently use in our trajectory planning software stack at FTM/TUM. Many of the functions are based on third order splines because we use them as a basis for our path planning. Please keep in mind that some of the functions are designed to work on a closed (race) track and might therefore not work properly on a common street network.
List of components
angle3pt
: Calculates angle by turning from a to c around b.calc_ax_profile
: Calculate the longitudinal acceleration profile for a given velocity profile.calc_head_curv_an
: Analytical curvature calculation on the basis of third order splines.calc_head_curv_num
: Numerical curvature calculation.calc_normal_vectors
: Calculate normalized normal vectors on the basis of headings psi (psi  pi/2).calc_normal_vectors_ahead
: Calculate normalized normal vectors on the basis of headings psi (psi + pi/2).calc_spline_lengths
: Calculate spline lengths.calc_splines
: Calculate splines for a (closable) path.calc_t_profile
: Calculate the temporal duration profile for a given velocity profile.calc_tangent_vectors
: Calculate normalized tangent vectors on the basis of headings psi.calc_vel_profile
: Calculate velocity profile on the basis of a forward/backward solver. Important: ax_max_machines input must be inserted without drag resistance, i.e. simply by calculating F_x_drivetrain / m_vehcalc_vel_profile_brake
: Calculate velocity profile on the basis of a pure forward solver.check_normals_crossing
: Check if normal vectors of a given track have at least one crossing.conv_filt
: Filter a given signal using a 1D convolution (moving average) filter.create_raceline
: Function to create a raceline on the basis of the reference line and an optimization result.get_rel_path_part
: Get relevant part of a given path on the basis of a s position and a specified range.import_veh_dyn_info
: Imports the required vehicle dynamics information from several files: ggv and ax_max_machines.import_veh_dyn_info_2
: Imports local gg diagrams, required for local friction consideration.interp_splines
: Interpolate splines to get points with a desired stepsize.interp_track
: Interpolate track to get points with a desired stepsize.interp_track_widths
: Interpolation function for track widths.iqp_handler
: Handler function to iteratively call the minimum curvature optimization.nonreg_sampling
: Function to sample in nonregular intervals (based on curvature) from a given track.normalize_psi
: Normalize heading psi such that the interval [pi, pi[ holds.opt_min_curv
: Minimum curvature optimization.opt_shortest_path
: Shortest path optimization.path_matching_global
: Match own vehicle position to a global (i.e. closed) path.path_matching_local
: Match own vehicle position to a local (i.e. unclosed) path.progressbar
: Commandline progressbar (to be called in a for loop).side_of_line
: Function determines if a point is on the left or right side of a line.spline_approximation
: Function used to obtain a smoothed track on the basis of a spline approximation.
Example files
The folder example_files
contains an exemplary track file (berlin_2018.csv
), ggv (ggv.csv
) and ax_ax_machines file
(ax_max_machines.csv
). The two latter files can be easily imported (with checks) using import_veh_dyn_info
. The
files are taken from our global trajectory planner repository which can be found on
https://github.com/TUMFTM/global_racetrajectory_optimization.
Solutions for possible installation problems (Windows)
cvxpy
, cython
or any other package requires a Visual C++ compiler
> Download the build tools for Visual Studio
2019 (https://visualstudio.microsoft.com/de/downloads/ > tools for Visual Studio 2019 > build tools), install them and
chose the C++ build tools
option to install the required C++ compiler and its dependencies
Solutions for possible installation problems (Ubuntu)
matplotlib
requirestkinter
> can be solved bysudo apt install python3tk
Python.h
requiredquadprog
> can be solved bysudo apt install python3dev
Contact persons: Alexander Heilmeier, Tim Stahl.
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