Cruise Control Env
cbfpy.envs.car_env
Adaptive Cruise Control Simulation Environment
Simple simulation of a leader-follower vehicle system for adaptive cruise control testing
VehicleEnv
Bases: BaseEnv
Leader/follower vehicle simulation environment for adaptive cruise control testing
This will bring up an interactive Pygame window where you can control the speed of the leader car, and the follower car will be controlled by a simple adaptive cruise control algorithm.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
controller_name |
str
|
Name of the controller being tested |
required |
mass |
float
|
Mass of the follower vehicle. Defaults to 1650.0 (kg) |
1650.0
|
drag_coeffs |
Tuple[float, float, float]
|
Coefficients of a simple polynomial friction model, as described in the Ames CBF paper. Defaults to (0.1, 5.0, 0.25) |
(0.1, 5.0, 0.25)
|
v_des |
float
|
Desired velocity of the follower car. Defaults to 24.0 (m/s) |
24.0
|
init_leader_pos |
float
|
Initial position of the leader car. Defaults to 0.0 (meters) |
0.0
|
init_leader_vel |
float
|
Initial velocity of the leader car. Defaults to 14.0 (m/s) |
14.0
|
init_follower_pos |
float
|
Initial position of the follower car. Defaults to -20.0 (meters) |
-20.0
|
init_follower_vel |
float
|
Initial velocity of the follower car. Defaults to 10.0 (m/s) |
10.0
|
u_min |
float
|
Minimum control input, in Newtons. Defaults to -np.inf (unconstrained) |
-inf
|
u_max |
float
|
Maximum control input, in Newtons. Defaults to np.inf (unconstrained) |
inf
|
Source code in cbfpy/envs/car_env.py
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follow_distance
property
Distance between the leader and follower cars, in meters
pixels_to_meters(n_pixels)
Helper function: Converts pixels to meters
Parameters:
Name | Type | Description | Default |
---|---|---|---|
n_pixels |
int
|
Number of pixels |
required |
Returns:
Name | Type | Description |
---|---|---|
float |
float
|
Distance in meters |
Source code in cbfpy/envs/car_env.py
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meters_to_pixels(n_meters)
Helper function: Converts meters to pixels
Parameters:
Name | Type | Description | Default |
---|---|---|---|
n_meters |
float
|
Distance in meters |
required |
Returns:
Name | Type | Description |
---|---|---|
float |
float
|
Number of pixels (Note: Not rounded to an integer value) |
Source code in cbfpy/envs/car_env.py
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friction(v)
Computes the drag force on the vehicle with the simple model presented in the Ames CBF paper
Parameters:
Name | Type | Description | Default |
---|---|---|---|
v |
float
|
Car speed, in m/s |
required |
Returns:
Name | Type | Description |
---|---|---|
float |
float
|
Drag force on the car, in Newtons |
Source code in cbfpy/envs/car_env.py
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leader_controller()
Simple controller for the leader car
The desired leader velocity will be set by the user, and this controller will try to track that velocity
Returns:
Name | Type | Description |
---|---|---|
float |
float
|
Control input to the leader car: Acceleration force, in Newtons |
Source code in cbfpy/envs/car_env.py
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