pysim models - environment model

Simulation model : Environment

Description

• Import road information for driving environment

Modules summary

• Env module - environment module

  • Env_config - configure environment

  • Road_static_object - determine road static objects

    • Road_curve_def - set parameters

  • Obj_add - add static object (Tl, Curve)
  • Veh_position_init - Set initial position of vehicle on the road, include (Mod_Veh)

Update

• [18/05/31] - Initial release - Kyunghan
• [18/06/05] - Modification of lon control - Kyunghan

class pysim.models.model_environment.Mod_Env(road_array_x_in, road_array_y_in, start_road_len=0)

Bases: object

• Environment module: include road information (road_x, road_y)

Env_config(road_array_x_in, conf_mincurv_value=0.001)

Obj_add(object_in, object_param_in, object_s_location)

Add one object on the road

Args:

• object_in: Set the object class (‘Tl’, ‘Curve’, ..)
• object_param_in: Set the object parameter (‘Curvature’, ‘State’)
• object_s_location: Set the object location on the road

Road_curve_def(road_array_x_in, road_array_y_in, loc_env_road_s)

Determine curve information from road data

Calculate cuvature using road data then add curve object to static object list

Args:

• road_array_x_in: Horizontal geometric information of road
• road_array_y_in: Vertical geometric information of road
• loc_env_road_s: Road length information

Returns:

• object_list: Road object list for curve information

Road_static_object(start_road_len=0)

Determine road static objects

Arrange road length and road curvature according to global road information (road_x, road_y)

Include:

• Mod_Env(Road_curve_def): Determine road curve position and curvature value

Vehicle_init_config(veh_mod, road_index=0)

Set initial position and heading angle of vehicle on road model

Include Mod_Veh when initialize

Args:

• veh_mod: Vehicle module
• road_index: Road length index for vehicle position

pysim.models.model_environment.Ts = 0.01

global vairable: simulation sampling timeself.

you can declare other sampling time in application as vairable Ts