├── .gitignore ├── IMG ├── Forcespro_Variants.png ├── Framework of MPC Planner.png ├── MPC_framework.png ├── comparison solve time LF ZAM.png ├── ggif_ZAM_Over-1_1.gif ├── gif_casadi_USA_Lanker-2_18_T-1_lane_following.gif ├── gif_casadi_ZAM_Over-1_1_collision_avoidance.gif ├── gif_casadi_ZAM_Over-1_1_lane_following.gif ├── gif_forcespro_USA_Lanker-2_18_T-1_lane_following.gif ├── gif_forcespro_ZAM_Over-1_1_collision_avoidance.gif └── gif_forcespro_ZAM_Over-1_1_lane_following.gif ├── MPC_Planner ├── configuration.py ├── mpc_planner.py └── optimizer.py ├── Papers ├── .gitkeep ├── Lateral_Vehicle_Trajectory_Optimization_Using_Constrained_Linear_Time-Varying_MPC.pdf ├── Model_Predictive_Trajectory_Planning_for_Automated_Driving.pdf └── Optimal Decision Making for Automated Vehicles Using Homotopy Generation and Nonlinear Model Predictive Control.pdf ├── README.md ├── requirments.txt ├── scenarios ├── USA_Lanker-2_18_T-1.xml ├── USA_Peach-2_1_T-1.xml ├── ZAM_Over-1_1.xml ├── ZAM_Over-1_1_LF.xml ├── ZAM_Tutorial-1_2_T-1.xml └── ZAM_Tutorial_Urban-3_2.xml └── test ├── 2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following ├── 2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_control_inputs.png ├── 2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_deviation.png ├── 2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_performance.png ├── 2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_solve_time.png ├── RMSD.txt ├── control inputs.txt ├── deviation.txt ├── planned states.txt └── solve time.txt ├── 2D_plots_casadi_ZAM_Over-1_1_collision_avoidance ├── 2D_plot_casadi_ZAM_Over-1_1_collision_avoidance_control_inputs.png ├── 2D_plot_casadi_ZAM_Over-1_1_collision_avoidance_deviation.png ├── 2D_plot_casadi_ZAM_Over-1_1_collision_avoidance_performance.png ├── 2D_plot_casadi_ZAM_Over-1_1_collision_avoidance_solve_time.png ├── control inputs.txt ├── deviation.txt ├── planned states.txt └── solve time.txt ├── 2D_plots_casadi_ZAM_Over-1_1_lane_following ├── 2D_plot_casadi_ZAM_Over-1_1_lane_following_control_inputs.png ├── 2D_plot_casadi_ZAM_Over-1_1_lane_following_deviation.png ├── 2D_plot_casadi_ZAM_Over-1_1_lane_following_performance.png ├── 2D_plot_casadi_ZAM_Over-1_1_lane_following_solve_time.png ├── RMSD.txt ├── control inputs.txt ├── deviation.txt ├── planned states.txt └── solve time.txt ├── 2D_plots_forcespro_USA_Lanker-2_18_T-1_lane_following ├── 2D_plot_forcespro_USA_Lanker-2_18_T-1_lane_following_control_inputs.png ├── 2D_plot_forcespro_USA_Lanker-2_18_T-1_lane_following_deviation.png ├── 2D_plot_forcespro_USA_Lanker-2_18_T-1_lane_following_performance.png ├── 2D_plot_forcespro_USA_Lanker-2_18_T-1_lane_following_solve_time.png ├── RMSD.txt ├── control inputs.txt ├── deviation.txt ├── planned states.txt └── solve time.txt ├── 2D_plots_forcespro_ZAM_Over-1_1_collision_avoidance ├── 2D_plot_forcespro_ZAM_Over-1_1_collision_avoidance_control_inputs.png ├── 2D_plot_forcespro_ZAM_Over-1_1_collision_avoidance_deviation.png ├── 2D_plot_forcespro_ZAM_Over-1_1_collision_avoidance_performance.png ├── 2D_plot_forcespro_ZAM_Over-1_1_collision_avoidance_solve_time.png ├── control inputs.txt ├── deviation.txt ├── planned states.txt └── solve time.txt ├── 2D_plots_forcespro_ZAM_Over-1_1_lane_following ├── 2D_plot_forcespro_ZAM_Over-1_1_lane_following_control_inputs.png ├── 2D_plot_forcespro_ZAM_Over-1_1_lane_following_deviation.png ├── 2D_plot_forcespro_ZAM_Over-1_1_lane_following_performance.png ├── 2D_plot_forcespro_ZAM_Over-1_1_lane_following_solve_time.png ├── RMSD.txt ├── control inputs.txt ├── deviation.txt ├── planned states.txt └── solve time.txt ├── comparison_solve_time ├── comparison solve time CA ZAM.png ├── comparison solve time LF USA.png ├── comparison solve time LF ZAM.png └── plot_solve_time.py ├── config_files ├── config_CA_ZAM_Over-1_1.yaml ├── config_LF_USA_Lanker-2_18_T-1.yaml ├── config_LF_ZAM_Over-1_1.yaml └── config_USA_Lanker-2_18_T-1.yaml ├── figures_USA_Lanker-2_18_T-1 ├── temp0.png ├── temp1.png ├── temp10.png ├── temp100.png ├── temp101.png ├── temp102.png ├── temp103.png ├── temp104.png ├── temp105.png ├── temp106.png ├── temp107.png ├── temp108.png ├── temp109.png ├── temp11.png ├── temp110.png ├── temp111.png ├── temp112.png ├── temp113.png ├── temp114.png ├── temp115.png ├── temp116.png ├── temp117.png ├── temp118.png ├── temp119.png ├── temp12.png ├── temp120.png ├── temp121.png ├── temp122.png ├── temp123.png ├── temp124.png ├── temp125.png ├── temp126.png ├── temp127.png ├── temp128.png ├── temp129.png ├── temp13.png ├── temp130.png ├── temp131.png ├── temp132.png ├── temp133.png ├── temp134.png ├── temp135.png ├── temp136.png ├── temp137.png ├── temp138.png ├── temp139.png ├── temp14.png ├── temp140.png ├── temp141.png ├── temp142.png ├── temp143.png ├── temp144.png ├── temp145.png ├── temp146.png ├── temp147.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp30.png ├── temp31.png ├── temp32.png ├── temp33.png ├── temp34.png ├── temp35.png ├── temp36.png ├── temp37.png ├── temp38.png ├── temp39.png ├── temp4.png ├── temp40.png ├── temp41.png ├── temp42.png ├── temp43.png ├── temp44.png ├── temp45.png ├── temp46.png ├── temp47.png ├── temp48.png ├── temp49.png ├── temp5.png ├── temp50.png ├── temp51.png ├── temp52.png ├── temp53.png ├── temp54.png ├── temp55.png ├── temp56.png ├── temp57.png ├── temp58.png ├── temp59.png ├── temp6.png ├── temp60.png ├── temp61.png ├── temp62.png ├── temp63.png ├── temp64.png ├── temp65.png ├── temp66.png ├── temp67.png ├── temp68.png ├── temp69.png ├── temp7.png ├── temp70.png ├── temp71.png ├── temp72.png ├── temp73.png ├── temp74.png ├── temp75.png ├── temp76.png ├── temp77.png ├── temp78.png ├── temp79.png ├── temp8.png ├── temp80.png ├── temp81.png ├── temp82.png ├── temp83.png ├── temp84.png ├── temp85.png ├── temp86.png ├── temp87.png ├── temp88.png ├── temp89.png ├── temp9.png ├── temp90.png ├── temp91.png ├── temp92.png ├── temp93.png ├── temp94.png ├── temp95.png ├── temp96.png ├── temp97.png ├── temp98.png └── temp99.png ├── figures_casadi_USA_Lanker-2_18_T-1_lane_following ├── temp0.png ├── temp1.png ├── temp10.png ├── temp11.png ├── temp12.png ├── temp13.png ├── temp14.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp30.png ├── temp31.png ├── temp32.png ├── temp33.png ├── temp34.png ├── temp35.png ├── temp36.png ├── temp37.png ├── temp38.png ├── temp39.png ├── temp4.png ├── temp40.png ├── temp41.png ├── temp42.png ├── temp43.png ├── temp44.png ├── temp45.png ├── temp46.png ├── temp47.png ├── temp48.png ├── temp49.png ├── temp5.png ├── temp50.png ├── temp51.png ├── temp52.png ├── temp53.png ├── temp54.png ├── temp55.png ├── temp56.png ├── temp57.png ├── temp58.png ├── temp59.png ├── temp6.png ├── temp60.png ├── temp61.png ├── temp62.png ├── temp63.png ├── temp64.png ├── temp65.png ├── temp66.png ├── temp67.png ├── temp68.png ├── temp69.png ├── temp7.png ├── temp8.png └── temp9.png ├── figures_casadi_ZAM_Over-1_1_collision_avoidance ├── temp0.png ├── temp1.png ├── temp10.png ├── temp11.png ├── temp12.png ├── temp13.png ├── temp14.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp4.png ├── temp5.png ├── temp6.png ├── temp7.png ├── temp8.png └── temp9.png ├── figures_casadi_ZAM_Over-1_1_lane_following ├── temp0.png ├── temp1.png ├── temp10.png ├── temp11.png ├── temp12.png ├── temp13.png ├── temp14.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp4.png ├── temp5.png ├── temp6.png ├── temp7.png ├── temp8.png └── temp9.png ├── figures_forcespro_USA_Lanker-2_18_T-1_lane_following ├── temp0.png ├── temp1.png ├── temp10.png ├── temp11.png ├── temp12.png ├── temp13.png ├── temp14.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp30.png ├── temp31.png ├── temp32.png ├── temp33.png ├── temp34.png ├── temp35.png ├── temp36.png ├── temp37.png ├── temp38.png ├── temp39.png ├── temp4.png ├── temp40.png ├── temp41.png ├── temp42.png ├── temp43.png ├── temp44.png ├── temp45.png ├── temp46.png ├── temp47.png ├── temp48.png ├── temp49.png ├── temp5.png ├── temp50.png ├── temp51.png ├── temp52.png ├── temp53.png ├── temp54.png ├── temp55.png ├── temp56.png ├── temp57.png ├── temp58.png ├── temp59.png ├── temp6.png ├── temp60.png ├── temp61.png ├── temp62.png ├── temp63.png ├── temp64.png ├── temp65.png ├── temp66.png ├── temp67.png ├── temp68.png ├── temp69.png ├── temp7.png ├── temp8.png └── temp9.png ├── figures_forcespro_ZAM_Over-1_1 ├── temp0.png ├── temp1.png ├── temp10.png ├── temp11.png ├── temp12.png ├── temp13.png ├── temp14.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp4.png ├── temp5.png ├── temp6.png ├── temp7.png ├── temp8.png └── temp9.png ├── figures_forcespro_ZAM_Over-1_1_collision_avoidance ├── temp0.png ├── temp1.png ├── temp10.png ├── temp11.png ├── temp12.png ├── temp13.png ├── temp14.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp4.png ├── temp5.png ├── temp6.png ├── temp7.png ├── temp8.png └── temp9.png ├── figures_forcespro_ZAM_Over-1_1_lane_following ├── temp0.png ├── temp1.png ├── temp10.png ├── temp11.png ├── temp12.png ├── temp13.png ├── temp14.png ├── temp15.png ├── temp16.png ├── temp17.png ├── temp18.png ├── temp19.png ├── temp2.png ├── temp20.png ├── temp21.png ├── temp22.png ├── temp23.png ├── temp24.png ├── temp25.png ├── temp26.png ├── temp27.png ├── temp28.png ├── temp29.png ├── temp3.png ├── temp4.png ├── temp5.png ├── temp6.png ├── temp7.png ├── temp8.png └── temp9.png ├── gif_USA_Lanker-2_18_T-1.gif ├── gif_casadi_USA_Lanker-2_18_T-1_lane_following.gif ├── gif_casadi_ZAM_Over-1_1_collision_avoidance.gif ├── gif_casadi_ZAM_Over-1_1_lane_following.gif ├── gif_forcespro_USA_Lanker-2_18_T-1_lane_following.gif ├── gif_forcespro_ZAM_Over-1_1_collision_avoidance.gif ├── gif_forcespro_ZAM_Over-1_1_lane_following.gif └── test_mpc_planner.py /.gitignore: -------------------------------------------------------------------------------- 1 | # ignore dir 2 | 3 | /Archive 4 | /.idea 5 | /test/FORCESNLPsolver 6 | /test/Archive_Results 7 | /MPC_Planner/__pycache__ 8 | /MPC_Planner/.idea 9 | 10 | # ignore file 11 | *.log 12 | *.forces 13 | /MPC_Planner/comment_tool.sh 14 | -------------------------------------------------------------------------------- /IMG/Forcespro_Variants.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/IMG/Forcespro_Variants.png 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| matplotlib>=3.4.3 2 | numpy>=1.21.5 3 | cvxpy>=1.1.17 4 | ecos>=2.0.7 5 | casadi>=3.5.1 6 | commonroad-io>=2021.3 7 | commonroad-vehicle-models>=2.0.0 8 | commonroad-route-planner>=1.0.0 9 | commonroad-drivability-checker>=2021.1 10 | 11 | -------------------------------------------------------------------------------- /test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_control_inputs.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_control_inputs.png -------------------------------------------------------------------------------- /test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_deviation.png: 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/test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_solve_time.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/2D_plot_casadi_USA_Lanker-2_18_T-1_lane_following_solve_time.png -------------------------------------------------------------------------------- /test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/RMSD.txt: -------------------------------------------------------------------------------- 1 | 4.064614106537208782e-01 2 | 1.669657431240900436e-01 3 | -------------------------------------------------------------------------------- /test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/deviation.txt: -------------------------------------------------------------------------------- 1 | 1.519549272930358630e-01 2 | 2.119164842157188200e-01 3 | 2.628681924597024988e-01 4 | 3.181548376231972397e-01 5 | 3.644668955575769420e-01 6 | 3.910561057458275536e-01 7 | 3.901130732605664897e-01 8 | 3.579679573502566603e-01 9 | 3.076257482901263995e-01 10 | 2.531186697175952793e-01 11 | 1.863469567110290215e-01 12 | 1.137638643044655562e-01 13 | 4.813067797561784711e-02 14 | 1.981207213623971744e-02 15 | 7.306230504592879649e-02 16 | 1.229609604621896279e-01 17 | 1.707800640198745001e-01 18 | 2.280006296592051729e-01 19 | 3.320425540390518071e-01 20 | 4.325460667104683576e-01 21 | 4.438890384529704525e-01 22 | 3.613324370426756471e-01 23 | 1.800146265309371940e-01 24 | 5.698330990820579811e-02 25 | 1.950375730477752201e-01 26 | 2.705396869025462059e-01 27 | 2.789557619992289461e-01 28 | 2.301933601323180589e-01 29 | 1.432196225301167469e-01 30 | 2.792449288908525201e-02 31 | 9.741136554267684766e-02 32 | 2.035873180037319208e-01 33 | 2.832052877262158930e-01 34 | 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9.821108361705843670e-02 68 | 8.059163351702215358e-03 69 | 7.175777404244880475e-02 70 | 1.060761807312302629e-01 71 | -------------------------------------------------------------------------------- /test/2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/solve time.txt: -------------------------------------------------------------------------------- 1 | 4.305315017700195312e-02 2 | 6.883811950683593750e-02 3 | 4.041361808776855469e-02 4 | 5.115365982055664062e-02 5 | 4.325866699218750000e-02 6 | 3.561329841613769531e-02 7 | 3.617978096008300781e-02 8 | 3.672194480895996094e-02 9 | 3.492641448974609375e-02 10 | 3.661179542541503906e-02 11 | 3.513908386230468750e-02 12 | 3.313469886779785156e-02 13 | 3.277063369750976562e-02 14 | 3.929758071899414062e-02 15 | 3.485679626464843750e-02 16 | 3.891324996948242188e-02 17 | 3.339409828186035156e-02 18 | 3.756093978881835938e-02 19 | 4.404854774475097656e-02 20 | 3.961539268493652344e-02 21 | 3.733730316162109375e-02 22 | 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-------------------------------------------------------------------------------- 1 | 6.248544669610225921e-02 2 | 6.248498144442699020e-02 3 | 2.916283973628362725e-02 4 | 1.289323106425043115e-02 5 | 3.408155940121233157e-02 6 | 4.924104271731459537e-02 7 | 1.292691028432855008e-02 8 | 1.321268281742718209e-01 9 | 3.141258455759395884e-01 10 | 5.841272662798304705e-01 11 | 9.275864660940642548e-01 12 | 1.346122585283139550e+00 13 | 1.813201192229270564e+00 14 | 2.275829833144946246e+00 15 | 2.674495814458808240e+00 16 | 2.938211255643332631e+00 17 | 3.011365210282780591e+00 18 | 2.892128700666263263e+00 19 | 2.650990601760321308e+00 20 | 2.345934485097239897e+00 21 | 2.031664582311805134e+00 22 | 1.732735433789635016e+00 23 | 1.454893365611824807e+00 24 | 1.199644792012604100e+00 25 | 9.631875835048505641e-01 26 | 7.448337271762831557e-01 27 | 5.384462706628169171e-01 28 | 3.520195906447680656e-01 29 | 1.820817264470682428e-01 30 | 1.966903390643579344e-02 31 | -------------------------------------------------------------------------------- /test/2D_plots_casadi_ZAM_Over-1_1_collision_avoidance/solve time.txt: -------------------------------------------------------------------------------- 1 | 1.381881237030029297e-01 2 | 4.776287078857421875e-02 3 | 3.550124168395996094e-02 4 | 3.959059715270996094e-02 5 | 3.878617286682128906e-02 6 | 3.960824012756347656e-02 7 | 3.960037231445312500e-02 8 | 4.049015045166015625e-02 9 | 3.748655319213867188e-02 10 | 3.776669502258300781e-02 11 | 3.984355926513671875e-02 12 | 4.067468643188476562e-02 13 | 3.896141052246093750e-02 14 | 3.912472724914550781e-02 15 | 1.056144237518310547e-01 16 | 3.858995437622070312e-02 17 | 3.755450248718261719e-02 18 | 3.530931472778320312e-02 19 | 3.673768043518066406e-02 20 | 3.759741783142089844e-02 21 | 4.736208915710449219e-02 22 | 4.166889190673828125e-02 23 | 4.264116287231445312e-02 24 | 4.007887840270996094e-02 25 | 4.049134254455566406e-02 26 | 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/test/2D_plots_forcespro_USA_Lanker-2_18_T-1_lane_following/2D_plot_forcespro_USA_Lanker-2_18_T-1_lane_following_solve_time.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/test/2D_plots_forcespro_USA_Lanker-2_18_T-1_lane_following/2D_plot_forcespro_USA_Lanker-2_18_T-1_lane_following_solve_time.png -------------------------------------------------------------------------------- /test/2D_plots_forcespro_USA_Lanker-2_18_T-1_lane_following/RMSD.txt: -------------------------------------------------------------------------------- 1 | 4.812657621950139908e-01 2 | 6.009770551428773588e-01 3 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_USA_Lanker-2_18_T-1_lane_following/deviation.txt: -------------------------------------------------------------------------------- 1 | 1.519549272930358630e-01 2 | 2.076641292563886632e-01 3 | 2.688501375988737174e-01 4 | 3.259701649370858045e-01 5 | 3.683145752815003560e-01 6 | 3.896543005957249228e-01 7 | 3.626167250059888492e-01 8 | 3.194695865078544528e-01 9 | 2.713123256223408664e-01 10 | 2.125665334965814168e-01 11 | 1.489231742195473995e-01 12 | 9.795187353445553025e-02 13 | 6.582677991351494617e-02 14 | 9.212087439465719771e-03 15 | 3.863144886424062230e-02 16 | 8.906054614327137131e-02 17 | 1.692419628091576256e-01 18 | 2.942013660951497966e-01 19 | 3.712552762424835007e-01 20 | 3.665006068011292251e-01 21 | 2.800771038823106629e-01 22 | 9.845454992425747842e-02 23 | 1.014902192922312041e-01 24 | 1.952136245375400980e-01 25 | 2.432504651911392979e-01 26 | 2.342198512217350537e-01 27 | 1.798595005226060750e-01 28 | 1.029414126477519870e-01 29 | 3.660499554792789184e-02 30 | 1.347769369984712640e-01 31 | 2.312044651143370377e-01 32 | 2.918277877701079825e-01 33 | 3.343602043664196666e-01 34 | 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2.835892369571382243e-01 68 | 2.608007323441766112e-01 69 | 2.361887558600410664e-01 70 | 2.147405201302320099e-01 71 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_USA_Lanker-2_18_T-1_lane_following/solve time.txt: -------------------------------------------------------------------------------- 1 | 2.441295999999999917e-03 2 | 1.966299999999999819e-03 3 | 2.175981999999999916e-03 4 | 2.503008000000000143e-03 5 | 2.155891999999999965e-03 6 | 2.224973999999999789e-03 7 | 2.197314000000000125e-03 8 | 2.405504000000000149e-03 9 | 2.083211000000000177e-03 10 | 2.224349999999999938e-03 11 | 2.318591000000000055e-03 12 | 2.363824000000000047e-03 13 | 2.131919999999999822e-03 14 | 2.218842999999999857e-03 15 | 2.101485000000000158e-03 16 | 2.145105999999999923e-03 17 | 2.367831999999999836e-03 18 | 2.158667999999999872e-03 19 | 2.012494000000000088e-03 20 | 2.020749000000000069e-03 21 | 2.025294999999999873e-03 22 | 2.049462000000000159e-03 23 | 2.433654999999999846e-03 24 | 2.572233000000000158e-03 25 | 2.334068999999999814e-03 26 | 2.557264999999999972e-03 27 | 2.194000000000000204e-03 28 | 2.155091000000000038e-03 29 | 2.149124000000000086e-03 30 | 2.965984999999999976e-03 31 | 2.440021000000000117e-03 32 | 2.629540999999999996e-03 33 | 2.631963000000000184e-03 34 | 2.849704000000000213e-03 35 | 2.953499999999999962e-03 36 | 2.553966999999999869e-03 37 | 2.155577000000000101e-03 38 | 2.365177999999999899e-03 39 | 2.108595000000000001e-03 40 | 2.300902999999999976e-03 41 | 2.736483999999999965e-03 42 | 2.536074000000000141e-03 43 | 2.224260000000000039e-03 44 | 2.491665000000000112e-03 45 | 2.309700000000000034e-03 46 | 2.765581000000000029e-03 47 | 2.881719000000000034e-03 48 | 2.548369999999999889e-03 49 | 2.493817000000000169e-03 50 | 2.607178999999999833e-03 51 | 2.487188999999999893e-03 52 | 2.882731999999999829e-03 53 | 2.279703000000000111e-03 54 | 2.377592999999999894e-03 55 | 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/test/2D_plots_forcespro_ZAM_Over-1_1_collision_avoidance/control inputs.txt: -------------------------------------------------------------------------------- 1 | 1.904210405504475900e-01 -1.140973451562346774e+01 2 | 3.586621890483950303e-01 -5.745639604583303139e+00 3 | 2.301024320401161560e-01 -1.101626792729049342e-01 4 | -4.255300536032763370e-01 8.099895574788021690e+00 5 | 4.169039269419706761e-02 3.580233962090697997e+00 6 | 5.633870479496466688e-02 -2.821634421868215448e+00 7 | -2.847031024750712458e-01 -8.669463144479382377e-01 8 | 2.107369118110571371e-01 -7.422208842492919345e+00 9 | -4.410195746386217919e-01 -2.443659951694672650e+00 10 | -3.735676515500296890e-01 -8.089788665869454221e+00 11 | -2.233649718535861764e-02 -3.519059894666461297e+00 12 | 3.651568940829454796e-02 1.899805788358992054e+00 13 | 4.281914189856617092e-01 1.062278046265335085e+01 14 | -2.021266634355550762e-01 9.880734118261027987e+00 15 | -3.405364194321318094e-01 9.773465784632174191e+00 16 | -8.029140898562342477e-02 9.828270771669108896e+00 17 | 5.446948313604881020e-02 6.286355986314374533e+00 18 | -3.607787238591678852e-02 5.089090277832719167e+00 19 | 6.139155633431950254e-02 2.710967326371037878e+00 20 | 3.121144363873782912e-01 3.722669114519178368e+00 21 | 1.658705282583533558e-02 3.376307342953074553e+00 22 | 1.912900373712215496e-01 -1.251319113104632841e+00 23 | 3.490751117164089257e-01 -7.381239383373428886e+00 24 | 1.119770334716182342e-02 -1.049244003055908259e+01 25 | -1.339381073907262021e-01 -9.827789033313745648e+00 26 | -5.144680778534916482e-02 -1.153665331746291578e+01 27 | -8.797600522064699669e-02 -1.142592157829776944e+01 28 | 8.894248959984035752e-02 -1.149255323228032211e+01 29 | -1.204475415396738525e-01 -1.142770135497774753e+01 30 | 9.559179409403796568e-02 -1.147182159024135295e+01 31 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_ZAM_Over-1_1_collision_avoidance/deviation.txt: -------------------------------------------------------------------------------- 1 | 6.248544669610225921e-02 2 | 6.787690539480757679e-03 3 | 3.564669576952014113e-02 4 | 1.408910795586047759e-01 5 | 3.101070674966629470e-01 6 | 5.491855854026994610e-01 7 | 8.412738563648651802e-01 8 | 1.182508019871658878e+00 9 | 1.545495597123818010e+00 10 | 1.927906766683627815e+00 11 | 2.289303605223562244e+00 12 | 2.592376515301634488e+00 13 | 2.838927413931830568e+00 14 | 3.048695177672655188e+00 15 | 3.252766170814500590e+00 16 | 3.429590323509023708e+00 17 | 3.528507943393417889e+00 18 | 3.520438772783338166e+00 19 | 3.396371895578957467e+00 20 | 3.150336786776873677e+00 21 | 2.794901929996516099e+00 22 | 2.370220074351549133e+00 23 | 1.898166869189993111e+00 24 | 1.427528442870225733e+00 25 | 1.017803514798469200e+00 26 | 6.727308240076483870e-01 27 | 3.747936923917659646e-01 28 | 1.232428173648884157e-01 29 | 1.447221670609283861e-01 30 | 3.601731641064863654e-01 31 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_ZAM_Over-1_1_collision_avoidance/solve time.txt: -------------------------------------------------------------------------------- 1 | 1.755919000000000100e-03 2 | 1.730858000000000049e-03 3 | 1.878885999999999968e-03 4 | 2.117472000000000017e-03 5 | 2.366701000000000134e-03 6 | 1.714491000000000062e-03 7 | 1.797273999999999964e-03 8 | 2.527089000000000158e-03 9 | 2.794972000000000168e-03 10 | 2.324357999999999893e-03 11 | 2.221578000000000094e-03 12 | 2.162074999999999848e-03 13 | 2.210458000000000214e-03 14 | 1.964009999999999975e-03 15 | 1.969848000000000172e-03 16 | 1.865684000000000049e-03 17 | 2.227488000000000124e-03 18 | 1.787544000000000069e-03 19 | 2.381859999999999967e-03 20 | 1.794154000000000061e-03 21 | 1.866894000000000019e-03 22 | 2.032284000000000087e-03 23 | 2.020539000000000016e-03 24 | 2.409589000000000175e-03 25 | 1.773657000000000098e-03 26 | 1.752014000000000089e-03 27 | 1.822178000000000036e-03 28 | 1.787326000000000106e-03 29 | 1.769565999999999978e-03 30 | 1.784629999999999940e-03 31 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_ZAM_Over-1_1_lane_following/2D_plot_forcespro_ZAM_Over-1_1_lane_following_control_inputs.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/test/2D_plots_forcespro_ZAM_Over-1_1_lane_following/2D_plot_forcespro_ZAM_Over-1_1_lane_following_control_inputs.png -------------------------------------------------------------------------------- /test/2D_plots_forcespro_ZAM_Over-1_1_lane_following/2D_plot_forcespro_ZAM_Over-1_1_lane_following_deviation.png: -------------------------------------------------------------------------------- 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5.300424474282224629e+00 4 | 2.870341276299350208e-01 1.149091343792012765e+01 5 | 3.527585825231629446e-01 6.050637369110789976e+00 6 | 4.068313641067188846e-01 5.705498406419239110e+00 7 | -2.903950089050760797e-01 -5.555962152482433858e+00 8 | -3.274789561495605739e-01 -8.145109131205755304e+00 9 | -9.596713518707564172e-02 -8.307169932618526431e+00 10 | -2.909522788050659670e-01 -6.507927994642771274e+00 11 | 3.909618780410949457e-01 -5.453139192504711019e+00 12 | -3.720701714829006690e-01 -7.483722820204580906e+00 13 | 3.052736169009530043e-01 -3.918096935650198454e+00 14 | -1.999454484997248149e-01 -5.260779957055245148e+00 15 | 2.752520248435079697e-01 -1.828085636585799367e+00 16 | 3.483801029755452250e-01 -4.867301125297033515e+00 17 | -3.248181651380157575e-01 -2.271243345509617040e+00 18 | 3.221700809010162314e-01 -5.572727836543094782e+00 19 | -4.245902157218249817e-01 -2.192526973627070941e+00 20 | 3.251952481665783545e-01 -6.949479090264969905e+00 21 | 1.941604217966619028e-01 -3.850862336462027802e+00 22 | -2.922166789126943165e-01 -1.885586156281257253e+00 23 | 2.928928598631275887e-02 -4.595827558660298351e+00 24 | -4.978403760855767968e-02 -6.782992006234186633e+00 25 | 1.068164233231240212e-01 -7.880512419905189248e+00 26 | -4.813649174230830718e-01 -9.348933959030343743e+00 27 | 3.709521745762096034e-01 -1.117514828856630871e+01 28 | -2.715243356364434590e-01 -1.131025016351894941e+01 29 | 4.989885024612282505e-02 -1.157120793947454374e+01 30 | 3.416201661109215248e-02 -1.159513996510274048e+01 31 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_ZAM_Over-1_1_lane_following/deviation.txt: -------------------------------------------------------------------------------- 1 | 6.248544669610225921e-02 2 | 3.848016427936121198e-02 3 | 5.608426153415696502e-02 4 | 4.832479626072136436e-02 5 | 6.062309847878962626e-02 6 | 1.333988840821605515e-01 7 | 1.909720676852799670e-01 8 | 1.483438445123076710e-01 9 | 3.085169135682290509e-02 10 | 7.818990956427615546e-02 11 | 1.501869956604929557e-01 12 | 1.666479045077496890e-01 13 | 1.627378953594500743e-01 14 | 1.070612383540855000e-01 15 | 5.070797126652477893e-02 16 | 8.443246587243018186e-02 17 | 1.924987989797518340e-01 18 | 2.725718248413657729e-01 19 | 3.330299757941337369e-01 20 | 3.705720216688866975e-01 21 | 4.067973684829093717e-01 22 | 4.188080013346214270e-01 23 | 3.966727121912889675e-01 24 | 3.570674979445813135e-01 25 | 3.070874414535222918e-01 26 | 2.476580474484919026e-01 27 | 1.846843126971314253e-01 28 | 1.439074625982628142e-01 29 | 8.827374963267659025e-02 30 | 5.259066198794612457e-02 31 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_ZAM_Over-1_1_lane_following/planned states.txt: -------------------------------------------------------------------------------- 1 | 2.999480000000000146e+01 -1.150099999999999900e+00 0.000000000000000000e+00 2.000000000000000000e+01 3.495000000000000190e-02 2 | 3.201760212349799417e+01 -1.074763152223591867e+00 1.729890583722283603e-02 2.048422125828576412e+01 4.176643935827711873e-02 3 | 3.410522682602040589e+01 -9.779528889873374542e-01 -5.585569819607991149e-04 2.131327815084400967e+01 4.850187677939890585e-02 4 | 3.626106940804309176e+01 -8.864774812180746810e-01 -4.233288479939228965e-02 2.184332059827223205e+01 3.048084096477974084e-02 5 | 3.850249556553827546e+01 -8.499671985077343894e-01 -1.362947203639878688e-02 2.299241194206424410e+01 6.256125769277760817e-03 6 | 4.083193798871570834e+01 -8.372820021798140777e-01 2.164638621591750620e-02 2.359747567897532150e+01 9.946279995792272136e-03 7 | 4.321921214196821381e+01 -7.744960801186893118e-01 6.232952262658938980e-02 2.416802551961724532e+01 4.893380340124885153e-02 8 | 4.560159868535038896e+01 -5.993851472061415553e-01 3.329002173608178183e-02 2.361242930436900167e+01 9.331241140855693617e-02 9 | 4.790967889674558933e+01 -3.598194258910767385e-01 5.421261211257244472e-04 2.279791839124842667e+01 1.086226076927915285e-01 10 | 5.013501627631909230e+01 -1.197091231613620632e-01 -9.054587397581838337e-03 2.196720139798657456e+01 1.049543068336988433e-01 11 | 5.228895547612731320e+01 9.013095419725072888e-02 -3.814981527808843087e-02 2.131640859852229752e+01 8.520388063633763109e-02 12 | 5.438739177678786518e+01 2.476370842453878840e-01 9.463725260210678614e-04 2.077109467927182607e+01 6.995239399397727709e-02 13 | 5.642268466932316073e+01 3.810714554158018408e-01 -3.626064462226900181e-02 2.002272239725136771e+01 5.607411884921328915e-02 14 | 5.840323728700622752e+01 4.722904961304724702e-01 -5.733282932173698609e-03 1.963091270368634866e+01 3.988924537014257310e-02 15 | 6.033880729061698389e+01 5.405483108962152450e-01 -2.572782778214617941e-02 1.910483470798082450e+01 2.810808346436809851e-02 16 | 6.223967861746277208e+01 5.823689421150218815e-01 1.797374702204618258e-03 1.892202614432224550e+01 1.926929548279358861e-02 17 | 6.410697917662446343e+01 6.273773494903941428e-01 3.663538499975914353e-02 1.843529603179254295e+01 3.313572162168712532e-02 18 | 6.593748923502448633e+01 7.048869424977960430e-01 4.153568485957569167e-03 1.820817169724158191e+01 4.765199226149346295e-02 19 | 6.772792318572057013e+01 7.995107714228125717e-01 3.637057657605918815e-02 1.765089891358727314e+01 6.168402281551001176e-02 20 | 6.947782709384986788e+01 9.208982619686018056e-01 -6.088444996123314190e-03 1.743164621622456778e+01 7.201511466365349834e-02 21 | 7.118161643645778724e+01 1.046442646180786529e+00 2.643107982053452543e-02 1.673669830719807194e+01 7.868095492491221365e-02 22 | 7.282941204537084445e+01 1.193861615364587569e+00 4.584712200020071848e-02 1.635161207355186974e+01 1.018514254609572123e-01 23 | 7.444470149754761223e+01 1.377573641239857816e+00 1.662545410893128892e-02 1.616305345792374482e+01 1.215682530260444316e-01 24 | 7.602518651767269375e+01 1.579387943265068595e+00 1.955438270756256619e-02 1.570347070205771445e+01 1.327415990766283582e-01 25 | 7.754698868454306648e+01 1.790861371918938127e+00 1.457597894670679788e-02 1.502517150143429525e+01 1.429204000525591545e-01 26 | 7.899408923312219599e+01 2.006686964329520872e+00 2.525762127901919757e-02 1.423712025944377579e+01 1.541943430603357201e-01 27 | 8.035417300955081998e+01 2.221611280737007199e+00 -2.287887046328910406e-02 1.330222686354074213e+01 1.549749595814109149e-01 28 | 8.161376360698025678e+01 2.414956923563720270e+00 1.421634699433185073e-02 1.218471203468411090e+01 1.527004748969248982e-01 29 | 8.276194675107326759e+01 2.593087010645047652e+00 -1.293608656931249587e-02 1.105368701833221579e+01 1.530881417639803066e-01 30 | 8.379757226397552472e+01 2.750442687397776531e+00 -7.946201544700213712e-03 9.896566224384761412e+00 1.488282955419717724e-01 31 | -------------------------------------------------------------------------------- /test/2D_plots_forcespro_ZAM_Over-1_1_lane_following/solve time.txt: -------------------------------------------------------------------------------- 1 | 2.517637000000000087e-03 2 | 2.251470000000000207e-03 3 | 2.471370000000000077e-03 4 | 2.553419999999999822e-03 5 | 2.363809000000000136e-03 6 | 3.002496999999999805e-03 7 | 2.970155999999999838e-03 8 | 2.780021000000000141e-03 9 | 2.597856999999999857e-03 10 | 2.882852999999999891e-03 11 | 2.655835000000000053e-03 12 | 2.894929999999999986e-03 13 | 3.312569999999999924e-03 14 | 3.198017000000000047e-03 15 | 3.048326000000000074e-03 16 | 2.736919999999999891e-03 17 | 2.874726000000000191e-03 18 | 2.746661000000000068e-03 19 | 3.406464000000000106e-03 20 | 3.216071000000000034e-03 21 | 2.545551999999999971e-03 22 | 3.013474999999999834e-03 23 | 3.008787000000000180e-03 24 | 3.385219999999999983e-03 25 | 2.584844000000000204e-03 26 | 2.570852000000000206e-03 27 | 2.609262000000000213e-03 28 | 2.703275000000000209e-03 29 | 2.407218999999999939e-03 30 | 2.562850000000000197e-03 31 | -------------------------------------------------------------------------------- /test/comparison_solve_time/comparison solve time CA ZAM.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/test/comparison_solve_time/comparison solve time CA ZAM.png -------------------------------------------------------------------------------- /test/comparison_solve_time/comparison solve time LF USA.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/test/comparison_solve_time/comparison solve time LF USA.png -------------------------------------------------------------------------------- /test/comparison_solve_time/comparison solve time LF ZAM.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZeZhan/Motion-Planning-Using-Model-Predictive-Control/33e2955cfb50d4f727dd7e3354500a790bdc374b/test/comparison_solve_time/comparison solve time LF ZAM.png -------------------------------------------------------------------------------- /test/comparison_solve_time/plot_solve_time.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import matplotlib.pyplot as plt 3 | 4 | solver_time_forcespro_ZAM_LF = np.loadtxt("../2D_plots_forcespro_ZAM_Over-1_1_lane_following/solve time.txt") 5 | solver_time_casadi_ZAM_LF = np.loadtxt("../2D_plots_casadi_ZAM_Over-1_1_lane_following/solve time.txt") 6 | solver_time_forcespro_ZAM_CA = np.loadtxt("../2D_plots_forcespro_ZAM_Over-1_1_collision_avoidance/solve time.txt") 7 | solver_time_casadi_ZAM_CA = np.loadtxt("../2D_plots_casadi_ZAM_Over-1_1_collision_avoidance/solve time.txt") 8 | solver_time_forcespro_USA_LF = np.loadtxt("../2D_plots_forcespro_USA_Lanker-2_18_T-1_lane_following/solve time.txt") 9 | solver_time_casadi_USA_LF = np.loadtxt("../2D_plots_casadi_USA_Lanker-2_18_T-1_lane_following/solve time.txt") 10 | 11 | plt.figure() 12 | plt.plot(np.arange(30), solver_time_forcespro_ZAM_LF*1000, color='b', label="Forcespro computation time") 13 | plt.plot(np.arange(30), solver_time_casadi_ZAM_LF * 1000, color='g', label='CasADi computation time') 14 | plt.legend() 15 | plt.title('Computation time over iteration of lane following in ZAM_Over-1_1') 16 | plt.xlabel('iteration') 17 | plt.ylabel('Computation time [ms]') 18 | plt.savefig("comparison solve time LF ZAM") 19 | plt.show() 20 | 21 | plt.figure() 22 | plt.plot(np.arange(30), solver_time_forcespro_ZAM_CA*1000, color='b', label="Forcespro computation time") 23 | plt.plot(np.arange(30), solver_time_casadi_ZAM_CA * 1000, color='g', label='CasADi computation time') 24 | plt.legend() 25 | plt.title('Computation time over iteration of collision avoidance in ZAM_Over-1_1') 26 | plt.xlabel('iteration') 27 | plt.ylabel('Computation time [ms]') 28 | plt.savefig("comparison solve time CA ZAM") 29 | plt.show() 30 | 31 | plt.figure() 32 | plt.plot(np.arange(70), solver_time_forcespro_USA_LF*1000, color='b', label="Forcespro computation time") 33 | plt.plot(np.arange(70), solver_time_casadi_USA_LF * 1000, color='g', label='CasADi computation time') 34 | plt.legend() 35 | plt.title('Computation time over iteration of lane following in USA_Lanker-2_18_T-1') 36 | plt.xlabel('iteration') 37 | plt.ylabel('Computation time [ms]') 38 | plt.savefig("comparison solve time LF USA") 39 | 40 | plt.show() 41 | -------------------------------------------------------------------------------- /test/config_files/config_CA_ZAM_Over-1_1.yaml: -------------------------------------------------------------------------------- 1 | # add here the directory of commonroad-qp-planner 2 | scenario_settings: 3 | scenario_name: ZAM_Over-1_1 # set correct scenario name 4 | use_case: collision_avoidance # collision_avoidance or lane_following 5 | draw: True 6 | 7 | general_planning_settings: 8 | framework_name: casadi # set forcespro or casadi 9 | predict_horizon: 10 # (planning) horizon 10 | noised: True # check if there is noise 11 | 12 | 13 | vehicle_settings: 14 | 1: # planning problem ID from CommonRoad scenario file 15 | reference_point: rear # reference point of vehicle 16 | vehicle_model: parameters_vehicle2 # use the parameter of vehicle 2 17 | wheelbase: 2.578 18 | resampling_reference_path: True # resample the reference path 19 | 20 | weights_setting: 21 | # difficult to use same weights for collision avoidance regarding casadi and forcespro 22 | # please manually comment out following weight according to framework, which you choose above. 23 | 24 | # forcespro weights 25 | # weight_x: 2 # weights for penalty of x-axis position 2.3 26 | # weight_y: 2 # weights for penalty of y-axis position 2.3 27 | # weight_steering_angle: 50 # weights for penalty of steering angle 300 28 | # weight_velocity: 0.1 # weights for penalty of velocity 0.1 29 | # weight_heading_angle: 5 # weights for penalty of heading angle 5 30 | # weight_velocity_steering_angle: 2 # weights for penalty of first input: velocity of steering angle 0.8 31 | # weight_long_acceleration: 0.2 # weights for penalty of first input: longitudinal acceleration 0.8 32 | # weight_x_terminate: 4 # weights for penalty of x-axis position for terminate state 33 | # weight_y_terminate: 4 # weights for penalty of y-axis position for terminate state 34 | # weight_steering_angle_terminate: 100 # weights for penalty of steering angle for terminate state 35 | # weight_velocity_terminate: 0.2 # weights for penalty of velocity for terminate state 36 | # weight_heading_angle_terminate: 10 # weights for penalty of heading angle for terminate state 37 | 38 | # casadi weights 39 | weight_x: 2.3 # weights for penalty of x-axis position 2.3 40 | weight_y: 2.3 # weights for penalty of y-axis position 2.3 41 | weight_steering_angle: 500 # weights for penalty of steering angle 300 42 | weight_velocity: 0.1 # weights for penalty of velocity 0.1 43 | weight_heading_angle: 160 # weights for penalty of heading angle 5 44 | weight_velocity_steering_angle: 0.8 # weights for penalty of first input: velocity of steering angle 0.8 45 | weight_long_acceleration: 0.8 # weights for penalty of first input: longitudinal acceleration 0.8 46 | weight_x_terminate: 80 # weights for penalty of x-axis position for terminate state 47 | weight_y_terminate: 80 # weights for penalty of y-axis position for terminate state 48 | weight_steering_angle_terminate: 100 # weights for penalty of steering angle for terminate state 49 | weight_velocity_terminate: 0.01 # weights for penalty of velocity for terminate state 50 | weight_heading_angle_terminate: 110 # weights for penalty of heading angle for terminate state -------------------------------------------------------------------------------- /test/config_files/config_LF_USA_Lanker-2_18_T-1.yaml: -------------------------------------------------------------------------------- 1 | # add here the directory of commonroad-qp-planner 2 | scenario_settings: 3 | scenario_name: USA_Lanker-2_18_T-1 # for use case "collision avoidance" 4 | use_case: lane_following # collision_avoidance or lane_following 5 | draw: True 6 | 7 | general_planning_settings: 8 | framework_name: casadi # set forcespro or casadi 9 | predict_horizon: 10 # (planning) horizon 10 | noised: True # add if there is noise 11 | 12 | vehicle_settings: 13 | 21007: # planning problem ID from CommonRoad scenario file 14 | reference_point: rear # reference point of vehicle 15 | vehicle_model: parameters_vehicle2 # use the parameter of vehicle 2 16 | wheelbase: 2.578 17 | resampling_reference_path: True # resample the reference path 18 | 19 | weights_setting: 20 | weight_x: 200.0 # weights for penalty of x-axis position 3 21 | weight_y: 200.0 # weights for penalty of y-axis position 3 22 | weight_steering_angle: 150 # weights for penalty of steering angle 100 23 | weight_velocity: 150 # weights for penalty of velocity 1 24 | weight_heading_angle: 1 # weights for penalty of heading angle 10 25 | weight_velocity_steering_angle: 100 # weights for penalty of first input: velocity of steering angle 0.8 26 | weight_long_acceleration: 10 # weights for penalty of first input: longitudinal acceleration 0.8 27 | weight_x_terminate: 400 # weights for penalty of x-axis position for terminate state 2.3 28 | weight_y_terminate: 400 # weights for penalty of y-axis position for terminate state 2.3 29 | weight_steering_angle_terminate: 300 # weights for penalty of steering angle for terminate state 300 30 | weight_velocity_terminate: 300 # weights for penalty of velocity for terminate state 0.1 31 | weight_heading_angle_terminate: 2 # weights for penalty of heading angle for terminate state 5 32 | -------------------------------------------------------------------------------- /test/config_files/config_LF_ZAM_Over-1_1.yaml: -------------------------------------------------------------------------------- 1 | # add here the directory of commonroad-qp-planner 2 | scenario_settings: 3 | scenario_name: ZAM_Over-1_1_LF # set correct scenario name 4 | use_case: lane_following # collision_avoidance or lane_following 5 | draw: True 6 | 7 | general_planning_settings: 8 | framework_name: casadi # set forcespro or casadi 9 | predict_horizon: 10 # (planning) horizon 10 | noised: True # add if there is noise True or False 11 | 12 | vehicle_settings: 13 | 1: # planning problem ID from CommonRoad scenario file 14 | reference_point: rear # reference point of vehicle 15 | vehicle_model: parameters_vehicle2 # use the parameter of vehicle 2 16 | wheelbase: 2.578 17 | resampling_reference_path: True # resample the reference path 18 | 19 | weights_setting: 20 | weight_x: 2.3 # weights for penalty of x-axis position 1 21 | weight_y: 2.3 # weights for penalty of y-axis position 10 22 | weight_steering_angle: 500 # weights for penalty of steering angle 500 23 | weight_velocity: 0.1 # weights for penalty of velocity 0.1 24 | weight_heading_angle: 10 # weights for penalty of heading angle 10 25 | weight_velocity_steering_angle: 2 # weights for penalty of first input: velocity of steering angle 2 26 | weight_long_acceleration: 0.2 # weights for penalty of first input: longitudinal acceleration 0.2 27 | weight_x_terminate: 80 # weights for penalty of x-axis position for terminate state 2.3 28 | weight_y_terminate: 80 # weights for penalty of y-axis position for terminate state 2.3 29 | weight_steering_angle_terminate: 100 # weights for penalty of steering angle for terminate state 300 30 | weight_velocity_terminate: 0.1 # weights for penalty of velocity for terminate state 0.1 31 | weight_heading_angle_terminate: 100 # 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"config_files/config_CA_ZAM_Over-1_1.yaml" # config_LF_ZAM_Over-1_1.yaml or config_LF_USA_Lanker-2_18_T-1 or config_CA_ZAM_Over-1_1.yaml 17 | with open(config_name, 'r') as stream: 18 | try: 19 | self.settings = yaml.load(stream, Loader=yaml.Loader) 20 | except yaml.YAMLError as exc: 21 | print(exc) 22 | path_scenario = os.path.abspath(os.path.join(os.path.abspath(__file__), "../../scenarios/")) 23 | id_scenario = "/" + self.settings["scenario_settings"]["scenario_name"] + ".xml" 24 | self.scenario, self.planning_problem_set = CommonRoadFileReader(path_scenario + id_scenario).open() 25 | self.planning_problem = list(self.planning_problem_set.planning_problem_dict.values())[0] 26 | 27 | def test_mpc_optimizer(self): 28 | # configuration 29 | config = Configuration(self.settings, self.scenario, self.planning_problem).configuration 30 | mpc_planner = MPCPlanner(scenario=self.scenario, 31 | planning_problem=self.planning_problem, 32 | configuration=config, 33 | predict_horizon=self.settings["general_planning_settings"]["predict_horizon"]) 34 | 35 | ego_vehicle_trajectory, ego_vehicle = mpc_planner.plan() 36 | # create collision checker from scenario 37 | cc = create_collision_checker(self.scenario) 38 | # create ego vehicle collision object 39 | ego_vehicle_co = create_collision_object(ego_vehicle) 40 | # create the road boundary 41 | _, road_boundary = create_road_boundary_obstacle(self.scenario) 42 | # add road boundary to collision checker 43 | cc.add_collision_object(road_boundary) 44 | 45 | # check if ego vehicle collides 46 | res = cc.collide(ego_vehicle_co) 47 | print('Collision between the ego vehicle and the road boundary: %s' % res) 48 | 49 | 50 | if __name__ == '__main__': 51 | unittest.main() 52 | --------------------------------------------------------------------------------