furmulaone_source

Source repo for the car and track models

This is the private repo to hide the car and track models from entrants of the furmula one competition.

Objectives of the Project

• 2D top down driving game
• Driver inputs are:
  • Throttle position (0-1)
  • Braking position (0-1)
  • Steering wheel position (-720 to +720 deg)
  • Inputs are recieved via a local UDP socket.
• Track model:
  • Left hand extremity
  • Right hand extremity
  • One basic test track
  • One more complex test track
  • One event track
• Vehicle model
  • Simple bicycle model
  • Would be nice to add tyres to it
  • If the vehicle model collides with the track edge then velocities set to zero to penalise
  • May need to provide this as a standalone model (minus the LIDAR).
• Vehicle sensors
  • Forward-facing, left-facing, right-facing LIDAR
    • Each LIDAR has X number of rays
    • User can chose the FOV, and therefore the ray density of each
    • User could move/slow scan the LIDARS? Maybe not straight away.
  • Vehicle sensors will be sent back via a UDP socket
    • LIDAR
    • WSS
    • Velocity?
    • gLong/gLat
    • Heading (global)
    • Slip angle
  • Perfect sensors will be given in dev mode. Noise will be added for race time, maybe an intermediate step needed with some noise.

So what do we need

• Classes
  • Ray
    • Contains a point and direction of the ray
    • Needs to be pointing relative to the vehicle
    • Therefore direction must be updated based on heading
    • Needs a function to intersect with a line segment
  • Vehicle collision
    • Contains four rays - one pointing to each of the four corners of the car
    • Needs a has_collided method, this checks is the ray collides with a line segment that is equal to or closer than the vehicle extremitiy
  • Lidars
    • Needs a direction relative to the vehicle forward vector
    • Needs a FOV (limit, say 20-120 deg)
    • Needs a static no. rays (say 20)
    • Create array of rays pointing relative to vehicle + direction offset + FOV offset.
    • Feeds back an array of intersect points
    • Needs the ability to turn on sensor noise (and degree of sensor noise)
  • Track
    • Track is made from two sets of line segments; LH and RH extremities
    • Track needs a method to return the X number of closest line segments, (based on sLap?)
    • Needs a start finish line (and sector lines?) for timing.
    • Fixed MU value
    • Track is on a flat plane
  • Vehicle model
    • Bicycle
    • Inputs; throttle, brake, steering
    • Needs a torque curve (assume EV, RWD, no TV, open diff)
    • Steering ratio needed to turn steering wheel into front wheel steering angle
    • Braking will apply a negative torque 50/50 to front and rear
    • Traction control?
    • Vehicle parameters; wheelbase, cog position, mass, track (for collision only), tyre ellipse, aero and rolling resistance
    • States of interest; vVehicle, gLat, gLont, nWheelF, nWheelR, aHeading, nYaw, aSlipBody, rSlipTyre?
    • Needs three LIDAR objects, one on front, one of left and one on right. Limit the nom LIDAR angles to +/- X deg of each direction (i.e. Left must be pointing left to within +/- X deg).
  • Visualiser
    • Draw the track
    • Draw the vehicle
    • Draw the LIDARS if turned on
  • Socket
    • Two comms, in and out
    • In needs to read driver inputs and send to vehicle model
    • Out needs to read vehicle states and LIDARS and send to driver