Python implementation of an automatic parallel parking system in a virtual environment, including path planning, path tracking, and parallel parking

Overview

Automatic Parallel Parking: Path Planning, Path Tracking & Control

This repository contains a python implementation of an automatic parallel parking system in a virtual environment that includes path planning, path tracking, and parallel parking. The agent navigates its route through the environment and is directed to the assigned park location by the MPC controller. You can find the article on Towards Data Science.

Envroinment

The first step to develop an auto park system is to design and develop an environment capable of giving visual render using OpenCV library. The environment is implemented in environment.py as a class and receives obstacles at the beginning env = Environment(obs). The agent can be placed using env.render(x,y,angle). A sample of the environment is displayed below. You can choose the parking spot from 1 to 24.

developed environment

Path Planning

A* Algorithm

The agent will find a path from start to its goal using A*. This implementation of A* from PythonRobotics considers parameters like obstacles and robot radius.

Interpolating Path With B-spline

After finding a path in a discrete 100*100 space, the path is smoothed and scaled to 1000*1000 space of environment using b-spline. The result is a set of points to guide our agent!

Path Tracking

The kinematic model of the car is:

x' = v . cos(ψ)
y' = v . sin(ψ)
v' = a
ψ' = v . tan(δ)/L

a: acceleration, δ: steering angle, ψ: yaw angle, L: wheelbase, x: x-position, y: y-position, v: velocity

The state vector is:

z=[x,y,v,ψ]

x: x-position, y: y-position, v: velocity, ψ: yaw angle

The input vector is:

u=[a,δ]

a: acceleration, δ: steering angle

Control

The MPC controller controls vehicle speed and steering based on the model and the car is directed through the path. There is an option for using the linearized model for MPC. In this case MPC linearizes the kinematic model around the operating point and then does the optimization.

Parallel Parking

This part consists of 4 rules that the agent must choose according to parking position. At first, the agent will find a path to park position then it will compute the arriving angle. Based on the arriving angle, the agent chooses a coordinate as ensure1. After that, the parking path is planned from ensure1 to ensure2 using 2 circle equations as mentioned below. MPC controls the agent and car parks in ensure2 coordinate.

automatic_parking_process

Inference

Run the code using this command:

$ python main_autopark.py --x_start 0 --y_start 90 --psi_start 0 --parking 7

About Us

We as Team Pandas won 1st place in the National Rahneshan competition 2020-2021 for autonomous vehicles. This contest has been one of the most competitive and challenging contests in the Rahneshan tournaments with more than 15 teams competing from top universities in Iran.

Contact

Feel free to contact us via email or connect with us on linkedin.

You might also like...
This is a practice on Airflow, which is building virtual env, installing Airflow and constructing data pipeline (DAGs)

airflow-test This is a practice on Airflow, which is Builing virtualbox env and setting Airflow on that env Installing Airflow using python virtual en

🤖🤖 Jarvis is an virtual assistant which can some tasks easy for you like surfing on web opening an app and much more... 🤖🤖

Jarvis 🤖 🤖 Jarvis is an virtual assistant which can some tasks easy for you like surfing on web opening an app and much more... 🤖 🤖 Developer : su

Find virtual hosts (vhosts) from IP addresses and hostnames

Features Enumerate vhosts from a list of IP addresses and domain names. Virtual Hosts are enumerated using the following process: Supplied domains are

A modern python module including many useful features that make discord bot programming extremely easy.

discord-super-utils Documentation Secondary Documentation A modern python module including many useful features that make discord bot programming extr

This is a vscode extension with a Virtual Assistant that you can play with when you are bored or you need help..

VS Code Virtual Assistant This is a vscode extension with a Virtual Assistant that you can play with when you are bored or you need help. Its currentl

TeamFleming is a multicultural group of 20 young bioinformatics enthusiasts participating in the 2021 HackBio Virtual Summer Internship
TeamFleming is a multicultural group of 20 young bioinformatics enthusiasts participating in the 2021 HackBio Virtual Summer Internship

💻 Welcome to Team Fleming's Repo! #TeamFleming is a multicultural group of 20 young bioinformatics enthusiasts participating in the 2021 HackBio Virt

Automatically deletes Capital One Eno virtual cards for when you've made a couple too many.

eno-delete Automatically deletes Capital One Eno virtual cards for when you've made a couple too many. Warning: Program will delete ALL virtual cards

 JPMC Virtual Experience
JPMC Virtual Experience

This repository contains the submitted patch files along with raw files of the various tasks assigned by JPMorgan Chase & Co. through its Software Engineering Virtual Experience Program on Forage (formerly Inside Shepra).

A webdav demo using a virtual filesystem that serves a random status of whether a cat in a box is dead or alive.

A webdav demo using a virtual filesystem that serves a random status of whether a cat in a box is dead or alive.

Comments
  • Question about vehicle length

    Question about vehicle length

    Thank you for your work. I have question about vehicle length. length=4 in https://github.com/Pandas-Team/Automatic-Parking/blob/master/CAR%20kinematic%20model/main_autopark.py#L53. But is it better to be length=5 because wheelbase is 50 in 1000 coordinates (https://github.com/Pandas-Team/Automatic-Parking/blob/master/CAR%20kinematic%20model/environment.py#L12) and 5 in 100 coordinates

    opened by kosuke55 4
  • README

    README

    Some typo in README.

    1/ kinematic.

    Currently, written:

    The kinematic model of the car is:
    x = vcos(ϕ)
    y = vsin(ϕ)
    v = a
    ϕ = vtan(δ)/L
    

    1.1/ Missing derivative symbol '. Should be:

    The kinematic model of the car is:
    x' = v . cos(ϕ)
    y' = v . sin(ϕ)
    v' = a
    ϕ' = v . tan(δ)/L
    

    1.2/ Missing: a: acceleration, δ: steering angle, ϕ: yaw angle, L: wheelbase, x: x-position, y: y-position, v: velocity 1.3/ v was stuck to cos, sin, tan.

    2/ The state vector.

    The symbol φ should be ϕ

    3/ The input vector

    There is a typo a: accellation, δ: steering angle => acceleration :)

    opened by Lecrapouille 4
  • problem about car control

    problem about car control

    Hi,

    Please see the attached video, I don't change any thing, but the control looks very wired, could someone tell me what the problem is? Thanks.

    https://user-images.githubusercontent.com/9857420/169484973-ff404723-defd-4bae-a209-db1be99bea64.mp4

    opened by Phymin 1
Releases(v1.0)
Tucan Discord Token Generator - Remastered

TucanGEN-SRC Tucan Discord Token Generator - Remastered Tucan source made better by me. -- idk if it works anymore Includes: hCaptcha Bypass Automatic

Vast 8 Nov 04, 2022
My solution for a MARL problem on a Grid Environment with Q-tables.

To run the project, run: conda create --name env python=3.7 pip install -r requirements.txt python run.py To-do: Add direction to the state space Take

Merve Noyan 12 Dec 25, 2021
Library for RadiaCode-101

RadiaCode Библиотека для работы с дозиметром RadiaCode-101, находится в разработке - API не стабилен и возможны изменения. Пример использования (backe

Maxim Andreev 56 Nov 29, 2022
A repository containing useful resources needed to complete the SUSE Scholarship Challenge #UdacitySUSEScholars #poweredbySUSE

SUSE-udacity-cloud-native-scholarship A repository containing useful resources needed to complete the SUSE Scholarship Challenge #UdacitySUSEScholars

Nandini Proothi 11 Dec 02, 2021
Datamol is a python library to work with molecules.

Datamol is a python library to work with molecules. It's a layer built on top of RDKit and aims to be as light as possible.

datamol 276 Dec 19, 2022
Learn Python tips, tools, and techniques in around 5 minutes each.

Python shorts Learn Python tips, tools, and techniques in around 5 minutes each. Watch on YouTube Subscribe on YouTube to keep up with all the videos.

Michael Kennedy 28 Jan 01, 2023
Repository specifically for tcss503-22-wi Students

TCSS503: Algorithms and Problem Solving for Software Developers Course Description Introduces advanced data structures and key algorithmic techniques

Kevin E. Anderson 3 Nov 08, 2022
A Python program that generates a maze that solves itself using DFS

Maze Generator And Solver Program Purpose: Generates a maze that then solves itself Language: Python and Pygame Algorithm: Randomized DFS / Floodfill

Joshua Liu 1 Jul 25, 2022
Controller state monitor plugin for EVA ICS

eva-plugin-cmon Controller status monitor plugin for EVA ICS Monitors connected controllers status in SFA and pushes measurements into an external Inf

Altertech 1 Nov 06, 2021
MiniJVM is simple java virtual machine written by python language, it can load class file from file system and run it.

MiniJVM MiniJVM是一款使用python编写的简易JVM,能够从本地加载class文件并且执行绝大多数指令。 支持的功能 1.从本地磁盘加载class并解析 2.支持绝大多数指令集的执行 3.支持虚拟机内存分区以及对象的创建 4.支持方法的调用和参数传递 5.支持静态代码块的初始化 不支

keguoyu 60 Apr 01, 2022
Find out where all films you want to watch are streaming

Just Watch Letterboxd Find out where all films you want to watch are streaming Ever wonder what films you want to watch are already on the streaming p

Jordan Oslislo 2 Feb 04, 2022
This is a repository built by the community for the community.

Nutshell Machine Learning Machines can see, hear and learn. Welcome to the future 🌍 The repository was built with a tree-like structure in mind, it c

Edem Gold 82 Nov 18, 2022
Demo of connecting Rasa with Zalo

Demo of connecting Rasa with Zalo

6 Jul 25, 2022
This is a vscode extension with a Virtual Assistant that you can play with when you are bored or you need help..

VS Code Virtual Assistant This is a vscode extension with a Virtual Assistant that you can play with when you are bored or you need help. Its currentl

Soham Ghugare 6 Aug 22, 2021
Meera 2 May 12, 2022
Awesome Cheatsheet

Awesome Cheatsheet List of useful cheatsheets Inspired by @sindresorhus awesome and improved by these amazing contributors. If you see a link here is

detailyang 6.5k Jan 07, 2023
Quanser Labs Robotic Arm With Python

Quanser-Labs-Robotic-Arm As a team, we programmed a Robotic-Arm in Python on the

1 Jul 11, 2022
Comprehensive OpenAPI schema generator for Django based on pydantic

🗡️ Djagger Automated OpenAPI documentation generator for Django. Djagger helps you generate a complete and comprehensive API documentation of your Dj

13 Nov 26, 2022
A python script to run any executable and pass test cases to it's stdin and compare stdout with correct output.

quera_testcase_checker A python script to run any executable and pass test cases to it's stdin and compare stdout with correct output. proper way to u

k3y1 1 Nov 15, 2021
Vita Specific Patches and Application for Doki Doki Literature Club (Steam Version) using Ren'Py PSVita

Doki-Doki-Literature-Club-Vita Vita Specific Patches and Application for Doki Doki Literature Club (Steam Version) using Ren'Py PSVita Contains: Modif

Jaylon Gowie 25 Dec 30, 2022