智能车的s弯循迹代码

智能车的S弯循迹控制通常涉及到路径规划、传感器数据融合、PID控制器等多个环节。以下是一个简化版的Python代码示例，使用PID控制器来控制车辆转向，假设车辆有一个角度传感器（如陀螺仪）和一个速度控制器：

import time
import math

class SmartCar:
    def __init__(self, target_angle, max_steering_angle, kp=0.5, ki=0.01, kd=0.01):
        self.target_angle = target_angle
        self.max_steering_angle = max_steering_angle
        self.pid = PIDController(kp, ki, kd)
        self.current_angle = 0
        self.last_error = 0
        self.integral = 0

    class PIDController:
        def __init__(self, kp, ki, kd):
            self.kp = kp
            self.ki = ki
            self.kd = kd
            self.set_point = 0
            self.last_time = time.time()

        def update(self, error):
            current_time = time.time()
            dt = current_time - self.last_time
            self.last_time = current_time

            derivative = (error - self.last_error) / dt if dt > 0 else 0
            integral += error * dt

            output = self.kp * error + self.ki * integral + self.kd * derivative
            self.last_error = error

            # Apply saturation to prevent excessive steering angle
            output = min(max(output, -self.max_steering_angle), self.max_steering_angle)

            return output

    def update_and_steer(self, sensor_angle):
        error = self.target_angle - self.current_angle
        self.current_angle = sensor_angle
        steer_angle = self.pid.update(error)
        return steer_angle

# 使用示例
car = SmartCar(math.radians(90), math.radians(45))
while True:
    sensor_angle = get_sensor_reading()  # 假设get_sensor_reading()是获取实际角度的函数
    steer_angle = car.update_and_steer(sensor_angle)
    apply_steering(steer_angle)  # 假设apply_steering()是应用转向的角度
    time.sleep(0.01)  # 更新频率