python无人驾驶汽车雷达避障计算器代码怎么写

Python编写无人驾驶汽车雷达避障功能的代码涉及到传感器数据处理、算法决策以及控制操作等步骤。以下是一个简化版的概念代码示例，并非完整项目，但它可以给你一个基本的框架：

import numpy as np
from scipy.spatial import distance

class RadarAvoidanceCalculator:
    def __init__(self, radar_data):
        self.radar_data = radar_data
        self.min_distance_threshold = 0.5  # 安全距离阈值
        self.max_angle_threshold = np.pi / 4  # 角度阈值
        
    def process_radar(self):
        distances = [distance.euclidean(radar_point) for radar_point in self.radar_data]
        angles = calculate_angles(self.radar_data)
        return distances, angles
    
    def find_closest_obstacle(self):
        distances, _ = self.process_radar()
        closest_index = np.argmin(distances)
        if distances[closest_index] > self.min_distance_threshold:
            return None
        else:
            return closest_index
    
    def avoid_obstacle(self):
        closest_obstacle = self.find_closest_obstacle()
        if closest_obstacle is not None:
            angle_to_avoid = calculate_steering_angle(closest_obstacle)
            return angle_to_avoid
        else:
            return 0.0  # 如果无障碍物，返回0度

def calculate_angles(radar_data):
    # 这里假设雷达数据是以(x, y)坐标表示，需要将其转换为角度
    angles = [np.arctan2(y, x) for x, y in radar_data]
    return angles

# 示例雷达数据
radar_data = [(0, 0), (1, 1), (2, 2)]
calculator = RadarAvoidanceCalculator(radar_data)
angle_to_turn = calculator.avoid_obstacle()