/ichassis_simulator

Primary LanguagePython

Cenntro iChassis Simulator

This repo models a representative iChassis from Cenntro. Forked from https://github.com/bjyurkovich/vehicle-model-python

Running

Clone the repo:

git clone https://github.com/bjyurkovich/ichassis_simulator

Create your virtual environment:

python3 -m venv venv

Activate your virtual env:

source venv/bin/activate

Load the dependencies:

pip install -r requirements.txt

Run the example

Run the example:

python example.py

Remember - stuff is in scientific units (m/s), so you will need to do a few conversions if you want to think about it in kph or mph.

I leave this to your with no warranty, no promise of help, but it should get you to where you need to go!

What is in the example

It's a simple step-wise simulator (1 second steps) that takes a commanded vehicle velocity and computes the real (model-based) velocity of the chassis. There is a driver model, but you will need to make sure you are achieving what you command!

Imagine this is like an API to the CAN interface that your autonomous system and navigation unit will hook into (just a lot easier!)

from IChassis import IChassis

ic = IChassis()

# Sample drive profile in m/s
v_in = [0, 0, 0, 0.2, 0.3, 0.4, 0.5, 2, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

# Simulate each 1 second step of the iChassis
# Note: It's a full EV model, so you will have to respect physics!

for v in v_in:
    # actually do the driving over one second based on your command `v` (velocity)
    velocity_actual = ic.drive(v)
    
    
# Get the full drive history since clearing or reinstantiating
v_out = ic.get_velocity_history()

# Clear the drive history (reinstanitating the object will also do it!)
ic.clear_drive_history()