Fast racing line generation

Python3 implementation of the method described in https://arxiv.org/abs/1902.00606

• It is written in Python 3

• Python modules required are:

  • casadi
  • boostrtrees
  • scipy
  • json
  • numpy
  • matplotlib
  • os
  • sys
  • math
  • time

• boostrtrees is downloadable from here. You can install it following these instructions:

  • Download the zip
  • Extract it
  • Install boost libraries. In Ubuntu 18.04 type sudo apt-get install libboost-all-dev. In ubuntu 16.04 you need to download and install it manually from here (it is needed a version >= 1.59)
  • Type in terminal export BOOST_ROOT="/usr/include/boost". NOTE you need (prima devi aver installato boost)
  • Type sudo pip3 install cython disttools
  • Inside the directory extracted from the zip type python3 setup.py sdist
  • Then type pip3 install —upgrade path_libreria/dist/boostrtrees-0.0.1a1.tar.gz
  
  

• The script handles in input:

  • "path/<track_name>.json" a string with the full path to the track's .json;
  • "<track_name>" a string containing the name of track;
  • <vMax> max velocity (m/s);
  • <gAcc> max g, in module, in acceleration (g);
  • <gDec max g, in module, in deceleration (g);
  • <gLat> max lateral g (g);
  • <safety_margin> safety margin from the bounds (m);
  • "<output_destination>" a string containing the path where the output must be written.
  
  

example of usage: 
python3 main.py ../SA_Modena_v2.1.json SA_Modena_v2.1 216 1.1 1.5 1.3 0.8 .

• The script gives in output some files in the same directory:
  • ft_gda_<track_name>.json, containing racing line and speed profile
  • racing_line<n_iteration>.png, graphics containing the final racing line