我正在使用C++和OpenCV开发Euro Truck Simulator 2自动驾驶解决方案。
这里是我们检测道路曲线的地方:
int bottom_center = 160;
int sum_centerline = 0;
int count_centerline = 0;
int first_centerline = 0;
int last_centerline = 0;
double avr_center_to_left = 0;
double avr_center_to_right = 0;
//#pragma omp parallel for
for (int i = 240; i > 30; i--){
double center_to_right = -1;
double center_to_left = -1;
for (int j = 0; j < 150; j++) {
if (contours.at<uchar>(i, bottom_center + j) == 112 && center_to_right == -1) {
center_to_right = j;
}
if (contours.at<uchar>(i, bottom_center - j) == 112 && center_to_left == -1) {
center_to_left = j;
}
}
if (center_to_left != -1 && center_to_right != -1){
int centerline = (center_to_right - center_to_left + 2 * bottom_center) / 2;
if (first_centerline == 0) {
first_centerline = centerline;
}
cv::circle(outputImg, Point(centerline, i), 1, Scalar(30, 255, 30), 3);
cv::circle(outputImg, Point(centerline + center_to_right+20, i), 1, Scalar(255, 30, 30) , 3);
cv::circle(outputImg, Point(centerline - center_to_left+10, i), 1, Scalar(255, 30, 30) , 3);
sum_centerline += centerline;
avr_center_to_left = (avr_center_to_left * count_centerline + center_to_left) / count_centerline + 1;
avr_center_to_right = (avr_center_to_right * count_centerline + center_to_right) / count_centerline + 1;
last_centerline = centerline;
count_centerline++;
}
else {}
}
以下是我目前的转向解决方案:
int diff = 0;
if (count_centerline != 0) {
diff = sum_centerline / count_centerline - bottom_center;
int degree = atan2(last_centerline - first_centerline, count_centerline) * 180 / PI;
//diff = (90 - degree);
int move_mouse_pixel = diff;
cout << "Steer: " << move_mouse_pixel << "px ";
if (diff <= 20 || diff >= -20){
SetCursorPos(pt.x + (move_mouse_pixel / 10), height / 2);
}
else{
SetCursorPos(pt.x + (move_mouse_pixel / 25), height / 2);
}
}
最后,这是我程序目前的功能视频:https://www.youtube.com/watch?v=rqyvoFuGKKk&feature=youtu.be 我目前遇到的问题是方向盘不能快速居中,导致它不断地过度修正,最终偏离车道。我尝试在游戏中增加方向灵敏度,以允许更快或更慢的转弯,但这要么使卡车失控,要么在行驶大曲线时无法转弯。
我的当前方法只是将微小移动(在-20px和20px之间)除以10,而将大移动除以20。我也尝试过反过来做,但没有解决过度纠正的问题。
到目前为止,我找到了两种可能的解决方案:
- 我可以逐步增加应用于move_mouse_pixel的分隔器,从而减少在小移动之间进行的转向力量。
- 或者,我可以想办法让程序更快地居中转向盘。我不确定我该如何实现这一点。
9.2.转向控制
部分可能会有用。 - Catree