# carCalibration

**Repository Path**: yvanGuo/carCalibration

## Basic Information

- **Project Name**: carCalibration
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-04-01
- **Last Updated**: 2021-04-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# carCalibration

## Table of Contents
1. Offline Table
  - Throttle Model
  - Brake Model
  
2. Online Model
  - Throttle Model
  - Brake Model
  
## Description
_carCalibration_ will show you how to build a data-driven longitudinal control system by machine-learning. 
  
## Dependency
- numpy >= 1.15.4
- pandas >= 0.22.0
- scipy >= 1.2.0
- tensorflow >= 1.7.0
- keras >= 2.1.6
- python3

###### if you wish to use matplotlib or plotly then you should use
- matplotlib >= 2.2.2
- plotly >= 2.5.1

## Usage

### Input Csv
1. From Pacmod 
You need accel, brake, speed, steer, leftWheelSpeed, rightWheelSpeed

| %time | accel([0, 1]) | brake([0, 1]) | speed[m/s] | steer[rad] | leftWheelSpeed[rad/s] | rightWheelSpeed[rad/s] | 
----- | ------- | ------- | ----- | ----- | -----| ----- |
| 0 | 0 | 0.4 | 0 | 0.2 | 0 | 0 |
| ... | ... | ... | ... | ... | ... | ... |

2. From Imu
You need x, y, z direction acceleration and pitch angle

| %time | x[m/s^2] | y[m/s^2] | z[m/s^2] | pitch[rad] |
----- | ----- | ----- | ----- | ----- |
| 0 | 0 | 0 | -9.8 | 0 |
| .... | .... | .... | .... | .... |

- Prepare your csv File
- copy csv file under the data directory
- run the following command
`python src/main.py`

### Output Csv
- Result will output in the 'result/' directory 
- Output csv file will be below. You will get two type csv. (Brake and Throttle)

| command(Throttle or Brake) | speed[m/s] | accceleration[m/s^2] |
------------------- | ------------------- | ------------------- | 
| 0.0 | 0 | 0.0 |
| .... | .... | .... |

## References
https://arxiv.org/abs/1808.10134