From 552d9bd33dd05487821a612bba951f7e459a2f8f Mon Sep 17 00:00:00 2001
From: Liufu27 <2183667346@qq.com>
Date: Mon, 8 Dec 2025 10:13:45 +0800
Subject: [PATCH 1/2] =?UTF-8?q?=E5=9C=A8main=5Fhelp=5Ffunctions.py?=
 =?UTF-8?q?=E4=B8=AD=E6=B7=BB=E5=8A=A0=E4=B8=80=E4=B8=AA=E6=96=B0=E7=9A=84?=
 =?UTF-8?q?=E8=BD=A8=E8=BF=B9=E2=80=9C=E5=9C=86=E5=BD=A2=E8=BD=A8=E8=BF=B9?=
 =?UTF-8?q?=E2=80=9D?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../main_help_functions.py                     | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/src/Unmanned_vehicle_control/main_help_functions.py b/src/Unmanned_vehicle_control/main_help_functions.py
index 09ddbdb74b..17d78685a8 100644
--- a/src/Unmanned_vehicle_control/main_help_functions.py
+++ b/src/Unmanned_vehicle_control/main_help_functions.py
@@ -41,6 +41,24 @@ def get_eight_trajectory(x_init, y_init, total_points=100):
     theta_ref.append(theta_ref[-1])
 
     return x_traj_rotated, y_traj_rotated, v_ref, theta_ref
+def get_circle_trajectory(x_center, y_center, radius=25, total_points=200):
+    """生成圆形轨迹"""
+    t_values = np.linspace(0, 2 * np.pi, total_points)
+    x_traj = x_center + radius * np.cos(t_values)
+    y_traj = y_center + radius * np.sin(t_values)
+
+    v_ref = [V_REF for _ in range(total_points)]
+
+    # 计算参考角度（切线方向）
+    theta_ref = []
+    for i in range(total_points - 1):
+        dx = x_traj[i + 1] - x_traj[i]
+        dy = y_traj[i + 1] - y_traj[i]
+        theta = np.arctan2(dy, dx)
+        theta_ref.append(theta)
+    theta_ref.append(theta_ref[-1])  # 最后一个点保持与前一个相同
+
+    return x_traj, y_traj, v_ref, theta_ref
 
 def get_ref_trajectory(x_traj, y_traj, theta_traj, current_idx):
     if current_idx + N < len(x_traj):

From ffe1cbf3a651b94ba73ac9fbed53637813f84d07 Mon Sep 17 00:00:00 2001
From: Liufu27 <2183667346@qq.com>
Date: Mon, 15 Dec 2025 10:02:42 +0800
Subject: [PATCH 2/2] =?UTF-8?q?=E6=9B=B4=E6=96=B0main=EF=BC=8C=E4=B8=BB?=
 =?UTF-8?q?=E5=87=BD=E6=95=B0=E6=96=B0=E6=B7=BB=E5=8A=A0=E8=B0=83=E7=94=A8?=
 =?UTF-8?q?=E5=9C=86=E5=BD=A2=E8=BD=A8=E8=BF=B9=EF=BC=8C=E5=B9=B6=E8=BF=90?=
 =?UTF-8?q?=E8=A1=8C?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/Unmanned_vehicle_control/main.py | 42 +++++++++++++++++++++++-----
 1 file changed, 35 insertions(+), 7 deletions(-)

diff --git a/src/Unmanned_vehicle_control/main.py b/src/Unmanned_vehicle_control/main.py
index 8179babc2e..7d641fe115 100644
--- a/src/Unmanned_vehicle_control/main.py
+++ b/src/Unmanned_vehicle_control/main.py
@@ -1,10 +1,11 @@
 import time
 import threading
-from src.carla_simulator import CarlaSimulator
+import numpy as np
+from src.main_carla_simulator import CarlaSimulator
 from src.config import X_INIT_M, Y_INIT_M, N, dt, V_REF, LAPS
-from src.help_functions import get_eight_trajectory, get_ref_trajectory, update_reference_point
-from src.logger import Logger
-from src.mpc_controller import MpcController
+from src.main_help_functions import get_eight_trajectory, get_ref_trajectory, get_circle_trajectory, update_reference_point
+from src.main_logger import Logger
+from src.main_mpc_controller import MpcController
 
 def draw_trajectory_in_thread(carla, x_traj, y_traj, dt):
     while True:
@@ -13,13 +14,40 @@ def draw_trajectory_in_thread(carla, x_traj, y_traj, dt):
 
 carla = CarlaSimulator()
 carla.load_world('Town02_Opt')
-carla.spawn_ego_vehicle('vehicle.tesla.model3', x=X_INIT_M, y=Y_INIT_M, z=0.1)
+#carla.spawn_ego_vehicle('vehicle.tesla.model3', x=X_INIT_M, y=Y_INIT_M, z=0.1)
 carla.print_ego_vehicle_characteristics()
 carla.set_spectator(X_INIT_M, Y_INIT_M, z=50, pitch=-90)
 
-logger = Logger()
+#logger = Logger()
+
+#x_traj, y_traj, v_ref, theta_traj = get_eight_trajectory(X_INIT_M, Y_INIT_M) #“8”形状轨迹
+#current_idx = 0
+#laps = 0
+# 圆形轨迹参数：圆心（X_INIT_M, Y_INIT_M），半径20米，200个点
+x_traj, y_traj, v_ref, theta_traj = get_circle_trajectory(
+    x_center=X_INIT_M,
+    y_center=Y_INIT_M,
+    radius=20,
+    total_points=200
+)
+
+# 从圆形轨迹的第一个点生成车辆（确保车辆在轨迹上）
+init_x, init_y = x_traj[0], y_traj[0]
+# 获取初始角度（轨迹切线方向）
+init_yaw = np.rad2deg(theta_traj[0])
+carla.spawn_ego_vehicle(
+    'vehicle.tesla.model3',
+    x=init_x,
+    y=init_y,
+    z=0.1,
+    yaw=init_yaw  # 初始方向与轨迹一致
+)
+
+carla.print_ego_vehicle_characteristics()
+# 调整 spectator 位置以便更好观察圆形轨迹
+carla.set_spectator(X_INIT_M, Y_INIT_M, z=80, pitch=-90)  # 从圆心正上方俯视
 
-x_traj, y_traj, v_ref, theta_traj = get_eight_trajectory(X_INIT_M, Y_INIT_M)
+logger = Logger()
 current_idx = 0
 laps = 0