LTA-Sim

A simulator for a Lane Tracking Assistance (LTA) system, including a vehicle model and customizable highway configurations.

Overview

This project simulates a highway environment for testing the LTA system. The highway can be either flat or sinusoidal, defined by the equation A * sin(w * t), where:

• A is the amplitude in meters.
• w is the angular frequency in radians/second.

Features

• Simulates realistic lane tracking scenarios.
• Supports flat and sinusoidal highway profiles.
• Customizable amplitude and frequency parameters.
• Real-time data visualization via PlotJuggler.
• Interactive control to steer the car out of its path.

---

How to Run

Option 1: Using uv Project Manager

1. Install uv:

   pip install uv

2. Run the simulator:

   uv lta-sim <amplitude> <frequency>

   Note: For best results, ensure frequency <= 0.002 and aplitude <= 6.

---

Option 2: Manual Setup

1. Install dependencies:

   pip install -r requirements.txt

2. Run the simulator:

   python lta-sim.py <amplitude> <frequency>

   Note: For best results, ensure frequency <= 0.002 and aplitude <= 6.

---

Real-Time Visualization with PlotJuggler

You can connect PlotJuggler to the simulator via UDP JSON on port 5005 for real-time data visualization. Ensure PlotJuggler is configured to listen on this port for incoming data.

---

Interactive Controls

• Steer the car out of its path: Use A and D or the left and right arrow keys.
• Toggle controller: Press Space to enable/disable the controller.
• Quit the simulation: Press Q.

---

Requirements

• Python 3.8 or later
• Required Python packages (listed in requirements.txt)

---

Example Usage

Run the simulator with a sinusoidal highway profile:

uv lta-sim 3 0.001

This will simulate a highway with an amplitude of 3 meters and a frequency of 0.001 rad/s.

---

Tips for Optimal Use

• Lower frequencies (e.g., <= 0.002) result in smoother simulations and better performance.
• For flat highways, set amplitude to 0.

---