183 lines
4.4 KiB
Python
183 lines
4.4 KiB
Python
import csv
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import os
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import re
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import matplotlib.pyplot as plt
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import numpy as np
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import glob
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files = [
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"stanley_*_*_*_*.csv",
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]
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files = [
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"lqr_*_*_*_*_*.csv",
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]
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data = {}
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for pattern in files:
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matched_files = glob.glob(pattern)
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if not matched_files:
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raise FileNotFoundError(
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f"找不到文件: {pattern}"
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)
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matched_files.sort(
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key=lambda x: (
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float(x.split("_")[1]), # 速度
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float(x.split("_")[2]), # 参数1
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float(x.split("_")[3]), # 参数2
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float(x.split("_")[4].replace(".csv", "")) # 半径
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)
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)
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print(f"匹配到 {len(matched_files)} 个文件:")
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for file in matched_files:
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if not os.path.exists(file):
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raise FileNotFoundError(f"找不到文件: {file}")
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distance = []
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lateral_error = []
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heading_error = []
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yaw_command = []
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with open(file, "r", encoding="utf-8-sig", newline="") as f:
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reader = csv.DictReader(f)
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required = {"distance_m", "lateral_error_m", "heading_error_rad","yaw_command"}
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if not required.issubset(reader.fieldnames or []):
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raise ValueError(
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f"{file} 缺少必要列，需要: {required}，实际列: {reader.fieldnames}"
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)
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for row in reader:
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try:
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distance.append(float(row["distance_m"]))
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lateral_error.append(abs(float(row["lateral_error_m"])))
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heading_error.append(abs(float(row["heading_error_rad"])))
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yaw_command.append(float(row["yaw_command"]))
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except (ValueError, TypeError):
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continue
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name = os.path.splitext(os.path.basename(file))[0]
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data[name] = {
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"distance": distance,
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"lateral_error": lateral_error,
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"heading_error": heading_error,
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"yaw_command": yaw_command,
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}
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# 颜色由 matplotlib 自动分配，不手动指定
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names = list(data.keys())
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# =========================
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# 图1：Lateral Error
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# =========================
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plt.figure(figsize=(12, 6))
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for name in names:
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plt.plot(
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data[name]["distance"][::15],
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data[name]["lateral_error"][::15],
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label=name,
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linewidth=1.5,
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)
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plt.xlabel("Distance (m)")
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plt.ylabel("Lateral Error (m)")
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plt.title("Lateral Error Comparison")
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plt.grid(True, alpha=0.3)
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plt.legend()
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plt.tight_layout()
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lateral_output = "X_Lateral_error_comparison.png"
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plt.savefig(lateral_output, dpi=200)
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plt.show()
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# =========================
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# 图2：Heading Error
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# =========================
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plt.figure(figsize=(12, 6))
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for name in names:
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plt.plot(
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data[name]["distance"],
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data[name]["heading_error"],
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label=name,
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linewidth=1.5,
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)
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plt.axhline(0, linewidth=2.0)
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plt.xlabel("Distance (m)")
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plt.ylabel("Heading Error (rad)")
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plt.title("Heading Error Comparison")
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plt.grid(True, alpha=0.3)
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plt.legend()
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plt.tight_layout()
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heading_output = "X_Heading_error_comparison.png"
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plt.savefig(heading_output, dpi=200)
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plt.show()
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# =========================
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# 图3：Yaw Command
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# =========================
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plt.figure(figsize=(12, 6))
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for name in names:
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plt.plot(
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data[name]["distance"],
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data[name]["yaw_command"],
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label=name,
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linewidth=1.5,
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)
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plt.axhline(0, linewidth=2.0)
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plt.xlabel("Distance (m)")
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plt.ylabel("Yaw Command (rad)")
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plt.title("Yaw Command Comparison")
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plt.grid(True, alpha=0.3)
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plt.legend()
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plt.tight_layout()
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yaw_output = "X_Yaw_command_comparison.png"
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plt.savefig(yaw_output, dpi=200)
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plt.show()
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print("读取完成：")
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for name in names:
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print(f"{name}: {len(data[name]['distance'])} points")
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print("\n已保存：")
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print(lateral_output)
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print(heading_output)
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print(yaw_output)
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print("\n" + "=" * 90)
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print(
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f"{'Controller':<20}"
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f"{'Lat Max(m)':>12}"
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f"{'Lat Mean(m)':>13}"
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f"{'Lat RMSE(m)':>14}"
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f"{'Lat P95(m)':>13}"
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f"{'Head Max(deg)':>15}"
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f"{'Head RMSE(deg)':>16}"
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)
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print("=" * 100)
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for name in names:
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lat = np.array(data[name]["lateral_error"])
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head = np.array(data[name]["heading_error"])
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print(
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f"{name:<20}"
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f"{np.max(lat):>12.4f}"
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f"{np.mean(lat):>13.4f}"
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f"{np.sqrt(np.mean(lat**2)):>14.4f}"
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f"{np.percentile(lat, 95):>13.4f}"
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f"{np.degrees(np.max(head)):>15.4f}"
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f"{np.degrees(np.sqrt(np.mean(head**2))):>16.4f}"
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)
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print("=" * 100)
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