AutonomousVehicleControlBeginnersGuide

Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.

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AutonomousVehicleControlBeginnersGuide

Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.

What is this?
Goal of this project
Requirements
How to use
Examples of Simulation
Documents
License
Use Case
Contribution
Author

What is this?

This is a sample codes collections about Autonomous vehicle control algorithm. Each source codes are implemented with Python to help your understanding. You can fork this repository and use for studying, education or work freely.

Goal of this project

I want to release my own technical book about Autonomous Vehicle algorithms in the future. The book will include all of codes and documents in this repository as contents.

Requirements

Please satisfy with the following requirements on native or VM Linux in advance.
For running each sample codes:

For development:

pytest (for unit tests)
pytest-cov (for coverage measurement)

For setting up the environment with Docker:

How to use

Clone this repository

$ git clone https://github.com/ShisatoYano/AutonomousVehicleControlBeginnersGuide

Set up the environment for running each codes
- Set up with Docker on WSL:
  - Before cloning thi repo, install Docker in advance
  - Clone this repo following the above Step 1
  - Open this repo's folder by VSCode
  - Create Dev Container
  - And then, all required libraries are installed automatically
Execute unit tests to confirm the environment were installed successfully
```
$ . run_test_suites.sh
```
Execute a python script at src/simulations directory
- For example, when you want to execute localization simulation of Extended Kalman Filter:
```
$ python src/simulations/localization/extended_kalman_filter_localization/extended_kalman_filter_localization.py
```
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Code completion / import resolution in your editor

Each simulation script adds its own module search paths at runtime with sys.path.append(...), since this project doesn't use a standard Python package layout. Static analysis tools (Pylance/pyright) can't see those runtime sys.path.append(...) calls, so without extra configuration your editor will show false "import could not be resolved" errors and code completion won't work for these modules.

To fix this, pyrightconfig.json (for pyright/Pylance, e.g. Neovim or VS Code without Dev Containers) and .devcontainer/devcontainer.json's python.analysis.extraPaths (for VS Code + Dev Containers) list every directory under src/components and src/simulations that directly contains a .py file.

Whenever you add a new module (a new directory under src/components or src/simulations), regenerate both files by running:

$ python generate_pyrightconfig.py

This scans the project and rewrites both files automatically, so you don't need to edit them by hand.

Run this script on your host machine, not inside the container. It only uses the Python standard library (json, pathlib), and since the project directory is bind-mounted into the container as-is, the files it writes are the same on both sides either way. Running it on the host is simplest since it doesn't depend on the container's Python environment at all.