更新 main.py，能够调用螺旋轨迹，并运 (#3316)

* 在main_help_functions.py中添加一个新的轨迹“圆形轨迹”

* 更新main，主函数新添加调用圆形轨迹，并运行

* 生成了新的螺旋线轨迹，并且轨迹不超出场地范围

* 更新main.py，并调用螺旋轨迹，并运行

Author: Liufu27

src/Unmanned_vehicle_control/main.py

@@ -3,7 +3,7 @@
 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.main_help_functions import get_eight_trajectory, get_ref_trajectory, get_circle_trajectory, update_reference_point
+from src.main_help_functions import get_eight_trajectory, get_ref_trajectory, get_circle_trajectory, get_spiral_trajectory, update_reference_point
 from src.main_logger import Logger
 from src.main_mpc_controller import MpcController
 
@@ -14,27 +14,20 @@ 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)   #“8”字形
 carla.print_ego_vehicle_characteristics()
 carla.set_spectator(X_INIT_M, Y_INIT_M, z=50, pitch=-90)
-
-#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
+"""
+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])
+x_traj, y_traj, v_ref, theta_traj = get_circle_trajectory()  # 一行生成轨迹
+init_x, init_y = x_traj[0], y_traj[0]                       # 2行获取初始位置
+init_yaw = np.rad2deg(theta_traj[0])                        # 1行获取初始角度
 carla.spawn_ego_vehicle(
     'vehicle.tesla.model3',
     x=init_x,
@@ -46,6 +39,26 @@ def draw_trajectory_in_thread(carla, x_traj, y_traj, dt):
 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
+"""
+#螺旋轨迹
+x_traj, y_traj, v_ref, theta_traj = get_spiral_trajectory(
+    x_init=X_INIT_M,
+    y_init=Y_INIT_M,
+    turns=2,  # 螺旋圈数
+    scale=2   # 螺旋缩放因子
+)  # 一行生成螺旋轨迹
+init_x, init_y = x_traj[0], y_traj[0]                       # 获取初始位置
+init_yaw = np.rad2deg(theta_traj[0])                        # 获取初始角度
+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
+)
+
+# 调整 spectator 位置以便观察螺旋轨迹
+carla.set_spectator(X_INIT_M, Y_INIT_M, z=50, pitch=-90)  # 降低高度，适应缩小的轨迹
 
 logger = Logger()
 current_idx = 0