Python Pygame为汽车规划可能的轨迹，并使汽车遵循其中一条路径/轨迹

我必须创建一个可视化，其中我必须创建一辆汽车（我认为它是一个矩形），并根据其横向和纵向加速度为该汽车绘制轨迹。我的问题是我无法创建轨迹。我这样做是作为自己项目的一部分。因此，我不知道我的方向是否正确。如果我错了，请引导我

问题1：如何显示预测的路径轨迹（初学者只创建8条轨迹，而不是很多）？使用Pygame是否也可以创建类似曲线的轨迹？如果没有，我可以使用pygame和tkinter的混合来创建曲线和直线轨迹的混合吗

问题2：让我的矩形车沿着选定的轨迹（曲线或直线）行驶，或者沿着轨迹中定义的路径行驶

尝试的解决方案：

class Vehicle(pygame.sprite.Sprite):
def __init__(self,x,y,slip_angle,length=4):
    super().__init__() 
    width = 50
    height = 50
    self.image =  pygame.Surface([width,height])

    #Create a car
    self.image.fill(RED)
    self.image.set_colorkey(RED)
    pygame.draw.rect(self.image, WHITE, [0, 0, width, height])
    self.rect = self.image.get_rect()

    #Parameters of car
    self.position = position = Vector2(x, y)
    self.velocity = Vector2(0.0, 0.0)
    self.slip_angle = slip_angle
    self.length = length
    self.max_velocity = 20
    self.brake_deceleration = 10
    self.free_deceleration = 2
    self.initial_velocity = 0

    self.long_acceleration = 0.0
    self.lat_acceleration = 0.0
    self.acceleration = 0.0
    self.steering = 0.0

def update(self,dt):
    self.velocity += (self.acceleration * dt, 0)
    self.velocity.x = max(-self.max_velocity, min(self.velocity.x,          self.max_velocity))

    if self.steering:
        turning_radius = self.length / sin(radians(self.steering))
        angular_velocity = self.velocity.x / turning_radius
    else:
        angular_velocity = 0

    self.position += self.velocity.rotate(-self.angle) * dt
    self.slip_angle += degrees(angular_velocity) * dt 

class trajectory(object):
def __init__(self,x,y):
    self.x = x
    self.y = y

def draw():
    x_value = []
    time = []
    for acc in range(10):
        for dt in range(0,10,0.05):
            x = vehicle1.initial_velocity + (vehicle1.velocity*dt) + (0.5 * vehicle1.long_acceleration * dt* dt)
            x_value.append(x)
            time.append(dt)
            coordinates = (x_value,time)

        canvas_1 = Canvas(root,700,600,background='pink')
        canvas_1.grid(row=0,column=1)
        x1 = coordinates[acc]
        y1 = coordinates[time]
        canvas_1.create_line(x1,y1)


        #pygame.draw.line(screen,GREEN,list(coordinates),(700, 600))
def update(self):
    #self.angle = vehicle1.slip_angle*pi / 180
    self.velocity_h = vehicle1.velocity*cos(angle)
    self.velocity_v = vehicle1.velocity*sin(angle)

#main Logic
proceed = True

#Capturing events till exit
while proceed:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            proceed = False

    vehicle1.update(dt)
    sprites_list.update(dt)
    screen.fill(WHITE)
    #screen.pygame.Surface.fill(color, rect=None, special_flags=0)
    pygame.draw.line(screen, BLACK, [0, 0],  [700, 300], 5)

    # self.screen.blit(rotated, [20,30])
    sprites_list.draw(screen)

    pygame.display.flip()

    clock.tick(60)

pygame.quit()

我把一个长方形的精灵当作一辆汽车，我的想法是我可以让它沿着期望的轨迹移动。我成功地创建和移动了精灵。但我无法显示任何轨迹曲线，也无法使汽车沿着路径行驶。我不确定我是否必须将轨迹也作为Sprite，还是仅将汽车作为Sprite就足够了，并且轨迹作为直线/曲线

上述同一解释的代码如下：

我的精灵课程：

class Vehicle(pygame.sprite.Sprite):
def __init__(self,x,y,slip_angle,length=4):
    super().__init__() 
    width = 50
    height = 50
    self.image =  pygame.Surface([width,height])

    #Create a car
    self.image.fill(RED)
    self.image.set_colorkey(RED)
    pygame.draw.rect(self.image, WHITE, [0, 0, width, height])
    self.rect = self.image.get_rect()

    #Parameters of car
    self.position = position = Vector2(x, y)
    self.velocity = Vector2(0.0, 0.0)
    self.slip_angle = slip_angle
    self.length = length
    self.max_velocity = 20
    self.brake_deceleration = 10
    self.free_deceleration = 2
    self.initial_velocity = 0

    self.long_acceleration = 0.0
    self.lat_acceleration = 0.0
    self.acceleration = 0.0
    self.steering = 0.0

def update(self,dt):
    self.velocity += (self.acceleration * dt, 0)
    self.velocity.x = max(-self.max_velocity, min(self.velocity.x,          self.max_velocity))

    if self.steering:
        turning_radius = self.length / sin(radians(self.steering))
        angular_velocity = self.velocity.x / turning_radius
    else:
        angular_velocity = 0

    self.position += self.velocity.rotate(-self.angle) * dt
    self.slip_angle += degrees(angular_velocity) * dt 

class trajectory(object):
def __init__(self,x,y):
    self.x = x
    self.y = y

def draw():
    x_value = []
    time = []
    for acc in range(10):
        for dt in range(0,10,0.05):
            x = vehicle1.initial_velocity + (vehicle1.velocity*dt) + (0.5 * vehicle1.long_acceleration * dt* dt)
            x_value.append(x)
            time.append(dt)
            coordinates = (x_value,time)

        canvas_1 = Canvas(root,700,600,background='pink')
        canvas_1.grid(row=0,column=1)
        x1 = coordinates[acc]
        y1 = coordinates[time]
        canvas_1.create_line(x1,y1)


        #pygame.draw.line(screen,GREEN,list(coordinates),(700, 600))
def update(self):
    #self.angle = vehicle1.slip_angle*pi / 180
    self.velocity_h = vehicle1.velocity*cos(angle)
    self.velocity_v = vehicle1.velocity*sin(angle)

#main Logic
proceed = True

#Capturing events till exit
while proceed:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            proceed = False

    vehicle1.update(dt)
    sprites_list.update(dt)
    screen.fill(WHITE)
    #screen.pygame.Surface.fill(color, rect=None, special_flags=0)
    pygame.draw.line(screen, BLACK, [0, 0],  [700, 300], 5)

    # self.screen.blit(rotated, [20,30])
    sprites_list.draw(screen)

    pygame.display.flip()

    clock.tick(60)

pygame.quit()

轨迹类：

class Vehicle(pygame.sprite.Sprite):
def __init__(self,x,y,slip_angle,length=4):
    super().__init__() 
    width = 50
    height = 50
    self.image =  pygame.Surface([width,height])

    #Create a car
    self.image.fill(RED)
    self.image.set_colorkey(RED)
    pygame.draw.rect(self.image, WHITE, [0, 0, width, height])
    self.rect = self.image.get_rect()

    #Parameters of car
    self.position = position = Vector2(x, y)
    self.velocity = Vector2(0.0, 0.0)
    self.slip_angle = slip_angle
    self.length = length
    self.max_velocity = 20
    self.brake_deceleration = 10
    self.free_deceleration = 2
    self.initial_velocity = 0

    self.long_acceleration = 0.0
    self.lat_acceleration = 0.0
    self.acceleration = 0.0
    self.steering = 0.0

def update(self,dt):
    self.velocity += (self.acceleration * dt, 0)
    self.velocity.x = max(-self.max_velocity, min(self.velocity.x,          self.max_velocity))

    if self.steering:
        turning_radius = self.length / sin(radians(self.steering))
        angular_velocity = self.velocity.x / turning_radius
    else:
        angular_velocity = 0

    self.position += self.velocity.rotate(-self.angle) * dt
    self.slip_angle += degrees(angular_velocity) * dt 

class trajectory(object):
def __init__(self,x,y):
    self.x = x
    self.y = y

def draw():
    x_value = []
    time = []
    for acc in range(10):
        for dt in range(0,10,0.05):
            x = vehicle1.initial_velocity + (vehicle1.velocity*dt) + (0.5 * vehicle1.long_acceleration * dt* dt)
            x_value.append(x)
            time.append(dt)
            coordinates = (x_value,time)

        canvas_1 = Canvas(root,700,600,background='pink')
        canvas_1.grid(row=0,column=1)
        x1 = coordinates[acc]
        y1 = coordinates[time]
        canvas_1.create_line(x1,y1)


        #pygame.draw.line(screen,GREEN,list(coordinates),(700, 600))
def update(self):
    #self.angle = vehicle1.slip_angle*pi / 180
    self.velocity_h = vehicle1.velocity*cos(angle)
    self.velocity_v = vehicle1.velocity*sin(angle)

#main Logic
proceed = True

#Capturing events till exit
while proceed:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            proceed = False

    vehicle1.update(dt)
    sprites_list.update(dt)
    screen.fill(WHITE)
    #screen.pygame.Surface.fill(color, rect=None, special_flags=0)
    pygame.draw.line(screen, BLACK, [0, 0],  [700, 300], 5)

    # self.screen.blit(rotated, [20,30])
    sprites_list.draw(screen)

    pygame.display.flip()

    clock.tick(60)

pygame.quit()

Pygame主逻辑：

class Vehicle(pygame.sprite.Sprite):
def __init__(self,x,y,slip_angle,length=4):
    super().__init__() 
    width = 50
    height = 50
    self.image =  pygame.Surface([width,height])

    #Create a car
    self.image.fill(RED)
    self.image.set_colorkey(RED)
    pygame.draw.rect(self.image, WHITE, [0, 0, width, height])
    self.rect = self.image.get_rect()

    #Parameters of car
    self.position = position = Vector2(x, y)
    self.velocity = Vector2(0.0, 0.0)
    self.slip_angle = slip_angle
    self.length = length
    self.max_velocity = 20
    self.brake_deceleration = 10
    self.free_deceleration = 2
    self.initial_velocity = 0

    self.long_acceleration = 0.0
    self.lat_acceleration = 0.0
    self.acceleration = 0.0
    self.steering = 0.0

def update(self,dt):
    self.velocity += (self.acceleration * dt, 0)
    self.velocity.x = max(-self.max_velocity, min(self.velocity.x,          self.max_velocity))

    if self.steering:
        turning_radius = self.length / sin(radians(self.steering))
        angular_velocity = self.velocity.x / turning_radius
    else:
        angular_velocity = 0

    self.position += self.velocity.rotate(-self.angle) * dt
    self.slip_angle += degrees(angular_velocity) * dt 

class trajectory(object):
def __init__(self,x,y):
    self.x = x
    self.y = y

def draw():
    x_value = []
    time = []
    for acc in range(10):
        for dt in range(0,10,0.05):
            x = vehicle1.initial_velocity + (vehicle1.velocity*dt) + (0.5 * vehicle1.long_acceleration * dt* dt)
            x_value.append(x)
            time.append(dt)
            coordinates = (x_value,time)

        canvas_1 = Canvas(root,700,600,background='pink')
        canvas_1.grid(row=0,column=1)
        x1 = coordinates[acc]
        y1 = coordinates[time]
        canvas_1.create_line(x1,y1)


        #pygame.draw.line(screen,GREEN,list(coordinates),(700, 600))
def update(self):
    #self.angle = vehicle1.slip_angle*pi / 180
    self.velocity_h = vehicle1.velocity*cos(angle)
    self.velocity_v = vehicle1.velocity*sin(angle)

#main Logic
proceed = True

#Capturing events till exit
while proceed:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            proceed = False

    vehicle1.update(dt)
    sprites_list.update(dt)
    screen.fill(WHITE)
    #screen.pygame.Surface.fill(color, rect=None, special_flags=0)
    pygame.draw.line(screen, BLACK, [0, 0],  [700, 300], 5)

    # self.screen.blit(rotated, [20,30])
    sprites_list.draw(screen)

    pygame.display.flip()

    clock.tick(60)

pygame.quit()

---

谢谢你的建议和支持。很乐意接受任何指导

对你的

轨迹进行简单的重新操作。draw（）

应该会解决这个问题。我注意到传递给构造函数的初始

x

和

y

似乎没有使用。轨迹是否总是从

（0，0）

或类似的位置开始

def draw( screen, initial_vel, vel, accel ):
    coordinates = []
    for acc in range(10):
        for dt in range( 0, 10, 0.05 ):
            x = initial_vel + ( vel * dt ) + ( 0.5 * accel * dt * dt )
            coordinates.append( ( x, dt ) )

    if ( len( coordinates ) > 1 ):
        PINK = ( 255, 192, 203 )
        pygame.draw.lines( screen, PINK, False, coordinates )    

调用

轨迹.draw（）

时，将车窗和车速作为参数传递，而不是依赖全局变量

my_trajectory.draw( screen, vehicle1.initial_velocity, vehicle1.velocity, vehicle1.long_acceleration )