Self Driving RC Car/Speedtest

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angle calculation

• https://gamedev.stackexchange.com/questions/50022/typical-maximum-steering-angle-of-a-real-car
• https://en.wikipedia.org/wiki/Ackermann_steering_geometry
• https://de.wikipedia.org/wiki/Kreissegment

calibration results

Ferrari

Taken from the values below see File:Servocalibration.xlsx

size

• 15.85 m Track length
• 1.35 m Track width

speed

1. slowest: 52 secs for 12 m
2. slow: 24 secs for 12 m
3. quicker: 12 secs for 12 m

Turncircle:

1. smallest left: 2m
2. smallest right: 1.8m

left turns

• 158: 2.20 m
• 155: 2.70 m
• 152: 4.84 m
• 151: 5.10 m
• 150: 5.20 m
• 149: 5.33 m
• 148: 5.73 m
• 147: 6.30 m
• 146: somewhat straight

right turns

• 105: 1.88 m
• ...
• 115: 1.95 m
• 116: 1.95 m
• 117: 1.95 m
• 118: 2.03 m
• 119: 2.20 m
• 120: 2.30 m
• 121: 2.37 m
• 122: 2.37 m
• 123: 2.47 m
• 124: 2.57 m
• 125: 2.63 m
• 126: 2.73 m
• 127: 3.04 m
• 128: 3.19 m
• 129: 3.58 m
• 130: 3.80 m
• 131: 4.03 m
• 132: 4.20 m
• 133: 4.56 m
• 134: 4.80 m
• 135: 5.85 m
• 136: 8.50 m
• 137: 8.70 m
• 138: 9.80 m
• 139: ↑5 m → 6 m
• 140: ↑6 m → 6 m
• 141: ↑8.15 m → 6 m
• 142: ↑12.50 m → 2.95 m
• 143: ↑11.10 m → 2.05 m
• 144: ↑13.10 m → 1.0 m
• 145: ↑12 m ← 2.80 m

software crash

[mpeg4 @ 0x7fba2dcb2200] Invalid pts (2) <= last (2)
[thread 51715 also had an error]
#
# A fatal error has been detected by the Java Runtime Environment:
#
#  SIGSEGV (0xb) at pc=0x000000012ebb0918, pid=9736, tid=0x000000000000ce03
#
# JRE version: Java(TM) SE Runtime Environment (8.0_152-b16) (build 1.8.0_152-b16)
# Java VM: Java HotSpot(TM) 64-Bit Server VM (25.152-b16 mixed mode bsd-amd64 compressed oops)
# Problematic frame:
# C  [libswscale.5.dylib+0xa5918]  sws_getCachedContext+0x1ab28
#
# Failed to write core dump. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again
#
# An error report file with more information is saved as:
# /Users/wf/Documents/workspace/dukes/rc-server/hs_err_pid9736.log
#
# If you would like to submit a bug report, please visit:
#   http://bugreport.java.com/bugreport/crash.jsp
# The crash happened outside the Java Virtual Machine in native code.
# See problematic frame for where to report the bug.
#