Configuration

The application's configuration is stored in YAML files within the config directory. These files provide a flexible way to manage environment-specific settings and defaults.

File Structure

• config/config.default.yaml This file contains the default configuration values used by all environments.
• config/config.{ENVIRONMENT}.yaml This file can override the defaults for a specific environment, determined by the ENVIRONMENT environment variable. If not set, development is assumed.

Loading and Merging

The config.defaults.yaml file is loaded first. If the ENVIRONMENT environment variable is set, the corresponding config/{ENVIRONMENT}.yaml file is loaded. Values from this file override any identically named values from config.defaults.yaml.

Accessing Configuration

The loaded configuration is accessible through the config object within your program. This object behaves like a dictionary, allowing you to retrieve specific configuration values using key lookups.

from config import config

database_url = config.database_url

if config.debug_mode:
    print("Debug mode is enabled")

Configuration Values

The configuration file is divided into several domains. These domains and their values are described below.

Kart

Key	Default	Description
lidar_offset	0.26	The lidar offset in meters from the front of the kart.
max_steering_angle	20	The maximum steering angle of the kart in degrees.

Dimensions

Key	Default	Description
length	1.9	The length of the kart in meters.
width	1.325	The width of the kart in meters.

Speed Modes

Key	Default	Description
selected	10	The selected speed mode.
options		The options for speed modes.
options.slow	10	Speed of slow mode.
options.normal	20	Speed of normal mode.
options.fast	30	Speed of fast mode.
options.very_fast	40	Speed of very fast mode.

Braking

Key	Default	Description
margin	1.0	How much faster we may go than the target speed before braking.
max_force	50	Maximum braking force, used to completely stop the kart.
min_force	30	Minimum braking force, used to slow down the kart.

Lane Assist

Preprocessing

Key	Default	Description
gamma
gamma.enabled	true	Whether to enable gamma correction.
gamma.left	0.62	The gamma value for the left camera.
gamma.center	1.0	The gamma value for the center camera.
gamma.right	0.62	The gamma value for the right camera.
white_threshold	180	Threshold for white parts of the image.
filter_threshold	170	Threshold for image filtering.

Line Detection

Key	Default	Description
max_angle_difference	30	The maximum angle difference between the last detected point and the current point.
max_angle_junction	60	The maximum angle for a junction.

Window

Key	Default	Description
height	0.5	The height of the window in meters.
min_width	1.0	The minimum width of the window in meters.
max_width	2.0	The maximum width of the window in meters.
min_pixels	3	The minimum number of pixels in the window.
min_shift	0.3	The minimum shift of the window in percentage.
margin_growth	0.3	The margin growth of the window in percentage.

Thresholds

Key	Default	Description
zebra_crossing	0.6	The threshold for filtering zebra crossings in meters.

Filtering

Key	Default	Description
active	true	Whether to enable filtering.
rel_height	0.95	Relative height of the peaks to filter.
min_distance	1.0	Minimum distance for filtering in meters.
margin	0.2	Margin for filtering in meters.

Line Following

Key	Default	Description
requested_lane		Requested lane configuration.
requested_lane.override	false	Whether to override requested lane.
requested_lane.lane	0	The lane to drive on.
initial_speed	5	Initial speed of the kart in km/h.
no_lane_offset	1.5	Offset when no lane is detected in meters.
max_steering_range	20	Maximum steering range in degrees.
look_ahead_distance	0.5	Look ahead distance in meters.

PID

Key	Default	Description
kp	20.0	Proportional gain.
ki	1.0	Integral gain.
kd	0.5	Derivative gain.

Dynamic Speed

Key	Default	Description
friction_coefficient	0.3	Friction coefficient of the kart.
static	true	Whether to enable static speed.
static_speed	4	Static speed of the kart in km/h.

Camera IDs

Key	Default	Description
left	0	ID of the left camera.
center	0	ID of the center camera.
right	0	ID of the right camera.

Camera Calibration

Key	Default	Description
aruco_dict	1	The ArUco dictionary used for calibration.
board_height	8	The amount of squares in the calibration board (vertical).
board_width	10	The amount of squares in the calibration board (horizontal).
calibration_file	"./data/calibration/latest.npz"	The file with the calibrated data to use.
max_image_height	250	Maximum image height for the bird's eye view.
max_image_width	250	Maximum image width for the bird's eye view.
marker_length	0.086	The real-world length of the markers.
render_distance		The render distance of the bird's eye view.
render_distance.front	12.0	How much to render in front of the kart.
render_distance.side	6.0	How much to render on the sides of the kart.
save_dir	"./data/calibration"	Directory to save calibration data.
square_length	0.115	The real-world length of squares on the calibration board.
vanishing_line_offset	0.02	Offset of the vanishing line (percentage).

Object Detection

Key	Default	Description
model_path	"./models/yolo8s.pt"	Path to the YOLO model.
max_frame_rate	10.0	The maximum frame rate of object detection. This will make sure the other modules can run smoothly.
min_confidence	0.6	The minimum confidence of the model.
verbose	false	Whether to enable verbose mode.
image_size	1280	The size of the input images.

Speed Limit

Key	Default	Description
height_ratio	3.1	Height ratio of the sign.
min_distance	3	The minimum distance to the sign in meters.
class_to_speed		Mapping of classes to speeds.

Traffic Light

Key	Default	Description
min_distance	2	The minimum distance to the stop line in meters.

Overtaking Manoeuvre

Key	Default	Description
consecutive_scans	3	Number of consecutive scans needed to switch lanes.
force_move		Configuration for forced steering when overtaking.
force_move.enabled	true	Whether to enable forced steering.
force_move.angle	-1.25	Angle of forced movement in percentage.
force_move.duration	1.5	Duration of forced steering in seconds.
force_move.straight_duration	1.0	Duration to move straight in seconds.
force_return		Configuration for forced return after overtaking.
force_return.enabled	true	Whether to enable forced return.
force_return.angle	1.25	Angle of forced return in percentage.
force_return.duration	1.5	Duration of forced return in seconds.
force_return.straight_duration	1.0	Duration to move straight in seconds.
min_distance	7.0	Minimum distance for starting the overtaking manoeuvre in meters.
max_points	5	Maximum number of points allowed in the range before switching back to the original lane.
min_angle	270	Minimum angle to check if we have finished passing the vehicle.
max_angle	280	Maximum angle to check if we have finished passing the vehicle.
range_threshold	4	The maximum distance to check for the vehicle in meters.

Parking Manoeuvre

Key	Default	Description
available_space		Configuration for the available space in the parking spot.
available_space.static	true	Whether to use static value for available space.
available_space.static_value	4.5	The static value for available space in meters.
max_speed	3.0	The maximum speed for parking in km/h.
min_barrier_distance	0.0	The minimum distance to the barrier in meters.
min_distance	2.0	The minimum distance for starting the parking manoeuvre in meters.
angle_tolerance	7	The tolerance for the 45-degree angle while steering into the parking spot.
straight_angle_margin	3	How many degrees we can be off the straight angle. Setting this too high can cause the kart to stop steering too early.
start_steering_offset	-0.2	The offset to start steering into the parking spot in meters.

Crosswalk

Key	Default	Description
lost_frames	10	Number of frames required to consider a pedestrian lost.
min_distance	3	The minimum distance to crosswalks in meters.
overlap_margin	0.25	Margin for a pedestrian to overlap with the crosswalk.
safe_zone_margin	0.15	Margin for the pedestrian to be in the safe zone.

Telemetry

Key	Default	Description
enabled	true	Whether to enable telemetry.
server		Server configuration for telemetry.
server.port	8000	The port of the telemetry server.
server.host	0.0.0.0	The host of the telemetry server.
server.root_url	192.168.1.89	The IP address of the server. This is used for the connection to the server from the frontend.

Gamepad

Key	Default	Description
max_trig_bits	10	The maximum trigger bits.
max_joy_bits	15	The maximum joystick bits.

Lidar

Key	Default	Description
port_name	"/dev/ttyUSB0"	The port name for the lidar.
min_distance	500	The minimum distance for lidar in millimeters.
max_distance_between_points	1000	The maximum distance between points in millimeters.