def _get_vehicle_features(self):
t = self.vehicle.get_transform()
control = self.vehicle.get_control()
imu_sensor = self.sensors['imu']
gyroscope = imu_sensor.gyroscope
accelerometer = imu_sensor.accelerometer
return [
env_utils.speed(self.vehicle),
control.gear,
control.steer,
control.throttle,
control.brake,
# Accelerometer:
accelerometer[0],
accelerometer[1],
accelerometer[2],
# Gyroscope:
gyroscope[0],
gyroscope[1],
gyroscope[2],
# Location
t.location.x,
t.location.y,
# Compass:
math.radians(imu_sensor.compass)]
def reward(self, actions, time_cost=-1.0, a=2.0):
"""An example reward function. Subclass to define your own."""
speed = env_utils.speed(self.vehicle)
speed_limit = self.vehicle.get_speed_limit()
if speed <= speed_limit:
speed_penalty = 0.0
else:
speed_penalty = a * (speed_limit - speed)
return time_cost - self.collision_penalty + speed_penalty
def debug_text(self, actions):
return ['%d FPS' % self.clock.get_fps(),
'',
'Throttle: %.2f' % self.control.throttle,
'Steer: %.2f' % self.control.steer,
'Brake: %.2f' % self.control.brake,
'Reverse: %s' % ('T' if self.control.reverse else 'F'),
'Hand brake: %s' % ('T' if self.control.hand_brake else 'F'),
'Gear: %s' % {-1: 'R', 0: 'N'}.get(self.control.gear),
'',
'Speed %.1f km/h' % env_utils.speed(self.vehicle),
'Speed limit %.1f km/h' % self.vehicle.get_speed_limit(),
'',
'Reward: %.2f' % self.reward(actions),
'Collision penalty: %.2f' % self.collision_penalty]
