def reset(self, initial_distance, initial_speed, friction):
self.kickspd = initial_speed
self.friction_of_patch = friction
self.mu = 0.0
self.rewards = reward_calc(a=1.0, d=1.0, base=1.9)
self.distance = initial_distance
if self.collect["option"] != 0 and self.flag != 1:
self.flag = 1
self.episode = 0
self.collect_data = collectData(self.collect["path"])
self.step_count = 0
self.velocity = initial_speed * 4 / 9 # convert velocity is m/s
vehicle_stop = self.velocity <= 0.0
return [self.distance, self.velocity, self.mu]
def reset(self, leadcar_loc, initial_speed, friction):
self.kickspd_e1 = initial_speed
self.friction_of_patch = friction
self.mu = 0.0
self.rewards = reward_calc(a=1.0, d=1.0, base=1.9)
self.distance = self.geolocation = leadcar_loc #distance means => obstacle distance
if self.collect["option"] != 0 and self.flag != 1:
self.flag = 1
self.episode = 0
self.collect_data = collectData(self.collect["path"])
self.step_count = 0
self.velocity = initial_speed * 4 / 9 # convert velocity is m/s
vehicle_stop = self.velocity <= 0.0
self.episode += 1
self.flagdone1 = 1
return [self.distance, self.velocity, self.mu]
def reset(self, initial_distance, initial_speed, patch_location,
friction_value, current_actor):
#def reset(self, initial_distance, initial_speed):
self.kickspd = initial_speed
if self.gui and self.display:
self.display.stop()
# Clean all vehicles before reset the environment
for i, _ in enumerate(self.actor):
if self.actor[i] is not None:
self.actor[i].destroy()
self.actor[i] = None
self.actor = []
self.spawn_vehicles(initial_speed)
self.spawn_friction(patch_location, friction_value)
self.dist_calc = DistanceCalculation(self.ego_vehicle,
self.leading_vehicle,
self.perception)
self.rewards = reward_calc(a=1.0, d=1.0, base=1.9)
self.pid_controller = PID(P=1, I=0.0003, D=0.0)
if self.gui:
self.display = pygameViewer()
if self.collect["option"] != 0 and self.flag != current_actor:
self.episode = 0
self.flag = current_actor
self.collect_data = collectData(self.collect["path"],
self.perception, current_actor)
self.step_count = 0
self.weather = DynamicPrecipitation(
initial_precipitation=round(np.random.uniform(0.0, 20.0), 2))
self.world.set_weather(self.weather.get_weather_parameters())
S0 = self.reset_episode(initial_distance, initial_speed)
return S0
def __init__(self, mass=1300, wheel_radius=0.04, dt=0.05, collect={"option":0, "path": None}):
self.mass=1300 #Kg
self.r=0.04 # 16 inch=40 cm
self.dt=0.05 # frequency = 20 Hz
self.g= 9.8 # graviataional acceleration (in m/s^2)
self.j=1 # kg-m^2 (Moment of Intertia of tire)
self.mu=0.0 # Effective frictional coefficient
self.bs=0.8 # Set braking value at which it switch fron static to kinetic
self.distance=0.0
self.velocity=0.0
self.episode = 0
self.flag=0
self.kickspd=0.0
self.crossing_velocity=0.0
self.default_friction=0.0
self.friction_of_patch=0.0
self.location_of_patch=0.0
self.size_of_patch=0.0
self.collect = collect
self.reward_total=0.0
self.rewards = reward_calc(a=1.0,d=1.0,base=1.9)
self.counter=0