def reset(self, initial_distance, 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()
self.dist_calc = DistanceCalculation(self.ego_vehicle, self.leading_vehicle, self.perception)
self.pid_controller = PID(P=3.0, I=0.0003, D=0.0)
if self.gui:
self.display = pygameViewer()
if self.collect["option"] != 0:
self.collect_data = collectData(os.path.join(self.collect["path"], "episode_" + str(self.episode)), self.perception)
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)
self.episode_count += 1
return S0
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