for test_case in range(2):
# Set logging data
veh_data = type_DataLog(['Veh_Vel','Pos_X','Pos_Y','Acc_Set','Brk_Set','t_brk'])
motor_data = type_DataLog(['t_mot','t_mot_reg','t_mot_des','w_mot'])
power_data = type_DataLog(['p_mot','p_loss','p_elec','soc','v_mot','i_mot'])
shaft_data = type_DataLog(['w_shaft','w_wheel','w_veh','w_dot_mot','w_dot_veh','w_dot_shaft'])
# Powertrain import and configuration
kona_power = Mod_Power()
# Bodymodel import and configuration
kona_body = Mod_Body()
# Vehicle set
kona_vehicle = Mod_Veh(kona_power, kona_body)
drv_kyunghan = Mod_Driver()
# Behavior model
beh_speed = Mod_Behavior(drv_kyunghan)
veh_vel = kona_vehicle.vel_veh
kona_vehicle.swtRegCtl = test_case
for sim_step in range(len(sim_time_range)):
# Arrange vehicle input
veh_vel_set = u_veh_vel_set[sim_step]
u_acc_in, u_brk_in = beh_speed.Lon_control(veh_vel_set, veh_vel)
# Vehicle model sim
from model_maneuver import Mod_Behavior, Mod_Driver
from model_environment import Mod_Env
from sub_type_def import type_DataLog, type_drvstate
from sub_utilities import Filt_LowPass
from data_roadxy import get_roadxy
from data_config import get_config
#%% 1. Set vehicle parameters
# Load data set
get_config.set_dir(data_dir)
kona_param = get_config.load_mat('CoeffSet_Kona.mat')
kona_param_est = get_config.load_mat('CoeffOpt_Kona.mat')['CoeffSet_Init']
# Powertrain import and configuration
kona_power = Mod_Power()
# Bodymodel import and configuration
kona_drivetrain = Mod_Body()
# Set parameters
kona_drivetrain.Drivetrain_config(
conf_rd_wheel=kona_param['Conf_wheel_rad'][0, 0],
conf_jw_mot=kona_param['Conf_iner_mot'][0, 0],
conf_gear=kona_param['Conf_gear'][0, 0],
conf_mass_veh=kona_param['Conf_mass_veh_empty'][0, 0],
conf_mass_add=kona_param_est[0, 3],
conf_jw_wheel=kona_param_est[0, 2],
conf_jw_trns_out=kona_param_est[0, 0],
conf_jw_diff_in=0,
conf_jw_diff_out=0,
conf_jw_trns_in=0)
kona_drivetrain.conf_eff_eq_pos = kona_param_est[0, 1]
kona_drivetrain.conf_eff_eq_neg = (2 - 1 / kona_drivetrain.conf_eff_eq_pos)
LS = []
for ItNum in range(ItNumMax):
swt_valid = ItNum % 100
egreedy_dis_fac = ItNum // 10
# if swt_valid == 0:
# agent_dqn.conf_egreedy = 0
# print('============================= validation =================================')
# else:
# agent_dqn.conf_egreedy = e_greedy_config - egreedy_dis_fac/50
# 3. Import model - set the initial value
# Powertrain import and configuration
kona_power = Mod_PowerTrain()
# ~~~~~
# Bodymodel import and configuration
kona_body = Mod_Body()
kona_body.swtRegCtl = 2
# ~~~~
# Vehicle set
kona_vehicle = Mod_Veh(kona_power, kona_body)
# ~~~~
# Driver model import
drv_kyunghan = Mod_Driver()
drv_kyunghan.I_gain_lon = 10
drv_kyunghan.P_gain_lon = 5
# ~~~~
# Behavior set
beh_driving = Mod_Behavior(drv_kyunghan)
idm_brake = IDM_brake(mod_param)
# Set the drv config
# cruise speed
from model_powertrain import Mod_Power
from model_maneuver import Mod_Behavior, Mod_Driver
from model_environment import Mod_Env
from sub_type_def import type_DataLog
from math import pi
os.chdir(data_dir)
data_driver = io.loadmat('data_driver.mat')
data_vehicle = io.loadmat('data_vehicle.mat')
data_motor = io.loadmat('data_emachine.mat')
os.chdir(test_dir)
#%% 1. Import models
# Powertrain import and configuration
kona_power = Mod_Power()
# ~~~~~
# Bodymodel import and configuration
kona_drivetrain = Mod_Body()
# ~~~~
# Vehicle set
kona_vehicle = Mod_Veh(kona_power, kona_drivetrain)
# ~~~~
# Driver model
drv_kyunghan = Mod_Driver()
# ~~~~
# Behavior model
beh_cycle = Mod_Behavior(drv_kyunghan)
# ~~~~
#%% 2. Simulation config
# 2. brake torque
u_veh_vel_set = data_driver['var_Desired_Velocity_km_h_'] / 3.6
Ts = 0.01
sim_time_range = data_driver['var_Time_s_']
sys.path.append(data_dir) sys.path.append(conf_dir) sys.path.append(test_dir) from model_vehicle import Mod_Veh, Mod_Body from model_powertrain import Mod_PowerTrain from model_maneuver import Mod_Behavior, Mod_Driver from model_environment import Mod_Env from sub_type_def import type_DataLog from sub_utilities import Get_SqrVal #%% 1. Import models # Powertrain import and configuration kona_power = Mod_PowerTrain() kona_power_reg = Mod_PowerTrain() # ~~~~~ # Bodymodel import and configuration kona_body = Mod_Body() kona_body_reg = Mod_Body() kona_body_reg.swtRegCtl = 1 # ~~~~ # Vehicle set kona_vehicle = Mod_Veh(kona_power, kona_body) kona_vehicle_reg = Mod_Veh(kona_power_reg, kona_body_reg) #%% 2. Simulation config Ts = 0.01 sim_time = 100 sim_time_range = np.arange(0, sim_time, 0.01) # Initial state w_mot = kona_power.ModMotor.w_mot t_mot_load = kona_power.ModMotor.t_load # ----------------------------- select input set --------------------------- u_acc_val = Get_SqrVal([0.3, 0.1, 0], [0.1, 0.3, 0.5], sim_time / Ts)