def Driver_set(self, Driver):
"""Arrange driver parameters for behavior controller
Define PID controller for velocity, offset, yaw
Args:
* DriverSet: driver parameter set
"""
self.Driver = Driver
self.Lon_Controller_acc = type_pid_controller(Driver.P_gain_lon, Driver.I_gain_lon, Driver.D_gain_lon)
self.Lon_Controller_brk = type_pid_controller(Driver.P_gain_lon, Driver.I_gain_lon, Driver.D_gain_lon)
self.Lat_Controller_offset = type_pid_controller(Driver.P_gain_lat, Driver.I_gain_lat, Driver.D_gain_lat)
self.Lat_Controller_yaw = type_pid_controller(Driver.P_gain_yaw, Driver.I_gain_yaw, Driver.D_gain_yaw)
self.stLonControl = 'Acc_On'
self.stLonControlTrnst = 0
self.cntTrnst = 0
self.conf_brk_on_hystval = Driver.vel_hyst_brk
self.conf_acc_on_hystvel = Driver.vel_hyst_acc
self.conf_shift_time = Driver.shift_time
self.Filt_LonShiftTrnsDelay = type_trnsition_delay(Driver.shift_time)
model_conf = {
'input_num': 8,
'input_sequence_num': 8,
'action_dim': 6,
'lrn_rate': 0.0005
}
agent_conf = {'min_data_length': 200}
agent_reg = DdqrnAgent(model_conf['input_num'],
model_conf['input_sequence_num'],
model_conf['action_dim'], model_conf['lrn_rate'])
agent_reg.explore_dn_freq = 2000
acc_set_filt = MovAvgFilt(7)
reg_trq_ctl = type_pid_controller()
reg_trq_ctl.P_gain = 50
reg_trq_ctl.I_gain = 500
# Env
env_reg = EnvRegen(kona_power.ModBattery.SOC)
" Load model"
if driver_case == 0:
agent_reg.model.load_weights('driving_case_driver_0.h5')
agent_reg.epsilon = 0.1
elif driver_case == 1:
agent_reg.model.load_weights('driving_case_driver_1.h5')
agent_reg.epsilon = 0.1
else:
agent_reg.model.load_weights('driving_case_driver_2.h5')
agent_reg.epsilon = 0.1
