u_brk_val = 0 * np.ones(len(sim_time_range))
# Brake : Input_index = 2
elif Input_index == 2:
u_acc_val = np.concatenate(
(0 * np.ones(int(len(sim_time_range) * 0.1)),
0.3 * np.ones(int(len(sim_time_range) * 0.4)),
0 * np.ones(int(len(sim_time_range) * 0.5))))
u_brk_val = np.concatenate(
(0 * np.ones(int(len(sim_time_range) * 0.55)),
0.3 * np.ones(int(len(sim_time_range) * 0.45))))
else:
print('입력을 똑바로 하세요 ~_~')
#%% 3. Run simulation
# Set logging data
sim1 = type_DataLog(
['Veh_Vel', 'Pos_X', 'Pos_Y', 'Acc_Set', 'Brk_Set', 'SOC'])
w_veh_deb = []
for sim_step in range(len(sim_time_range)):
# Arrange vehicle input
u_acc_in = u_acc_val[sim_step]
u_brk_in = u_brk_val[sim_step]
# Vehicle model sim
[veh_vel, the_wheel] = kona_vehicle.Veh_driven(u_acc=u_acc_in,
u_brake=u_brk_in)
[pos_x, pos_y, pos_s, pos_n,
psi_veh] = kona_vehicle.Veh_position_update(veh_vel, the_wheel)
SOC = kona_vehicle.ModPower.ModBattery.SOC
# Store data
sim1.StoreData([veh_vel, pos_x, pos_y, u_acc_in, u_brk_in, SOC])
w_veh_deb.append(kona_vehicle.ModDrive.w_vehicle)
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
#%% 2. Simulation setting
swt_plot = 'on'
#%% 2. Simulation
sim_vehicle = type_DataLog([
'time', 'veh_vel_measure', 'veh_vel_pre', 'veh_vel', 'veh_acc',
'acc_measure', 'drv_aps_in', 'drv_bps_in', 'trq_mot', 'w_mot',
'w_shaft', 'w_wheel', 'reldis_measure'
])
sim_algorithm = type_DataLog(
['stDrvInt', 'stRegCtl', 'acc_set_lqr', 'acc_set_classic', 'x1', 'x2'])
sim_idm = type_DataLog([
'stBrkSection', 'acc_est', 'acc_ref', 'vel_est', 'vel_ref',
'reldis_est', 'dis_eff', 'dis_adj', 'dis_adj_delta',
'param_reldis_init', 'param_reldis_adj', 'flag_idm_run'
])
sim_rl = type_DataLog([
'state_array', 'action_index', 'rv_sum', 'rv_mod', 'rv_drv', 'rv_saf',
'rv_eng'
Q = np.array(((0.1, 0), (0, 0.001)))
R = np.array((1))
K_lqr, X, eigVals = lqr(A, B, Q, R)
# Lower controller
acc_set_filt = MovAvgFilt(21)
reg_trq_ctl = type_pid_controller()
reg_trq_ctl.P_gain = 50
reg_trq_ctl.I_gain = 500
#%% 2. Simulation setting
swt_plot = 'off'
#%% 2. Simulation
sim_vehicle = type_DataLog([
'time', 'veh_vel_measure', 'veh_vel_pre', 'veh_vel', 'veh_acc',
'acc_measure', 'drv_aps_in', 'drv_bps_in', 'trq_mot', 'w_mot', 'w_shaft',
'w_wheel', 'reldis_measure'
])
sim_algorithm = type_DataLog(
['stDrvInt', 'stRegCtl', 'acc_set_lqr', 'acc_set_classic', 'x1', 'x2'])
sim_idm = type_DataLog([
'stBrkSection', 'acc_est', 'acc_ref', 'vel_est', 'vel_ref', 'reldis_est',
'dis_eff', 'dis_adj', 'dis_adj_delta', 'param_reldis_init',
'param_reldis_adj', 'flag_idm_run'
])
# Set initial flag and state
flagRegCtlInit = 0
kona_vehicle.swtRegCtl = 2