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)
# Vehicle set
kona_vehicle = Mod_Veh(kona_power, kona_drivetrain)
kona_vehicle.Veh_config(conf_drag_air_coef=kona_param_est[0, 4],
conf_drag_ca=kona_param_est[0, 5],
conf_drag_cc=kona_param_est[0, 6])
# Driver model
drv_kyunghan = Mod_Driver()
drv_kyunghan.I_gain_lat = 0.001
drv_kyunghan.P_gain_lat = 0.002
drv_kyunghan.I_gain_yaw = 0.3
drv_kyunghan.P_gain_yaw = 0.5
# Behavior model
beh_driving = Mod_Behavior(drv_kyunghan)
#%% 2. Simulation config
# 2. brake torque
data_driver = get_config.load_mat('Data_Kyunghan.mat')
data_result = get_config.load_mat('SimResult_Kyunghan.mat')
u_trq_mot_set = data_driver['Trq_Mot']
u_trq_brk_set = data_driver['Trq_BrkMec']
sim_time_range = data_driver['Veh_Time']
result_veh_vel = data_driver['Veh_Vel']
# 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
[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)
# Vehicle state
# 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
beh_driving.conf_cruise_speed_set = random.uniform(18, 22)
# fore casting distance
drv_set_coast_sl = drv_conf['coast_sl'] * random.uniform(0.8, 1.2)
drv_set_coast_off = drv_conf['coast_off'] * random.uniform(0.8, 1.2)
drv_set_coast_dis = beh_driving.conf_cruise_speed_set * drv_set_coast_sl + drv_set_coast_off
beh_driving.conf_cruise_speed_set = 20