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Midras Lappe
Open_Ai_Gym_Autobahn_Auffahren
Commits
edd2e894
Commit
edd2e894
authored
Mar 14, 2021
by
Midras Lappe
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client_V7.py
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edd2e894
# -*- coding: utf-8 -*-
"""
Created on Tue Jan 12 17:17:49 2021
@author: theob
"""
import
asyncio
import
Gym_new
import
time
import
nest_asyncio
import
numpy
as
np
import
random
import
math
import
matplotlib.pyplot
as
plt
async
def
main
():
env
=
Gym_new
.
Gym
()
await
env
.
connect_websocket
()
command
=
""
#observation, reward, done, info = await env.reset(0.017)
# observation, reward, done, info = await env.step("accelerate,steer_right", 0.17)
# #actionen sind accelerate, steer_left, steer_right, brake, reverse
# print(observation)
# print(reward)
# print(done)
for
i
in
range
(
random
.
randrange
(
0
,
50
)):
#print(i)
observationO
,
rewardO
,
doneO
,
infoO
=
await
env
.
step
(
command
,
0.2
)
step_width
=
0.02
#observationO, rewardO, doneO, infoO = await env.step(command, 0.02)
observation
,
reward
,
done
,
info
=
await
env
.
reset
(
step_width
)
speedO
=
observationO
[
0
]
steering_angleO
=
observationO
[
1
]
sensorsO
=
np
.
array
(
observationO
[
2
])
sensors_dir
=
[]
for
i
in
range
(
len
(
sensorsO
)):
x
=
(
-
np
.
sin
(
-
i
*
2
*
np
.
pi
/
len
(
sensorsO
)))
y
=
(
np
.
cos
(
-
i
*
2
*
np
.
pi
/
len
(
sensorsO
)))
sensors_dir
.
append
([
x
,
y
])
sensors_dir
=
np
.
array
(
sensors_dir
)
sensors_dir_len
=
sensors_dir
*
sensorsO
[:,
np
.
newaxis
]
#print(sensors_dir_len)
sollwinkel
=
0
sollgeschwindigkeit
=
0
sensors_old
=
np
.
zeros
([
len
(
sensorsO
),
5
])
speed_old
=
np
.
zeros
([
1
,
5
])
#print(sensors_old)
sensors_old
[:,
0
]
=
sensorsO
sensors_old
=
np
.
roll
(
sensors_old
,
1
)
#print(sensors_old)
zubringer
=
True
abstand_rechts
=
2
aufgefahren
=
False
change_speed_log
=
np
.
array
([[
0
,
0
,
0
,
0
,
0
,
0
,
0
,
0
,
0
],[
0
,
0
,
0
,
0
,
0
,
0
,
0
,
0
,
0
]])
timeg
=
0
;
i
=
1
while
(
True
):
observation
,
reward
,
done
,
info
=
await
env
.
step
(
command
,
step_width
)
command
=
""
speed
=
observation
[
0
]
steering_angle
=
observation
[
1
]
sensors
=
np
.
array
(
observation
[
2
])
sensors_old
=
np
.
roll
(
sensors_old
,
1
)
sensors_old
[:,
0
]
=
sensors
speed_old
=
np
.
roll
(
speed_old
,
1
)
speed_old
[:,
0
]
=
speed
speed_mean
=
np
.
mean
(
speed_old
)
#print("Durchschnittsgeschwindigkeit"+str(speed_mean))
sensor_change_speed
=
(
sensors_old
[:,
4
]
-
sensors_old
[:,
0
])
/
(
5
*
step_width
)
change_speed_log
=
np
.
append
(
change_speed_log
,([
np
.
append
(
timeg
,
sensor_change_speed
)]),
axis
=
0
)
timeg
=
timeg
+
step_width
#print("Change Speed" + str(sensor_change_speed))
#print(sensors_old)
sensors_sum
=
np
.
sum
(
np
.
absolute
(
sensors
))
# print("Summe der Sensoren"+str(sensors_sum))
sensors_dir_len
=
sensors_dir
*
sensors
[:,
np
.
newaxis
]
sensors_dir_speed
=
sensors_dir
*
sensor_change_speed
[:,
np
.
newaxis
]
sensors_dir_speed
[:,
0
]
-=
speed_mean
/
3.6
#print("Sensors Speed mit x Y"+str(sensors_dir_speed))
#print(sensors_dir_len)
dir_sum
=
np
.
sum
(
sensors_dir_len
,
axis
=
0
)
#print(dir_sum)
#aufgefahren = False
#print("Sensors Sum = "+str(sensors_sum))
if
(
zubringer
):
#Steuerung für die Auffahrt (sensors_sum < 90) &
#sollgeschwindigkeit = 90*(2.2*sensors[0]-sensors[4])/13 #1.9 1.7
#sollgeschwindigkeit = 90*(2.2*sensors[0]-5)/13
sollgeschwindigkeit
=
16
*
(
sensors
[
0
]
-
2.3
)
try
:
sollwinkel
=
3.7
*
((
dir_sum
[
0
])
/
13
+
((
sensors
[
1
]
+
sensors
[
5
])
-
(
sensors
[
3
]
+
sensors
[
7
]))
/
13
)
*
(
speed
/
abs
(
speed
))
#3.3 3.7
except
Exception
as
e
:
sollwinkel
=
3.7
*
((
dir_sum
[
0
])
/
13
+
((
sensors
[
1
]
+
sensors
[
5
])
-
(
sensors
[
3
]
+
sensors
[
7
]))
/
13
)
#print("Sollwinkel auffahrt "+str(sollwinkel))
#print('Sensor Change speed'+ str( sensor_change_speed[7]))
#if((sensors_sum>=90)):
if
((
sensor_change_speed
[
7
]
<-
13
)
&
(
reward
[
0
]
<
247
)):
#&(sensors_sum>=90)
zubringer
=
False
if
(
not
zubringer
):
weight_s1_s3
=
1
weight_s2
=
1
#if()
#sollgeschwindigkeit = (50*(2.2*sensors[0]-5)/13)
sollgeschwindigkeit
=
8.5
*
(
sensors
[
0
]
-
2.3
)
if
((
not
aufgefahren
)
&
(
sensors
[
7
]
>
3.5
)
&
(
sensors
[
6
]
>
3
)
&
(
sensors
[
5
]
>
2
)
&
(
abstand_rechts
<
6
)):
abstand_rechts
+=
0.1
#0.06
elif
(
not
aufgefahren
):
#sollgeschwindigkeit=130*(1-np.exp(-sensors[0]/5))
sollgeschwindigkeit
=
80
+
(
sensors
[
7
]
-
sensors
[
5
])
*
5
if
((
sensors
[
2
]
>
5
)
&
(
abstand_rechts
>
5
)):
#sensor[2]>5.5 #not aufgefahren & (abs(sensor_change_speed[1])<10)
abstand_rechts
=
5.5
aufgefahren
=
True
#print("Sensor 3 change_spped"+str(abs(sensor_change_speed[1])))
if
(
aufgefahren
&
(
abs
(
sensor_change_speed
[
1
])
>
8
)):
#&(abstand_rechts>4.5)): #&
abstand_rechts
=
1
#1.5 #0.3*sensor_change_speed[1]/60
weight_s1_s3
=
0
weight_s2
=
0
#time.sleep(1)
#time.sleep(0.5)
#sollwinkel = 1.3*(dir_sum[0]+16)/13
#print("Abstand rechts soll "+str(abstand_rechts))
try
:
sollwinkel
=
3.3
*
(
weight_s1_s3
*
(
sensors
[
1
]
-
sensors
[
3
])
/
3
+
weight_s2
*
(
sensors
[
2
]
-
abstand_rechts
)
/
3
)
*
(
speed
/
abs
(
speed
))
#(sensors[7]-sensors[5])/13)
except
Exception
as
e
:
sollwinkel
=
3.3
*
(
weight_s1_s3
*
(
sensors
[
1
]
-
sensors
[
3
])
/
3
+
weight_s2
*
(
sensors
[
2
]
-
abstand_rechts
)
/
3
)
# print("Sensor 1 "+str(sensors[1]))
# print("Sensor 3 "+str(sensors[3]))
#print("Sensor 2 "+str(sensors[2]))
#print("Sensor 7 "+str(sensors[7]))
#print("Sollwinkel"+str(sollwinkel))
if
(
sollwinkel
>
steering_angle
):
# print("steer_right")
command
+=
(
"
steer_right
"
)
elif
(
sollwinkel
<
steering_angle
):
# print("steer_left")
command
+=
(
"
steer_left
"
)
#print("Sollgeschwindigkeit"+str(sollgeschwindigkeit))
if
(
sollgeschwindigkeit
>
speed
):
command
+=
(
"
accelerate
"
)
elif
((
speed
>
0
)
&
(
sollgeschwindigkeit
<
speed
)):
command
+=
(
"
brake
"
)
elif
(
sollgeschwindigkeit
<
speed
):
command
+=
(
"
reverse
"
)
if
(
sensors_sum
==
0
):
command
+=
(
"
reset
"
)
# if reward[1] < 0:
# env.reset(0.01)
#if speed < 50 :
# command += ("accelerate")
# if(sensorsO[1]-sensors[1]>0 ):
# command += (",steer_left" )
# elif(sensorsO[7]-sensors[7]>0):
# command +=("steer_right")
# elif ( (sensors[1] + 2 < sensors[7])&(abs(steering_angle)<3) ): #
# command += (",steer_left" )
# elif ( (sensors[1] > sensors[7]+2)&(abs(steering_angle)<3)): #(sensors[1] > sensors[7]+1)&
# command +=("steer_right")
# else:
# if ((sensors[4]-sensorsO[4]>0) & (steering_angle != 0) & (sensors[6] > 2.5) & (sensors[0]>10)):
# command +=("steer_left")
# elif ((sensors[5]-sensorsO[5]>0) & (steering_angle != 0) & (sensors[2] > 2.5)& (sensors[0]>10)):
# command +=("steer_right")
#observation, reward, done, info = await env.reset(0.017)
observationO
,
rewardO
,
doneO
,
infoO
=
observation
,
reward
,
done
,
info
#print(observation)
#print(reward)
#print(done)
time
.
sleep
(
0.05
)
if
(
done
or
(
reward
[
1
]
>
50
)
or
(
reward
[
0
]
<
170
)):
# print(change_speed_log)
# print(change_speed_log[:,0])
# print(change_speed_log[:,1])
# for i in range(1,8):
# plt.plot(change_speed_log[:,0],change_speed_log[:,i]) # plotting by columns
# plt.plot(change_speed_log[:,0],change_speed_log[:,[2,8]])
# plt.legend(['Sensor 1','Sensor 7'])
# plt.xlabel('t in Sekunden')
# plt.ylabel('ds/dt')
# plt.xlim(0.01,12)
# plt.show()
# f=open('ClientV4Changespeed.csv','ab')
# np.savetxt(f,change_speed_log)
# f.close()
#break
f
=
open
(
'
ClientV7TestDone_all_maps.csv
'
,
'
ab
'
)
np
.
savetxt
(
f
,[
np
.
append
(
done
,
reward
[
0
])])
print
(
np
.
append
(
done
,
reward
[
0
]))
f
.
close
()
aufgefahren
=
False
zubringer
=
True
observation
,
reward
,
done
,
info
=
await
env
.
reset
(
step_width
)
observation
,
reward
,
done
,
info
=
await
env
.
reset
(
step_width
)
if
i
==
100
:
break
i
+=
1
if
__name__
==
"
__main__
"
:
nest_asyncio
.
apply
()
loop
=
asyncio
.
get_event_loop
()
loop
.
run_until_complete
(
main
())
\ No newline at end of file
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