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driving-simulation/README.txt
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GUIDE TO THE DRIVING SIMULATION | |
Run the simulation --------------------------------------------------------------------- | |
Step 1: Go to main.py | |
Step 2: Use default values (that match Salvucci & Gray's parameter values), or modify them... | |
Agent features | |
> start_position | |
> size, color, velocity | |
Parameter values | |
> gain values | |
> delta-time, number of frames | |
> initial values of phi, alpha, and delta-alpha | |
Animation window | |
> select size of window: | |
- window that zooms up to the agent to observe its movements (since the agent is not moving, the window limits don't need to change :( ) | |
- window that shows the entirety of the road | |
Step 2: Run the model! | |
Window will pop up with the agent, along with near-point and far points and corresponding vectors. | |
---------------------------------------------------------------------------------------------- | |
Look at each step to calculate control adjustment over each time step ------------------------- | |
Step 1: Go to main.py | |
Step 2: Scroll down to initialize_simulation.init_nearPoint_farPoint_values() | |
Initializes nearPoint and farPoint values, and corresponding visual angles before simulation begins | |
Step 3: Scroll down to the animate() | |
A function that loops and updates the agent's x and y position per frame. | |
Step 4: Observe files used for each function | |
> two_point_steering_model.py : calculates x,y displacement using agent's current location and visual angles | |
> calculate_nearpoint_farpoint.py: calculates x,y location of nearPoint and farPoints based on agent's x,y position in the next frame [x(f+1),y(f+1)] | |
> calculate_visual_angles.py : calculates angle between heading vector and the nearPoint and farPoint | |
------------------------------------------------------------------------------------------------- | |
Validate each step ------------------------------------------------------------------------------ | |
Step 1: Go to validate_results.py | |
Step 2: Observe structure of the file | |
A file where you can get a freeze frame from the simulation and observe if the nearPoint and farPoints are correctly placed, and if the visual angles | |
are correctly calculated. | |
Simulation agent and objects | |
> current_pos : position of agent | |
> the rest of the variable values don't matter as much, since you're only simulating a single frame and not using the control law | |
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