基於carla和python的自動駕駛模擬系列3

十棟前的貓發表於2020-09-26
Python自動駕駛

歡迎來到卡拉自動駕駛汽車的Python程式設計教程的第3部分。在本教程中，我們將利用Carla API的知識，嘗試將這個問題轉化為一個強化學習問題。
在OpenAI開創了強化學習環境和解決方案的開放原始碼之後，我們就有了一種接近強化學習環境的標準化方法。
這裡的想法是，您的環境將有一個step方法，它返回:observation, reward, done, extra_info，以及一個reset方法，它將基於某種done標誌重新啟動環境。
我們所需要做的就是建立程式碼來表示這個。我們將從卡拉經常進口的東西開始:

import glob
import os
import sys
try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
        sys.version_info.major,
        sys.version_info.minor,
        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass
import carla

接下來，我們將建立環境的類，我們將其命名為CarEnv。在模型、代理和環境的指令碼頂部新增一些常量會很方便，所以我要做的第一件事就是建立我們的第一個常量，即SHOW PREVIEW：

SHOW_PREVIEW = False

現在讓我們為環境類設定一些初始值:

class CarEnv:
    SHOW_CAM = SHOW_PREVIEW
    STEER_AMT = 1.0

    im_width = IMG_WIDTH
    im_height = IMG_HEIGHT
    actor_list = []

    front_camera = None
    collision_hist = []

我認為這些都是不言自明的，但是SHOW_CAM是我們是否要顯示預覽的關鍵。為了除錯的目的，檢視一個可能很有用，但您不一定想要一直顯示一個，因為執行所有這些可能會耗費大量資源。
STEER_AMT是我們想要應用在轉向上的。目前，這是一個全面的轉變。後來我們可能會發現，最好是控制的力度小一點，也許做一些累積的事情……等。現在，全力駕駛!
將使用collision_hist，因為碰撞感測器報告事故歷史。基本上，如果這個列表中有任何東西，我們會說我們碰撞了。對於init方法。你在之前的教程中看到的所有東西:

def __init__(self):
        self.client = carla.Client('localhost', 2000)
        self.client.set_timeout(2.0)

        # Once we have a client we can retrieve the world that is currently
        # running.
        self.world = self.client.get_world()

        # The world contains the list blueprints that we can use for adding new
        # actors into the simulation.
        blueprint_library = self.world.get_blueprint_library()

        # Now let's filter all the blueprints of type 'vehicle' and choose one
        # at random.
        #print(blueprint_library.filter('vehicle'))
        self.model_3 = blueprint_library.filter('model3')[0]

接下來，我們將建立reset方法。

    def reset(self):
        self.collision_hist = []
        self.actor_list = []

        self.transform = random.choice(self.world.get_map().get_spawn_points())
        self.vehicle = self.world.spawn_actor(self.model_3, self.transform)
        self.actor_list.append(self.vehicle)

        self.rgb_cam = self.world.get_blueprint_library().find('sensor.camera.rgb')

        self.rgb_cam.set_attribute('image_size_x', f'{self.im_width}')
        self.rgb_cam.set_attribute('image_size_y', f'{self.im_height}')
        self.rgb_cam.set_attribute('fov', '110')


        transform = carla.Transform(carla.Location(x=2.5, z=0.7))

        self.sensor = self.world.spawn_actor(self.rgb_cam, transform, attach_to=self.vehicle)

        self.actor_list.append(self.sensor)
        self.sensor.listen(lambda data: self.process_img(data))
        self.vehicle.apply_control(carla.VehicleControl(throttle=0.0, brake=0.0)) # initially passing some commands seems to help with time. Not sure why.

這裡你看到的所有東西，沒有什麼新的或新奇的，只是變成OOP。接下來，我們將碰撞感測器新增到這個方法中:

        time.sleep(4) # sleep to get things started and to not detect a collision when the car spawns/falls from sky.

        colsensor = self.world.get_blueprint_library().find('sensor.other.collision')
        self.colsensor = self.world.spawn_actor(colsensor, transform, attach_to=self.vehicle)
        self.actor_list.append(self.colsensor)
        self.colsensor.listen(lambda event: self.collision_data(event))

我們在這裡開始了四秒鐘的睡眠，因為汽車真的“掉入”了模擬器。通常情況下，當汽車撞到地面時，我們會得到一個碰撞記錄。而且，最初，它會花一些時間讓這些感測器初始化和返回值，所以我們會用一個安全可靠的4秒。為了防止需要更長的時間，我們可以做以下事情:

        while self.front_camera is None:
            time.sleep(0.01)

但是我們不能這麼做，因為我們需要確定賽車在衍生時已經從天上掉下來了。最後，讓我們記錄下這一集的實際開始時間，確保沒有使用剎車和油門，並返回我們的第一個觀察結果:

        self.episode_start = time.time()

        self.vehicle.apply_control(carla.VehicleControl(brake=0.0, throttle=0.0))

        return self.front_camera

完整的程式碼為我們的CarEnv到目前為止是:

class CarEnv:
    SHOW_CAM = SHOW_PREVIEW
    STEER_AMT = 1.0

    im_width = IMG_WIDTH
    im_height = IMG_HEIGHT
    actor_list = []

    front_camera = None
    collision_hist = []

    def __init__(self):
        self.client = carla.Client('localhost', 2000)
        self.client.set_timeout(2.0)

        # Once we have a client we can retrieve the world that is currently
        # running.
        self.world = self.client.get_world()

        # The world contains the list blueprints that we can use for adding new
        # actors into the simulation.
        blueprint_library = self.world.get_blueprint_library()

        # Now let's filter all the blueprints of type 'vehicle' and choose one
        # at random.
        #print(blueprint_library.filter('vehicle'))
        self.model_3 = blueprint_library.filter('model3')[0]

    def reset(self):
        self.collision_hist = []
        self.actor_list = []

        self.transform = random.choice(self.world.get_map().get_spawn_points())
        self.vehicle = self.world.spawn_actor(self.model_3, self.transform)
        self.actor_list.append(self.vehicle)

        self.rgb_cam = self.world.get_blueprint_library().find('sensor.camera.rgb')

        self.rgb_cam.set_attribute('image_size_x', f'{self.im_width}')
        self.rgb_cam.set_attribute('image_size_y', f'{self.im_height}')
        self.rgb_cam.set_attribute('fov', '110')


        transform = carla.Transform(carla.Location(x=2.5, z=0.7))

        self.sensor = self.world.spawn_actor(self.rgb_cam, transform, attach_to=self.vehicle)

        self.actor_list.append(self.sensor)
        self.sensor.listen(lambda data: self.process_img(data))

        self.vehicle.apply_control(carla.VehicleControl(throttle=0.0, brake=0.0))

        time.sleep(4) # sleep to get things started and to not detect a collision when the car spawns/falls from sky.

        colsensor = self.world.get_blueprint_library().find('sensor.other.collision')
        self.colsensor = self.world.spawn_actor(colsensor, transform, attach_to=self.vehicle)
        self.actor_list.append(self.colsensor)
        self.colsensor.listen(lambda event: self.collision_data(event))

        while self.front_camera is None:
            time.sleep(0.01)

        self.episode_start = time.time()

        self.vehicle.apply_control(carla.VehicleControl(brake=0.0, throttle=0.0))

        return self.front_camera

現在，讓我們新增collision_data和process_img方法:

    def collision_data(self, event):
        self.collision_hist.append(event)

    def process_img(self, image):
        i = np.array(image.raw_data)
        #np.save("iout.npy", i)
        i2 = i.reshape((self.im_height, self.im_width, 4))
        i3 = i2[:, :, :3]
        if self.SHOW_CAM:
            cv2.imshow("",i3)
            cv2.waitKey(1)
        self.front_camera = i3

現在我們需要用step方法。該方法採取一個動作，然後按照通常的強化學習正規化返回observation, reward, done, any_extra_info 。開始:

    def step(self, action):
        '''
        For now let's just pass steer left, center, right?
        0, 1, 2
        '''
        if action == 0:
            self.vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=0))
        if action == 1:
            self.vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=-1*self.STEER_AMT))
        if action == 2:
            self.vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=1*self.STEER_AMT))

上面展示了我們如何根據傳遞給我們的數值動作來採取一個動作，現在我們只需要處理observation, possible collision, and reward:

        v = self.vehicle.get_velocity()
        kmh = int(3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2))

        if len(self.collision_hist) != 0:
            done = True
            reward = -200
        elif kmh < 50:
            done = False
            reward = -1
        else:
            done = False
            reward = 1

        if self.episode_start + SECONDS_PER_EPISODE < time.time():
            done = True

        return self.front_camera, reward, done, None

我們得到了飛行器的速度，從速度轉換為千米每小時。我這樣做是為了避免探員在一個狹小的圈子裡開車。如果我們需要一定的速度來獲得獎勵，這應該有希望抑制它。
接下來，我們會檢視是否已經耗盡了我們的回合時間，然後我們會返回所有的東西。這樣，我們的環境就完成了!
完整的程式碼到這一點:

import glob
import os
import sys
try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
        sys.version_info.major,
        sys.version_info.minor,
        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass
import carla


SHOW_PREVIEW = False


class CarEnv:
    SHOW_CAM = SHOW_PREVIEW
    STEER_AMT = 1.0

    im_width = IMG_WIDTH
    im_height = IMG_HEIGHT
    actor_list = []

    front_camera = None
    collision_hist = []

    def __init__(self):
        self.client = carla.Client('localhost', 2000)
        self.client.set_timeout(2.0)

        # Once we have a client we can retrieve the world that is currently
        # running.
        self.world = self.client.get_world()

        # The world contains the list blueprints that we can use for adding new
        # actors into the simulation.
        blueprint_library = self.world.get_blueprint_library()

        # Now let's filter all the blueprints of type 'vehicle' and choose one
        # at random.
        #print(blueprint_library.filter('vehicle'))
        self.model_3 = blueprint_library.filter('model3')[0]

    def reset(self):
        self.collision_hist = []
        self.actor_list = []

        self.transform = random.choice(self.world.get_map().get_spawn_points())
        self.vehicle = self.world.spawn_actor(self.model_3, self.transform)
        self.actor_list.append(self.vehicle)

        self.rgb_cam = self.world.get_blueprint_library().find('sensor.camera.rgb')

        self.rgb_cam.set_attribute('image_size_x', f'{self.im_width}')
        self.rgb_cam.set_attribute('image_size_y', f'{self.im_height}')
        self.rgb_cam.set_attribute('fov', '110')


        transform = carla.Transform(carla.Location(x=2.5, z=0.7))

        self.sensor = self.world.spawn_actor(self.rgb_cam, transform, attach_to=self.vehicle)

        self.actor_list.append(self.sensor)
        self.sensor.listen(lambda data: self.process_img(data))

        self.vehicle.apply_control(carla.VehicleControl(throttle=0.0, brake=0.0))

        time.sleep(4) # sleep to get things started and to not detect a collision when the car spawns/falls from sky.

        colsensor = self.world.get_blueprint_library().find('sensor.other.collision')
        self.colsensor = self.world.spawn_actor(colsensor, transform, attach_to=self.vehicle)
        self.actor_list.append(self.colsensor)
        self.colsensor.listen(lambda event: self.collision_data(event))

        while self.front_camera is None:
            time.sleep(0.01)

        self.episode_start = time.time()

        self.vehicle.apply_control(carla.VehicleControl(brake=0.0, throttle=0.0))

        return self.front_camera

    def collision_data(self, event):
        self.collision_hist.append(event)

    def process_img(self, image):
        i = np.array(image.raw_data)
        #np.save("iout.npy", i)
        i2 = i.reshape((self.im_height, self.im_width, 4))
        i3 = i2[:, :, :3]
        if self.SHOW_CAM:
            cv2.imshow("",i3)
            cv2.waitKey(1)
        self.front_camera = i3

    def step(self, action):
        '''
        For now let's just pass steer left, center, right?
        0, 1, 2
        '''
        if action == 0:
            self.vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=0))
        if action == 1:
            self.vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=-1*self.STEER_AMT))
        if action == 2:
            self.vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=1*self.STEER_AMT))

        v = self.vehicle.get_velocity()
        kmh = int(3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2))

        if len(self.collision_hist) != 0:
            done = True
            reward = -200
        elif kmh < 50:
            done = False
            reward = -1
        else:
            done = False
            reward = 1

        if self.episode_start + SECONDS_PER_EPISODE < time.time():
            done = True

        return self.front_camera, reward, done, None

在下一篇教程中，我們將編寫Agent類，它將與這個環境互動，並容納我們實際的強化學習模型。

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