AutonoumousDrivingCookbook From Microsoft team

自动驾驶自助指南

好东西来记录一下，督促自己学下去

End-to-end deep learning tutorial

之后review

Distributed Deep Reinforcement Learning for Autonomous Driving

自动驾驶中的分布式训练和强化学习

ExploreAlgorithm 算法探究

Step 1 - Explore the Algorithm

In this notebook you will get an overview of the reinforcement learning algorithm being used for this experiment and the implementation of distributed learning.

The reward function

To compute our reward function, we begin by computing the distance to the center of the nearest road. We then pass that distance through an exponential weighting function to force this portion to the range [0, 1].

def compute_reward(car_state, collision_info, road_points):
    #Define some constant parameters for the reward function
    THRESH_DIST = 3.5                # The maximum distance from the center of the road to compute the reward function
    DISTANCE_DECAY_RATE = 1.2        # The rate at which the reward decays for the distance function
    CENTER_SPEED_MULTIPLIER = 2.0    # The ratio at which we prefer the distance reward to the speed reward
    
    # If the car is stopped, the reward is always zero
    speed = car_state.speed
    if (speed < 2):
        return 0
    
    #Get the car position
    position_key = bytes('position', encoding='utf8')
    x_val_key = bytes('x_val', encoding='utf8')
    y_val_key = bytes('y_val', encoding='utf8')

    car_point = np.array([car_state.kinematics_true[position_key][x_val_key], car_state.kinematics_true[position_key][y_val_key], 0])
    
    # Distance component is exponential distance to nearest line
    distance = 999
    
    #Compute the distance to the nearest center line
    for line in road_points:
        local_distance = 0
        length_squared = ((line[0][0]-line[1][0