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Car Overtaking

This repository contains the simulation environment for a driving assistant. The repository is work in progress, and in continuous evolution as its purpose it to try out techniques to teaching a car to drive from previous manual drives.

What is this repository for?

  • Driving simulation (Initial learning of car actions)
  • Analysis of car actions (Looking at the cvs files)

Folder Layout

The experiments in the repository have an additional implementation where they uses pre-learned qvalues.

  1. Car_Different_Speeds
    • Car_Different_Speeds_PreLearn
  2. Car_Different_Speeds_SpeedLimits
    • Car_Different_Speeds_SpeedLimits_PreLearn
  3. Car_Reward_For_At_Limit
    • Car_Reward_For_At_Limit_PreLearn

There is a folder for analysing results.

In each experiment folder there are 3 files

  • Main.html (the HTML markup)
  • Car_diffSpeeds_JS.js (the javascript that runs the entire thing)
  • Qlearning2.js (the library) There is also a results folder that I used to store the output results and the qvalues

Running and Output

To run any of the 6 experiments you need to open the main.html file in a web browser. It will run on start. It is usually let run for about 200 / 300 cars. As it runs it will output some results in csv format to the <textarea> box on the screen. To save this, click the ‘Output CSV to new Window’ button and copy the contents of the new window to a text editor and save as .csv

Sample output is: Time, Current State,Next State, Lane [L/R], Current Speed, Time To Collision, Action , Reward , QValue 308,speed=20-40TimeToCollision=0,speed=0-20TimeToCollision=0,left,20,0,slow down,0,0

To get output the qvalues in JSON format click the ‘Output QValues’ button or open the console and type document.getElementById('log').value = JSON.stringify(learner.qvalues);

This will dump the qvalues in JSON format to a second <textarea> These can be made more readable by using jsonprettyprint.com Sample output is:

"speed=40-60TimeToCollision=1": {
    "1": 0,
    "2": 0,
    "3": 107.0404069703,
    "4": -10,
    "5": 0
  }

To store this data so that it can be used and read by the bot:

  • Open a text file and type: data =
  • Then copy and paste the JSON that was output in the browser textbox.
  • Then Save it as qvalues_X.json where X is the speed of the other cars (more later)
data = {
  "speed=20-40TimeToCollision=0": {
    "1": 0,
    "2": -10,
    "3": 0,
    "4": 0,
    "5": 28.943730322149
  },

At all times there will be a percentage output of how many cars have been generated and how many it has crashed into as well as an integer showing how many ‘steps’ have been taken.