Why my range of controlling the speed of my own vehicle didn't work

[AHPUymhd]

My configuration is as follows： But with a minimum speed of 20 and a maximum of 29.999, it is clear that this speed range is not -10 to 10 that I set I am very looking forward to hearing from you

[AHPUymhd]

@eleurent Thank you very much

[eleurent]

Hi, This is because this config["observation"]["features_range"]["vx"/"vy"] does not control the range of speeds that can be reached by the vehicle, but only how the observed speed values get normalised into the [-1, 1] range. (i.e. an observed speed of 1 means 10m/s with this config).

To change the range of speeds actually tracked by the vehicles, you must change the action config instead of the observation: Something like

env.configure({
                "action": {
                    "type": "DiscreteMetaAction",
                    "longitudinal": True,
                    "lateral": True,
                    "target_speeds": [-10, 0, 10],
                },
})

[AHPUymhd]

Hi, This is because this config["observation"]["features_range"]["vx"/"vy"] does not control the range of speeds that can be reached by the vehicle, but only how the observed speed values get normalised into the [-1, 1] range. (i.e. an observed speed of 1 means 10m/s with this config).

To change the range of speeds actually tracked by the vehicles, you must change the action config instead of the observation: Something like

env.configure({
                "action": {
                    "type": "DiscreteMetaAction",
                    "longitudinal": True,
                    "lateral": True,
                    "target_speeds": [-10, 0, 10],
                },
})

Thank you very much for answering your questions!!!!!this solved my doubts.