Clarification about sensor input

[Shanmugavadivelu7]

Hi @Kyushik Can you please clarify me the following questions 1) Is LIDAR data(env_info.vector_observations[0]) is received from jeju_camp.x86_64 file? 2) how the distance /speed is calculated by LIDAR(as its not physically present)?

Thanks in advance

[Kyushik]

1. Yes, it is from the environment, which is jeju_camp.x86_64
2. It is implemented by the raycast in Unity. It's similar to the LIDAR. The link of the RayCast is as follow. https://docs.unity3d.com/ScriptReference/Physics.Raycast.html

[guruvishnuvardan]

Hi Kyushik,

I am planning to train Self Driving Car using sensor, Can I remove lane based training code? I am trying to create a model/simulation to avoid hitting other vehicles/objects, irrespective of the lane.

Can you please let me know if its possible.

Thanks Guru

[Kyushik]

@guruvishnuvardan
Hi! So, do you want to remove the lane information in vector input data? If you want to do that, you need to exclude the lane information in the input data. Or, if you want to change the environment, you need to change the CollectObservations function in VehicleAgent script.

[guruvishnuvardan]

@Kyushik - Thanks for the response.

I have tried searching the code, but I couldn't find VehicleAgent script and Can you please let me know, from where should I remove the lane information from Input Data?

My apologies to ask you the details.

Thanks Guru

[Kyushik]

@guruvishnuvardan
It's in the UnitySDK -> Assets -> VehicleSimulator -> Scripts folder. In the VehicleAgent.cs script, there is a collectobservations function. You can change the input data in this function.

[guruvishnuvardan]

@Kyushik

Thanks a ton for the support. I will make the changes and create a new visual studio project to compile the changes as UnitySDK EXE(as .vsproj file doesn't exist), Can you please let me know, if its the correct approach

Thanks Guru

[Kyushik]

@guruvishnuvardan

You need to make new Unity Project and Open the UnitySDK. Then change the code and environment. After that, you should build it as a exe or other file format according to the OS.

[guruvishnuvardan]

@Kyushik

Thanks a ton. I have downloaded the UnitySDK, I make the necessary changes.

Thanks Guru