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huawei-noah / SMARTS

Scalable Multi-Agent RL Training School for Autonomous Driving
MIT License
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I want to know the dynamic or kinematic model of vehicles in SMARTS #2120

Closed dailf678 closed 10 months ago

dailf678 commented 11 months ago

High Level Description

When I select ActuatorDynamic for my ActionSpaceType, I need to set throttle, brake, and steering_ Rate. But I don't know the dynamics or kinematic models inside the vehicle.

Version

latest

Operating System

No response

Problems

In your paper "SMARTS: Scalable Multi-Agent Reinforcement Learning Training School for Autonomous Driving" that you mentioned "Physics is supported through the vehicle provider, which simulates the specific physical vehicle model and exposes a control interface at different levels of abstraction: throttle stroke training, trajectory tracking, and lane following." I would like to know if it is possible to set up a "physical vehicle model."

Frzgunr1 commented 11 months ago

Hi @dailf678 ，From my understanding of the code, to view the vehicle dynamics model, you only need to focus on SMARTS/smarts/core/models/controller_parameters.yaml and SMARTS/smarts/core/vehicle.py

Gamenot commented 11 months ago

See https://github.com/huawei-noah/SMARTS/issues/2116.