************************* run.py ****************************

#=============================================================================================================================

init controller

init game

init dqn

get controller command

get game state

run new command

#===============================================================================================================================

    ************************* controller.py ****************************

#============================================================================================================================= * read settings

• init road state action

• find nearest

• calc ref

• pure pursuit steer

• pid steer

• lqr steer

• pid cmd

• calculate command

  -> steering angle

  -> speed(gear or brake)

• render #===============================================================================================================================

    ************************* simulator.py ****************************
  

#=============================================================================================================================

wrapped carla-simulator

read settings

new game

set command

get states

do new command

get img data

get radar data

#===============================================================================================================================

    ************************* log ****************************

#=============================================================================================================================

wrapped carla-simulator

read settings

new game

set command

get states

do new command

get img data

get radar data

#===============================================================================================================================