************************* 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
#===============================================================================================================================