Name: 控制汽車並獲取攝像頭傳感器數據--用Carla和Python控制自動駕駛汽車第2頁。 (Controlling the Car and getting Camera Sensor Data - Self-driving cars with Carla and Python p.2)
Uploaded: 2021-01-14T10:36:20.000Z
Duration: 34 min 54 s
Description: 【看影片學英語】數萬部 YouTube 影片，搭配英漢字典即點即查，輕鬆掌握單字發音與用法，長久累積看電影不必再看字幕。

情態副詞

And welcome to part two of the Karl, a self driving car likely with reinforcement learning Siri's in this video.

We're going to just carry on with what we were doing.

The last video we just made sure Carl, that was working.

And now what we want to do is actually start working on our own, um, python code.

So my goal for the Siri's is to use reinforcement learning to train a self driving core.

Now, in order to do that like any big problem, we have to break these problem down into little itty bitty junks.

So the next small chunk that we need to be able to do is we need to be able to figure out how to spawn this car in the environment, how to control this car in the environment, and then how to get sensory data back from that car.

We need basically like at least to start two types of sensor data.

The first is like a hood camera, basically so, just like some sort of forward facing camera, and then we also need to sense whenever that car has been in an accident.

So to do reinforcement, learning pretty much all we want to do is drive around.

If we drive around at decent pace, that's good.

So this isn't gonna be a it's kind of gonna kind of be like the self driving car in Grand Theft Auto.

I'm not actually gonna try to honor road rules or speed limits or anything of anything.

I just find it much more entertaining to watch a car drive really, really fast.

So So take note if you want later, you can, ADM or rules and how you just determine that that reward function on and you can get the car to do whatever you want it to.

So anyway, what we're gonna do here is figure out.

How do we actually interface with Carla using python?

So if you go to the get started bit and scroll down to the python a p I tutorial, we've been on this page briefly in the previous video.

If I recall correctly, it's been a while for me.

It's probably just a few moments ago for you, but so be it.

And we basically don't forget, we've got actor Blueprint World actor.

Other vehicles, pedestrians as well as your sensors thes air.

All actors then blueprints these air the attributes of those actors of the vehicle Pedestrian sensors and the world.

This way we don't end up hanging forever and ever and ever we grab the world Once we have that information, basically, these will be your first few lines of code every time as well as this one.

You're pretty much gonna always reference the blueprint library.

And then here right away we have at least this one sensor, right?

This is for your collision sensor, which we will definitely be using.

Um And then this basically is going to show you maybe how to attach that sensor.

Transform, Spawn Actor Blueprint transform.

This little bit is kind of confusing to me as faras Like how we actually add things to things.

But I'll show you guys hopefully it will make sense when I get through it.

Uh, okay, so I think we're ready to rumble.

Uh, what I'm gonna do is we can leave this up for reference, I think.

And what I'd like to do is I'm gonna write everything in the inn.

You could move this into your site packages of python 3.7 and imported.

I'm just gonna keep it nice and simple and just keep it in the same package here.

So what I'm gonna do is just take, like, any one of these files.

I'm just gonna copy pasta just so you can not write a few lines on, we'll call this tutorial video to what a great name.

Uh and then we will open in sublime text.

So what I'm gonna do is basically delete everything from there to here on the import.

And then everything else I'm just gonna delete from this script basically just didn't want to write that like, Well, this this bit, it just changes that system path so we can import that Carla egg easy enough So now what I want to do is begin talking about some fundamentals of what's going on here.

So, first of all, any time you've got a client server, we need to also probably clean up what we're doing.

So the first order of business that we're going to attend to is going to be We're gonna have this actor underscore list, and that'll be an empty list.

And then what we're gonna do is attempt to basically do our connection to the server, all that fun stuff, and then when we're all done, we need to clean up.

And what the way we clean up is four Actor in actor underscore list actor dot Destroy.

Okay, so this'll probably be the starting script for pretty much any Carla code that you're right.

Well, actually, well, we would first need to connect, so let's do that as well.

So we're gonna take client equals, carla dot Kalai in, uh and then we're connecting local host again.

That could be some sort of remote public I p, which is super awesome.

In the case of reinforcement learning one of the hardships of doing it that way would be the Leighton see tune from.

So with reinforcement learning it's a particularly challenging one because each step needs to know what the result of that step was.

So if you have a server and you've got, like, 100 millisecond ping, it's not like everything's just kind of shifted over 100 milliseconds.

Instead, you have to take a step and then send that out and then wait for it to come back so you would get 200 milliseconds per steps.

So five frames per second, which probably isn't good enough.

So we're gonna keep everything local running on.

So in theory, this would all have to run inside the car.

Um, luckily, you would only need to run the model.

The model would actually predict pretty quick.

Like you probably wouldn't be doing exploration in reality.

So continue on client dot set underscore.

We're gonna set this to two seconds in the docks.

If we take more in two seconds to do something, there's probably something wrong.

So anyway, we'll keep to their They're going to say world equals equals client dot get underscore world And then we're gonna do that.

Blueprint library, Eagles, World war world dot Get underscore.

Okay, this is probably more along the lines of the code that will start every Carla endeavor.

This might also be pretty common, but we're gonna say BP for basically blueprint is going to be equal to that blueprint library dot filter.

And we're gonna filter by things that say model three.

So we're gonna grab a Tesla model three here, and I'm gonna say the item at the zero with index.