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IA

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This commit is contained in:
leo 2022-05-13 13:36:08 +02:00
parent 1f1212c464
commit 83c1bb0bab
Signed by: leo
GPG Key ID: 0DD993BFB2B307DB
1 changed files with 2 additions and 4 deletions
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6
Car.py
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@ -74,7 +74,7 @@ class Car():
self.nu = 0 self.nu = 0
self.gamma = 10 self.gamma = 10
self.delta = 0 self.delta = 0
self.T = uniform(0.9,1.6) if not self.IA else 0 self.T = uniform(0.9,1.6) if not self.IA else 0.01
self.size = 3 self.size = 3
self.vroom = 0 self.vroom = 0
@ -424,7 +424,7 @@ class Car():
# ou si on as le temps d'arriver à l'intersection avant le leader (plus un marge pour garder un distance de sécu) # ou si on as le temps d'arriver à l'intersection avant le leader (plus un marge pour garder un distance de sécu)
# alors on accelere pour s'inserer # alors on accelere pour s'inserer
#print(tti, leader.T, marg, ltti) #print(tti, leader.T, marg, ltti)
if self.distToInter > self.interMinSpace + dts or self.distToInter < 5 or (tti + leader.T + marg) < ltti: if self.distToInter > self.interMinSpace + dts or (not self.IA and self.distToInter < 5) or (tti + leader.T + marg) < ltti:
self.v = min(vmax, self.v + self.a*dt) self.v = min(vmax, self.v + self.a*dt)
#print(self.id, "ca passe") #print(self.id, "ca passe")
else:# sinon on freine else:# sinon on freine
@ -434,8 +434,6 @@ class Car():
vb = (vleader + self.v) / 2 vb = (vleader + self.v) / 2
bb = (bleader + self.b) / 2 bb = (bleader + self.b) / 2
if vb == 0:
vb = bb
vsec = vleader + (self.leaderDist - vleader * self.T - self.minSpace)/((vb/bb) + self.T) vsec = vleader + (self.leaderDist - vleader * self.T - self.minSpace)/((vb/bb) + self.T)
vd = min(self.v + self.a * dt, vsec, vmax) vd = min(self.v + self.a * dt, vsec, vmax)
self.v = max(0, vd-self.nu) self.v = max(0, vd-self.nu)