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simulate.m
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simulate.m
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function [output, frames, if_bad_init] = simulate(num_cars, simulate_horizon, Policy_1, plot_flag, Params, if_saving_gif)
% used for simulate for 200s with ego_car controlled by Policy_1
%% initialization
% Initizlie and Construct the traffic environment
Cars = simulator_initializaiton(Params, num_cars);
if if_saving_gif == false
frames = [];
end
time = 0;
tot_dist = 0;
lane_change_times = 0;
if_bad_init = false;
ego_obs = get_Observation(1, Cars, Params);
if plot_flag
if if_saving_gif
fig = figure('units', 'normalized', 'outerposition', [0 0 1 1]);
hold on;
Plot_Traffics(Cars, time, tot_dist, Params, ego_obs, fig);
else
Plot_Traffics_not_saving_gif(Cars, time, tot_dist, Params, ego_obs);
end
end
for time = 1 : simulate_horizon
%% update dynamics, with relative coord, i.e. ego_x = 0;
% s = obs2state(ego_obs, Params);
ego_obs = get_Observation(1, Cars, Params);
[Cars, tot_dist, ~, lane_change_flag] = update_dynamics_simu(Cars, tot_dist, Policy_1, Params);
% check if there is collision:
collision_flag = check_collision(Cars, Params);
% update Q
% a = ego_action;
% s_n = obs2state(ego_obs, Params);
%%
if collision_flag == false
if plot_flag
if if_saving_gif
frames(time) = Plot_Traffics(Cars, time, tot_dist, Params, ego_obs, fig);
else
Plot_Traffics_not_saving_gif(Cars, time, tot_dist, Params, ego_obs);
end
end
if lane_change_flag
lane_change_times = lane_change_times + 1;
end
else
% filter bad initialization
frames = [];
if time >= 3
disp('Collision++');
if plot_flag
if if_saving_gif
Plot_Traffics(Cars, time, tot_dist, Params, ego_obs, fig);
else
Plot_Traffics_not_saving_gif(Cars, time, tot_dist, Params, ego_obs);
end
end
else
disp('Bad initialization!');
if_bad_init = true;
tot_dist = 0;
collision_flag = false;
end
break; % break the current episode & restart simulation
end % collision check
end % for time
output = [tot_dist, collision_flag, lane_change_times];
return