Deepdrive
The easiest way to experiment with self-driving AI
Simulator requirements
Linux
Python 3.6+
10GB disk space
8GB RAM
Optional - baseline agent requirements
CUDA capable GPU (tested
{
'acceleration': array([-264.26913452, -227.578125 , 105.16122437]),
'angular_acceleration': array([210980.234375, 105423.765625, 38187.28125 ]),
'angular_velocity': array([2.59908962, 3.8214705 , 1.87282801]),
'brake': 0.0,
'camera_count': 1,
'cameras': [{ 'aspect_ratio': 1.0,
'capture_height': 227,
'capture_width': 227,
'depth_data': array([0.9995 , 0.9995 , 0.9995 , ...,
0.005146, 0.005146, 0.005146], dtype=float16),
'horizontal_field_of_view': 1.7654,
'id': 1,
'image': array([[[ 40., 78., 110.] ..., dtype=float32),
'image_data': array([0.283 , 0.557 , 0.82,
..., 0.02321, 0.02574, 0.02599], dtype=float16),
'image_raw': array([[[144, 195, 233]..., dtype=uint8),
'type': 0
}],
'capture_timestamp': 4132.511303506,
'dimension': array([514.99609375, 514.99609375, 91.1796875 ]), # Vehicle dimensions
'distance_along_route': 70658.828125, # centimeters of progress made along route to destination
'distance_to_center_of_lane': 1038.8463134765625, # centimeters to center of lane
'world': { 'vehicle_positions': [ [ -15800.8193359375,
38030.23828125,
19894.62890625],
[ -13854.9384765625,
39296.91015625,
20041.6484375],
[ -10323.2744140625,
39767.69921875,
20409.265625],
[ -6528.05810546875,
38875.75390625,
21034.83984375],
[ 4577.29150390625,
36155.37890625,
22704.166015625]]},
'distance_to_next_agent': 326125.625, # Next agent in our lane
'distance_to_next_opposing_agent': -1.0, # Next agent in opposite lane
'distance_to_prev_agent': 30758.2734375, # Next agent in our lane
'forward_vector': array([-0.8840133 , -0.4375411 , -0.16455328]),
'gym_action': [0, 1, 0, 0, True],
'gym_done': False,
'gym_reward': -2.4653405387152016,
'handbrake': 0,
'is_game_driving': 0,
'is_passing': 0,
'is_resetting': 205,
'lap_number': 0,
'last_collision': { 'collidee_velocity': array([0., 0., 0.]),
'collision_location': 'rear_right_fender',
'collision_normal': array([0., 0., 0.]),
'time_since_last_collision': 0.0,
'time_stamp': 4105.741911045,
'time_utc': 1562958070},
'position': array([-10163.55371094, 17115.17382812, 22500.29492188]),
'right_vector': array([-0.8840133 , -0.4375411 , -0.16455328]),
'rotation': array([ 0.10010731, -0.16530512, -2.68199444]),
'route_length': 273551.21875,
'episode_return': { 'avg_kph': 0,
'closest_vehicle_cm': 15812.662932649602,
'closest_vehicle_cm_while_at_least_4kph': 15812.662932649602,
'cm_along_route': 18730.72265625,
'collided_with_vehicle': False,
'collided_with_non_actor': True,
'end_time': '1969-12-31T16:00:00-08:00',
'episode_time': 11.5,
'gforce_penalty': 90.68476390028613,
'got_stuck': False,
'lane_deviation_penalty': 255.7695629358121,
'max_gforce': 0.8785649610557551,
'max_kph': 138.7572978515625,
'max_lane_deviation_cm': 1038.8463134765625,
'num_steps': 0,
'prev_progress_pct': 6.70844576752594,
'progress_pct': 6.8472451856879175,
'progress_reward': 0.0,
'route_length_cm': 273551.21875,
'speed_reward': 371.6081579415893,
'start_time': '2019-07-12T12:00:59.003417-07:00',
'time_penalty': 0.0,
'total': 25.15383110549117,
'wrong_way': False},
'speed': 3854.369384765625,
'steering': 0.0,
'throttle': 1.0,
'up_vector': array([-0.8840133 , -0.4375411 , -0.16455328]),
'velocity': array([-3404.32958984, -1700.12841797, -613.90289307]),
'view_mode': 'normal',
}