34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
def reward_function(params):
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'''
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Example of penalize steering, which helps mitigate zig-zag behaviors
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'''
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# Read input parameters
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distance_from_center = params['distance_from_center']
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track_width = params['track_width']
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steering = abs(params['steering_angle']) # Only need the absolute steering angle
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# Calculate 3 marks that are farther and father away from the center line
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marker_1 = 0.1 * track_width
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marker_2 = 0.25 * track_width
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marker_3 = 0.5 * track_width
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# Give higher reward if the car is closer to center line and vice versa
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if distance_from_center <= marker_1:
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reward = 1.0
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elif distance_from_center <= marker_2:
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reward = 0.5
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elif distance_from_center <= marker_3:
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reward = 0.1
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else:
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reward = 1e-3 # likely crashed/ close to off track
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# Steering penality threshold, change the number based on your action space setting
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ABS_STEERING_THRESHOLD = 15
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# Penalize reward if the car is steering too much
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if steering > ABS_STEERING_THRESHOLD:
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reward *= 0.8
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return float(reward)
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