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  • behavior planning——14.implement a cost function in C++

    n most situations, a single cost function will not be sufficient to produce complex vehicle behavior. In this quiz, we'd like you to implement one more cost function in C++. We will use these two C++ cost functions later in the lesson. The goal with this quiz is to create a cost function that would make the vehicle drive in the fastest possible lane, given several behavior options. We will provide the following four inputs to the function:

    • Target speed: Currently set as 10 (unitless), the speed at which you would like the vehicle to travel.
    • Intended lane: the intended lane for the given behavior. For PLCR, PLCL, LCR, and LCL, this would be the one lane over from the current lane.
    • Final lane: the immediate resulting lane of the given behavior. For LCR and LCL, this would be one lane over.
    • A vector of lane speeds, based on traffic in that lane: {6, 7, 8, 9}.

    Your task in the implementation will be to create a cost function that satisifes:

    • The cost decreases as both intended lane and final lane are higher speed lanes.
    • The cost function provides different costs for each possible behavior: KL, PLCR/PLCL, LCR/LCL.
    • The values produced by the cost function are in the range 0 to 1.

    You can implement your solution in cost.cpp below.

    cost.cpp

    float inefficiency_cost (int target_speed, int intended_lane,int final_lane, vector<int> lane_speeds)
    {
       float speed_intended=lane_speeds[intended_lane];
       float speed_final=lane_speeds[final_lane];
       float cost=(2.0*target_speed-speed_intended-speed_final)/target_speed;
       return cost;
    }
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  • 原文地址:https://www.cnblogs.com/fuhang/p/8984716.html
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