The state space in paper.
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Hey. In your paper, the state space is discretized. For example, the ego vehicle's velocity is discretized to 29. Why is the number 29？ The velocity is 0km/h-50km/h. Do you mean divide this range into 29 copies?
Thank you!
The interval of speed is 0 and 14m/s (~50km/h) and divided into 29 chunks.
This is where we define the state space in the code: https://github.com/sisl/PedestrianAvoidancePOMDP.jl/blob/master/src/pomdp_types.jl#L60
When running LinRange in the REPL with we get a nice discretization with 0.5 intervals.
julia> LinRange(0.0, 14.0, 29)
29-element LinRange{Float64}:
0.0,0.5,1.0,1.5,2.0,2.5,3.0,3.5,4.0,4.5,5.0,5.5,6.0,6.5,7.0,7.5,8.0,8.5,9.0,9.5,10.0,10.5,11.0,11.5,12.0,12.5,13.0,13.5,14.0
The interval of speed is 0 and 14m/s (~50km/h) and divided into 29 chunks.
This is where we define the state space in the code: https://github.com/sisl/PedestrianAvoidancePOMDP.jl/blob/master/src/pomdp_types.jl#L60
When running
LinRangein the REPL with we get a nice discretization with 0.5 intervals.julia> LinRange(0.0, 14.0, 29) 29-element LinRange{Float64}: 0.0,0.5,1.0,1.5,2.0,2.5,3.0,3.5,4.0,4.5,5.0,5.5,6.0,6.5,7.0,7.5,8.0,8.5,9.0,9.5,10.0,10.5,11.0,11.5,12.0,12.5,13.0,13.5,14.0
Thanks! The other question is how to compute the states amounts. Sorry the question if it is a bit simple, but it really comfusing me. The state is combinations of ego and pedestrian states, means: 29 X 5 X 27 X 7 X 5 X 7 = 959175 .Not 1.5 X 10^6. Where is wrong?
The number of lateral positions for the pedestrian is 11 in the paper. (in the code as well actually)
julia> 29 * 5 * 27 * 11 * 5 * 7
1507275
The number of lateral positions for the pedestrian is 11 in the paper. (in the code as well actually)
julia> 29 * 5 * 27 * 11 * 5 * 7 1507275
Oh Sorry, I misread one of the numbers. Really thanks! This question will be closed.