working , rc release !

car.py

@@ -1,3 +1,4 @@
+import datetime
 import math
 import numpy as np
 import random
@@ -10,6 +11,7 @@ from params import (
     CAR_MAX_FITNESS,
     CAR_SIZE,
     CAR_STEERING_FACTOR,
+    MAX_RUN_TIME,
     VISION_LENGTH,
     VISION_SPAN,
     THROTTLE_POWER,
@@ -59,6 +61,7 @@ class Car(pygame.sprite.Sprite):
         self.probe_brain()
         self.run = True
         self.distance_run = 0
+        self.creation_dt = datetime.datetime.now()
 
     def reset_car_pos(self):
         self.rect.center = (
@@ -107,7 +110,9 @@ class Car(pygame.sprite.Sprite):
         )
         self.update_sensors()
         self.distance_run += int(distance(old_center, self.rect.center))
-        self.brain.fitness = int(math.sqrt(self.distance_run))
+        self.brain.fitness = int(
+            math.sqrt(self.distance_run)
+        )  # - 2  # penalize jittering
 
     def probe_lines_proximity(self, lines):
         # print(self.center_sensor, lines[0])
@@ -123,7 +128,7 @@ class Car(pygame.sprite.Sprite):
                         pygame.draw.circle(screen, (125, 125, 255), ip, 4, 2)
                     dist = int(distance(ip, self.rect.center))
                     self.probes[idx] = min(dist, self.probes[idx])
-                    if dist < 1.2 * self.speed or self.speed < 0.01:
+                    if dist < 1 * self.speed or self.speed < 0.01:
                         self.run = False
                         self.speed = 0
                         # print(f'Car {id(self)} crashed')
@@ -135,8 +140,8 @@ class Car(pygame.sprite.Sprite):
 
     def probe_brain(self):
         res = self.brain.predict(np.array(self.probes))
-        self.heading_change = res[0] * 15
-        self.throttle = res[1] * 10
+        self.heading_change = res[0] * 30
+        self.throttle = res[1] * 5
 
     def update(self):
         # rotate
@@ -145,7 +150,14 @@ class Car(pygame.sprite.Sprite):
         self.rect = self.image.get_rect()
         self.rect.center = old_center
         self.update_position()
-        if self.speed < 0.01 or self.brain.fitness > CAR_MAX_FITNESS:
+        run_time = (datetime.datetime.now() - self.creation_dt).seconds
+        if run_time > MAX_RUN_TIME:
+            print("RUNTIME EXCEEDED")
+        if (
+            self.speed < 0.01
+            or self.brain.fitness > CAR_MAX_FITNESS
+            or run_time > MAX_RUN_TIME
+        ):
             self.run = False
             print(f"Car {id(self)} crashed")
         # print(