PPO AI in raycasting game to simulate self driving for saving people's lives

Refer to:
a. https://permadi.com/1996/05/ray-casting-tutorial-1
b. https://raytomely.itch.io/raycasting-floorcasting
c. https://killerrobotics.me/2021/08/13/raycasting-game-in-python-and-pygame-part-1
d. https://www.mediafire.com/file/zo15gqjz5roxzk5/ray_trace_java.tar.gz
e. https://github.com/StanislavPetrovV/3D-Python-game-Raycast
f. https://github.com/jordansavant/doomengine.python
g. https://fatalfeel.blogspot.com/2013/09/build-3d-game-doom1-on-ubuntu-1604.html
h. http://www.peteflorence.com/ReinforcementLearningAutonomousDriving.pdf
i. https://github.com/peteflorence/Machine-Learning-6.867-homework
j. https://www.fatalerrors.org/a/lane-change-detection.html
k. https://github.com/HevLfreis/TrafficLight-Detector
l. https://www.fatalerrors.org/a/lane-change-detection.html
m. https://fatalfeel.blogspot.com/2013/12/ppo-and-awr-guiding.html
n. https://arxiv.org/pdf/1807.10913.pdf
o. https://github.com/lijx10/uwb-localization

Project Idea:
Using doom game simulate LiDAR raycasting. When opencv detect driver eyes closed too long, then switch to PPO AI driving and move to road side slowly.
Each ray is status into PPO actor network and output are left, right, doing nothing.

Source:
https://github.com/fatalfeel/PPO_raycast
because someone use PPO to unmanned combat air vehicle(UVAC) so I decide delete this repository.

Simulation Environment: (3D working)
https://www.mediafire.com/file/8kp1bgq5zvmlj12/raycast_env.py
https://www.mediafire.com/file/naegynukhwxlad7/best_factors.npy

Basic Theroy:
https://www.mediafire.com/view/667fey1c63z2cii/Trigonometric.jpg

Demo:
https://www.mediafire.com/file/ut4ahof4af5yk9t/auto_vehicle.mkv
https://www.mediafire.com/file/vsmxrhjlhk0lft6/auto_vehicle2.mkv
https://www.mediafire.com/file/wd5plk19dt5q4oy/auto_vehicle3.mkv

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http://www.teslacollection.com/tesla_articles/1898/new_york_herald/f_l_christman/tesla_declares_he_will_abolish_war (in middle section)

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https://atomictrauma.wordpress.com/the-scientists/albert-einstein

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https://towardsdatascience.com/artificial-intelligence-has-an-enormous-carbon-footprint-239290ebffe