def create_intersections(env, number_of_intersections, traffic_light_list,
navigation_speed):
'''
Parameters
----------
env : CARLA_ENV
sself-written simulation help class.
number_of_intersections : int
number of intersection.
navigation_speed : float
the navigation speed of the vehicle
Returns
-------
Intersections : list of intersections, [Init_Intersection,Intersection,Intersection,...,Intersection]
'''
# note: due to the limit of map, number_of_intersections can be at most 4 at present
world_pos_list = [(-190.0, 0.0), (-133.0, 0.0), (-55.0, 0.0), (25.4, 0.0)]
number_of_intersections = min(4, number_of_intersections)
waypoint_list = [] # way points that form the full path
subject_traffic_light_list = [
] # all subject traffic lights along the full path
intersection_list = []
for ii in range(1, number_of_intersections):
normal_intersection = Intersection(env,
world_pos_list[ii],
traffic_light_list,
navigation_speed=navigation_speed)
waypoint_list += normal_intersection.get_subject_waypoints(
) # get the three points representing the path
subject_traffic_light_list.append(
normal_intersection.get_subject_traffic_light())
intersection_list.append(normal_intersection)
init_intersection = Init_Intersection(env,
world_pos_list[0],
traffic_light_list,
waypoint_list,
subject_traffic_light_list,
navigation_speed=navigation_speed)
intersection_list.insert(0, init_intersection)
return intersection_list
def main():
try:
client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.load_world('Town05')
# set the weather
weather = carla.WeatherParameters(cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
# set the spectator position for demo purpose
spectator = world.get_spectator()
spectator.set_transform(
carla.Transform(
carla.Location(x=-133, y=1.29, z=75.0),
carla.Rotation(pitch=-88.0, yaw=-1.85,
roll=1.595))) # top view of intersection
env = CARLA_ENV(world)
time.sleep(2) # sleep for 2 seconds, wait the initialization to finish
traffic_light_list = get_traffic_lights(world.get_actors())
intersection_list = []
# intersection 1
world_pos = (-133.0, 0.0) #(25.4,0.0)
intersection1 = Intersection(env, world_pos, traffic_light_list)
intersection1.add_vehicle(obey_traffic_lights=False)
intersection1.add_vehicle(command="left", obey_traffic_lights=False)
intersection1.add_vehicle(command="right", obey_traffic_lights=False)
intersection1.add_vehicle(gap=5,
choice="left",
obey_traffic_lights=False)
intersection1.add_vehicle(gap=5,
choice="left",
command="right",
obey_traffic_lights=False)
intersection1.add_vehicle(gap=5,
choice="left",
command="left",
obey_traffic_lights=False)
intersection1.add_vehicle(choice="right", obey_traffic_lights=False)
intersection1.add_vehicle(choice="right",
command="left",
obey_traffic_lights=False)
intersection1.add_vehicle(gap=10.0,
choice="right",
command="right",
obey_traffic_lights=False)
intersection1.add_vehicle(choice="ahead", obey_traffic_lights=False)
intersection1.add_vehicle(choice="ahead",
command="right",
obey_traffic_lights=False)
intersection1.add_vehicle(choice="ahead",
command="left",
obey_traffic_lights=False)
intersection1._shift_vehicles(-10, index=1)
intersection1.start_sim = True
intersection_list.append(intersection1)
multiple_vehicle_control(env, intersection_list)
finally:
time.sleep(10)
env.destroy_actors()