output.add([time, 'Oncoming', oncomPosition[0], oncomPosition[1],
oncomAngle, vOncom, accOncom])
# switch lanes
leadHeadway = calcHeadway(passPosition[0]-leadPosition[0]-5.8, vLead,
accLead)
if time > parameters['tpr'] and passlane=='main' and overtakeNotComplete:
sim.moveVehicle('Passing','overtaking')
if passlane=='overtaking' and leadHeadway >= 1.:
sim.moveVehicle('Passing','main')
overtakeNotComplete = False
# move vehicles
vehicleLeft = 0
vehicleLeft += sim.moveVehicleAlong('Passing', vPass*DT+currentAccPass/2*DT*DT)
vehicleLeft += sim.moveVehicleAlong('Lead', vLead*DT+accLead/2*DT*DT)
vehicleLeft += sim.moveVehicleAlong('Oncoming', vOncom*DT+accOncom/2*DT*DT)
vPass += currentAccPass*DT
vLead += accLead*DT
vOncom += accOncom*DT
time += DT
sim.updateGUI()
continueSim &= vehicleLeft == 0 # at least one vehicle exits sim
continueSim &= time < 30. # shouldn't take this long
continueSim &= (time <= parameters['tpr']+.1 or leadHeadway <= 1.1)
#continueSim &= leadHeadway <= 1.4 # for better GUI
sim.end()
outputFile = os.path.realpath(outputFolder+'/'+str(simIndex+1)+'.csv')
output.write(outputFile, restart=True)
print simIndex
vLead, accLead)
if time > parameters[
'tpr'] and passlane == 'main' and overtakeNotComplete:
sim.moveVehicle('Passing', 'overtaking')
if passlane == 'overtaking' and leadHeadway >= 1.:
sim.moveVehicle('Passing', 'main')
overtakeNotComplete = False
# move vehicles
vehicleLeft = 0
vehicleLeft += sim.moveVehicleAlong(
'Passing', vPass * DT + currentAccPass / 2 * DT * DT)
vehicleLeft += sim.moveVehicleAlong('Lead',
vLead * DT + accLead / 2 * DT * DT)
vehicleLeft += sim.moveVehicleAlong(
'Oncoming', vOncom * DT + accOncom / 2 * DT * DT)
vPass += currentAccPass * DT
vLead += accLead * DT
vOncom += accOncom * DT
time += DT
sim.updateGUI()
continueSim &= vehicleLeft == 0 # at least one vehicle exits sim
continueSim &= time < 30. # shouldn't take this long
continueSim &= (time <= parameters['tpr'] + .1 or leadHeadway <= 1.1)
#continueSim &= leadHeadway <= 1.4 # for better GUI
sim.end()
outputFile = os.path.realpath(outputFolder + '/' + str(simIndex + 1) +
'.csv')
output.write(outputFile, restart=True)
print simIndex
status = -1
totaldist = 0
while status < 1 and totaldist < 50:
lane,lanepos,pos,angle = Sim.getVehicleState(road)
status = 1*(lane[1]=='o' and lanepos > 5.) - 1*(lane[1]=='i' and len(lane)==4)
if lane[1]=='o': # must be included since back of vehicle
lanepos = lanepos + roadMap.getLength(road)
if status==0: # add vehicle info to the dataframe
thisdf.add([[pos[0],pos[1],angle,VEHsize[0],VEHsize[1],lanepos]])
Sim.moveVehicleAlong(road, dist, turn)
totaldist += dist
Sim.updateGUI()
allcars[road] = thisdf.out()
Sim.removeVehicle(road)
Sim.end(waitOnEnd = False)
for car in allcars.itervalues():
car['angle'] = car['angle'] + 1.5708
#
## now use dataframes of position+angle to find collision points
#collisions = WriteFrame(['lane','lane2','begin_lp','end_lp'])
#for an in range(len(intersections)):
# for bn in range(an):
# print "checking "+str(an)+", "+str(bn)
# starta,enda = intersections[an]
# startb,endb = intersections[bn]
# roada = combineRoad(starta,enda)
# roadb = combineRoad(startb,endb)
# cara = allcars[roada]
# carb = allcars[roadb]
'1o_1': (92, 101.65, 0, 101.65),
'4o_0': (105, 108, 105, 200),
'4o_1': (101.65, 108, 101.65, 200),
'3o_0': (95, 92, 95, 0),
'3o_1': (98.35, 92, 98.35, 0)
}
# which roads connect to other roads
intersections = [['1i_0', '3o_0'], ['1i_0', '2o_0'], ['1i_1', '4o_1'],
['2i_0', '4o_0'], ['2i_0', '1o_0'], ['2i_1', '3o_1'],
['3i_0', '2o_0'], ['3i_0', '4o_0'], ['3i_1', '1o_1'],
['4i_0', '1o_0'], ['4i_0', '3o_0'], ['4i_1', '2o_1']]
roadMap = RoadMap(roads, intersections)
Sim = Simulator(roadMap, gui=GUI, delay=SIMDELAY)
Sim.createVehicle('mycar', '1i_0', 50.)
Sim.moveVehicle('mycar', '1i_1', 50.)
for k in range(20):
exited = Sim.moveVehicleAlong('mycar', 5., '4o_1')
carLane, carLanePos, carPos, carAngle = Sim.getVehicleState('mycar')
print carPos
manual_escape = Sim.updateGUI(allowPause=True)
if exited or manual_escape:
break
Sim.end()
speedChange = [0,-10.,10.][int(speedChange)]/MS2KPH
cars.loc[carID,'speed'] = min(max(car['speed']+speedChange, 0.),60./MS2KPH)
distance = car['speed']*DELTAT
# the vehicle is about to make a transition to a new roa
exited = Sim.moveVehicleAlong(str(carID), distance, turn)
if exited: # car leaving simulation
Sim.removeVehicle(str(carID))
cars.loc[carID,'status'] = 1
WrongPath = WrongPath + int(route != splitRoad(car['dest'])[0])
Sim.updateGUI(allowPause=True)
ttime += 0.1
# finish step
Sim.end()
print "iteration "+str(iteration)+" : "+str(time.time()-starttime)
print "collisions "+str(collisionCount)
print "wrong "+str(WrongPath)
Stats_train=Stats_train+[collisionCount,TotReward,ttime,WrongPath,float(cars.shape[0])]
time.sleep(.2)
iteration += 1
# save info afterwards
iteration = iteration - 1
if trainingTable:
np.save('qtable.npy',QTable)
Stats_train.loc['Collision'] = Stats_train.loc['Collision'] / Stats_train['Cars']
Stats_train.loc['Reward'] = Stats_train.loc['Reward'] / Stats_train['Cars']
Stats_train.loc['WrongPath'] = Stats_train.loc['WrongPath'] / Stats_train['Cars']
Stats_train.loc['Time'] = Stats_train.loc['Time']/iteration
while status < 1 and totaldist < 50:
lane, lanepos, pos, angle = Sim.getVehicleState(road)
status = 1 * (lane[1] == 'o' and
lanepos > 5.) - 1 * (lane[1] == 'i' and len(lane) == 4)
if lane[1] == 'o': # must be included since back of vehicle
lanepos = lanepos + roadMap.getLength(road)
if status == 0: # add vehicle info to the dataframe
thisdf.add(
[[pos[0], pos[1], angle, VEHsize[0], VEHsize[1], lanepos]])
Sim.moveVehicleAlong(road, dist, turn)
totaldist += dist
Sim.updateGUI()
allcars[road] = thisdf.out()
Sim.removeVehicle(road)
Sim.end(waitOnEnd=False)
for car in allcars.itervalues():
car['angle'] = car['angle'] + 1.5708
#
## now use dataframes of position+angle to find collision points
#collisions = WriteFrame(['lane','lane2','begin_lp','end_lp'])
#for an in range(len(intersections)):
# for bn in range(an):
# print "checking "+str(an)+", "+str(bn)
# starta,enda = intersections[an]
# startb,endb = intersections[bn]
# roada = combineRoad(starta,enda)
# roadb = combineRoad(startb,endb)
# cara = allcars[roada]
# carb = allcars[roadb]
