# save current information
passlane, lp, passPosition, passAngle = sim.getVehicleState('Passing')
lane, lp, leadPosition, leadAngle = sim.getVehicleState('Lead')
lane, lp, oncomPosition, oncomAngle = sim.getVehicleState('Oncoming')
output.add([time, 'Passing', passPosition[0], passPosition[1],
passAngle, vPass, currentAccPass])
output.add([time, 'Lead', leadPosition[0], leadPosition[1],
leadAngle, vLead, accLead])
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
])
output.add([
time, 'Lead', leadPosition[0], leadPosition[1], leadAngle, vLead,
accLead
])
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
# if offset - maxChange < -3.35/2.: # crossed on 1: lane 2 speed 0 turnto left lane
# newlane = makeRoad(route, grade, 1)
# newoffset = offset - maxChange + 3.35
# cars.loc[carID,'lanechanged'] = 0
# if not newlane is None:
# Sim.moveVehicle(str(carID), newlane, car['lanepos'], offset=newoffset)
# cars.loc[carID,'lane'] = newlane
# cars.loc[carID,'changex'] = car['x']
# cars.loc[carID,'changey'] = car['y']
# cars.loc[carID,'changeangle'] = car['angle']
# else:
# #cars.loc[carID,'lanechanged'] = 0
# # head towards center of lane
# Sim.offsetVehicle(str(carID), min(max(-offset, -maxChange),maxChange))
if laneChange == 1 and ln == 1:
Sim.moveVehicle(str(carID), makeRoad(route, grade, 0))
elif laneChange == 0 and ln == 0:
Sim.moveVehicle(str(carID), makeRoad(route, grade, 1))
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])
'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()
# if offset - maxChange < -3.35/2.: # crossed on 1: lane 2 speed 0 turnto left lane
# newlane = makeRoad(route, grade, 1)
# newoffset = offset - maxChange + 3.35
# cars.loc[carID,'lanechanged'] = 0
# if not newlane is None:
# Sim.moveVehicle(str(carID), newlane, car['lanepos'], offset=newoffset)
# cars.loc[carID,'lane'] = newlane
# cars.loc[carID,'changex'] = car['x']
# cars.loc[carID,'changey'] = car['y']
# cars.loc[carID,'changeangle'] = car['angle']
# else:
# #cars.loc[carID,'lanechanged'] = 0
# # head towards center of lane
# Sim.offsetVehicle(str(carID), min(max(-offset, -maxChange),maxChange))
if laneChange == 1 and ln == 1:
Sim.moveVehicle(str(carID), makeRoad(route, grade, 0))
elif laneChange == 0 and ln == 0:
Sim.moveVehicle(str(carID), makeRoad(route, grade, 1))
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])