def setUp(self):
vehicles = VehicleParams()
vehicles.add("rl",
acceleration_controller=(RLController, {}),
num_vehicles=1)
vehicles.add("human",
acceleration_controller=(IDMController, {}),
num_vehicles=1)
self.sim_params = SumoParams()
self.network = RingNetwork(
name="test_ring",
vehicles=vehicles,
net_params=NetParams(additional_params=RING_PARAMS.copy()),
)
self.env_params = EnvParams(additional_params={
'max_accel': 1,
'max_decel': 1,
"ring_length": [220, 270]
})
def setUp(self):
vehicles = VehicleParams()
vehicles.add("rl", acceleration_controller=(RLController, {}),
num_vehicles=1)
vehicles.add("human", acceleration_controller=(IDMController, {}),
num_vehicles=1)
self.sim_params = SumoParams()
self.network = RingNetwork(
name="test_merge",
vehicles=vehicles,
net_params=NetParams(additional_params=RING_PARAMS.copy()),
)
self.env_params = EnvParams(
additional_params={
"max_accel": 3,
"max_decel": 3,
"target_velocity": 10,
"sort_vehicles": False
}
)
def test_clip_actions(self):
"""Test that the actions are clipped in the reward function."""
sim_params = SumoParams()
vehicles = VehicleParams()
additional_net_params = {
"length": 230,
"lanes": 1,
"speed_limit": 30,
"resolution": 40
}
net_params = NetParams(additional_params=additional_net_params)
network = RingNetwork(name="RingRoadTest",
vehicles=vehicles,
net_params=net_params)
# when set to False
env_params = EnvParams(clip_actions=False)
env = RLActionsEnv(env_params=env_params,
sim_params=sim_params,
network=network)
env.reset()
_, ret, _, _ = env.step(rl_actions=[5])
self.assertEqual(np.mean(ret), 5)
# when set to True
env_params = EnvParams(clip_actions=True)
env = RLActionsEnv(env_params=env_params,
sim_params=sim_params,
network=network)
env.reset()
_, ret, _, _ = env.step(rl_actions=[0.5])
self.assertEqual(ret, 0.5)
_, ret, _, _ = env.step(rl_actions=[5])
self.assertEqual(ret, 1)
_, ret, _, _ = env.step(rl_actions=[-5])
self.assertEqual(ret, -1)