def main():
env = gym.make('highway-v0')
road = Road.create_random_road(lanes_count=2,
lane_width=4.0,
vehicles_count=0,
vehicles_type=IDMVehicle)
vehicle = MDPVehicle.create_random(road)
road.vehicles.append(vehicle)
env.road = road
env.vehicle = vehicle
agent = MCTSAgent(env, iterations=100, temperature=20 *
5) # compare step by subtree and step by prior
sim = Simulation(env, agent)
t = 0
while not sim.done:
sim.step()
t += 1
if t == 10:
print('Added obstacle')
env.road.vehicles.append(
Obstacle(
road,
[env.vehicle.position[0] + 50., env.vehicle.position[1]]))
sim.close()
def _create_road(self):
road = Road.create_random_road(
lanes_count=self.config["lanes_count"],
vehicles_count=self.config["vehicles_count"],
vehicles_type=utils.class_from_path(
self.config["other_vehicles_type"]),
np_random=self.np_random)
vehicle = MDPVehicle.create_random(
road,
25,
spacing=self.config["initial_spacing"],
prepend=True,
np_random=self.np_random)
road.vehicles.append(vehicle)
return road, vehicle
def main():
road = Road.create_random_road(lanes_count=2,
lane_width=4.0,
vehicles_count=1,
vehicles_type=LinearVehicle)
v = road.vehicles[0]
v.enable_lane_change = False
le = LinearEstimator(v)
sim = Simulation(road, ego_vehicle_type=ControlledVehicle)
while not sim.done:
sim.handle_events()
sim.act()
le.update(sim.dt)
sim.step()
sim.display()
sim.quit()
def generate_data(count):
# Vehicle.COLLISIONS_ENABLED = False
vehicle_type = LinearVehicle
road = Road.create_random_road(lanes_count=2,
lane_width=4.0,
vehicles_count=5,
vehicles_type=vehicle_type)
sim = Simulation(road, ego_vehicle_type=vehicle_type, displayed=True)
sim.RECORD_VIDEO = False
road.add_random_vehicles(5, vehicles_type=vehicle_type)
road.vehicles.append(Obstacle(road, np.array([50., 0])))
road.vehicles.append(Obstacle(road, np.array([130., 4.])))
for v in road.vehicles:
v.target_velocity = LinearVehicle.VELOCITY_WANTED
# v.enable_lane_change = False
for _ in range(count):
sim.handle_events()
sim.act()
sim.road.dump()
sim.step()
sim.display()
sim.quit()
return [v.get_log() for v in road.vehicles if not isinstance(v, Obstacle)]
