def traffic() -> Traffic:
car1 = TrafficActor(
name="car",
speed=Distribution(sigma=0.2, mean=1.0),
)
car2 = TrafficActor(
name="car",
speed=Distribution(sigma=0.2, mean=0.8),
lane_changing_model=LaneChangingModel(impatience=1, cooperative=0.25),
junction_model=JunctionModel(drive_after_yellow_time=1.0, impatience=0.5),
)
return Traffic(
flows=[
Flow(
route=Route(
begin=(f"edge-{r[0]}", 0, 30), end=(f"edge-{r[1]}", 0, -30)
),
rate=1.0,
actors={
car1: 0.5,
car2: 0.5,
},
)
for r in [("west-WE", "east-WE"), ("east-EW", "west-EW")]
]
)
name="car",
speed=Distribution(sigma=0.2, mean=0.5),
lane_changing_model=LaneChangingModel(impatience=0, cooperative=0.5),
junction_model=JunctionModel(drive_after_yellow_time=1.0, impatience=0.5),
)
car_type = patient_car
car_name = "patient_car"
traffic = Traffic(
flows=[
Flow(
route=RandomRoute(),
begin=0,
end=1
* 60
* 60, # make sure end time is larger than the time of one episode
rate=30,
actors={car_type: 1},
)
for i in range(sv_num)
]
)
print(f"generate flow with {sv_num} social {car_name} vehicles in {scenario_path} ")
gen_traffic(
scenario_path,
traffic,
name=f"{sv_num}_{car_name}",
output_dir=scenario_path,
seed=seed,
Flow,
Route,
RandomRoute,
TrafficActor,
Mission,
)
scenario = os.path.dirname(os.path.realpath(__file__))
agent_missions = [
Mission(Route(begin=("left_in", 0, 80), end=("merged", (0, ), 40))),
Mission(Route(begin=("left_in", 0, 50), end=("merged", (0, ), 40))),
Mission(Route(begin=("ramp_in", 0, 80), end=("merged", (0, ), 60))),
Mission(Route(begin=("ramp_in", 0, 50), end=("merged", (0, ), 60))),
]
gen_missions(scenario, agent_missions, overwrite=True)
gen_traffic(
scenario,
Traffic(flows=[
Flow(
route=RandomRoute(),
rate=3600,
actors={TrafficActor(name="car"): 1.0},
)
]),
name="random",
overwrite=True,
)
("west-WE", "south-NS"),
("north-NS", "west-EW"),
("east-EW", "north-SN"),
]
for name, routes in {
"vertical":
vertical_routes,
"horizontal":
horizontal_routes,
"unprotected_left":
turn_left_routes,
"turns":
turn_left_routes + turn_right_routes,
"all":
vertical_routes + horizontal_routes + turn_left_routes +
turn_right_routes,
}.items():
traffic = Traffic(flows=[
Flow(
route=Route(
begin=(f"edge-{r[0]}", 0, "random"),
end=(f"edge-{r[1]}", 0, "random"),
),
rate=1,
actors={patient_car: 1.0},
) for r in routes
])
gen_traffic(scenario, traffic, name=name, overwrite=True)
def generate_left_turn_missions(
mission,
route_distributions,
route_lanes,
speed,
map_dir,
level_name,
save_dir,
stopwatcher_behavior,
stopwatcher_route,
seed,
intersection_name,
traffic_density,
):
# dont worry about these seeds, theyre used by sumo
sumo_seed = random.choice([0, 1, 2, 3, 4])
stopwatcher_info = None
stopwatcher_added = False
if stopwatcher_behavior:
stopwatcher_info = {
"behavior": stopwatcher_behavior,
"direction": get_direction(stopwatcher_route),
}
random.seed(seed)
np.random.seed(seed)
all_flows = []
metadata = {"routes": {}, "total_vehicles": 0, "stopwatcher": None}
scenario = save_dir + f"-flow-{seed}"
# Remove old traffic route if it exists(otherwise, won't update to new flows)
if os.path.exists(f"{scenario}/traffic/all.rou.xml"):
shutil.rmtree(scenario)
for route_key, route_info in route_distributions["routes"].items():
# to skip None
if route_info:
if stopwatcher_behavior: # put the ego on the side road
ego_start_lane, ego_end_lane = 0, 0
mission_start, mission_end = "south-side", "dead-end"
ego_start_pos, ego_end_pos = 100, 5
ego_num_lanes = 1
else:
mission_start, mission_end = mission["start"], mission["end"]
ego_start_lane, ego_end_lane = (
route_lanes[mission_start] - 1,
route_lanes[mission_end] - 1,
)
ego_start_pos, ego_end_pos = (
random.randint(50, 120),
random.randint(50, 150),
)
ego_num_lanes = route_lanes[mission_start]
ego_route = Route(
begin=(f"edge-{mission_start}", ego_start_lane, ego_start_pos),
end=(f"edge-{mission_end}", ego_end_lane, ego_end_pos),
)
flows, vehicles_log_info = generate_social_vehicles(
ego_start_lane=ego_start_lane,
route_distribution=route_info["distribution"],
begin_time_init=route_info["begin_time_init"],
num_vehicles=route_info["vehicles"],
route_direction=get_direction(route_key),
route_lanes=route_lanes,
route_has_turn=route_info["has_turn"],
start_end_on_different_lanes_probability=route_info[
"start_end_on_different_lanes_probability"],
deadlock_optimization=route_info["deadlock_optimization"],
stopwatcher_info=stopwatcher_info,
)
if (stopwatcher_behavior and len(flows) > 0 and
get_direction(route_key) == stopwatcher_info["direction"]):
stopwatcher_added = True
print(
f'stop watcher added to {get_direction(route_key)} flows among {route_info["vehicles"]} vehicles!'
)
all_flows.extend(flows)
metadata["routes"][route_key] = vehicles_log_info
scenario = save_dir + f"-flow-{seed}"
if stopwatcher_behavior:
if not stopwatcher_added and level_name != "no-traffic":
print(
f'There was no matching flows for stopwatcher, adding it to {stopwatcher_info["direction"]}.'
)
# vehicles_log_info[f'stopwatcher_{stopwatcher_info["behavior"]}']["count"] += 1
all_flows.append(
generate_stopwatcher(
stopwatcher_behavior=stopwatcher_info["behavior"],
stopwatcher_route=stopwatcher_info["direction"],
start_lane_id=0,
end_lane_id=0,
))
scenario += f"-stopwatcher-{stopwatcher_info['behavior']}"
copy_map_files(scenario, map_dir, speed)
if stopwatcher_behavior or "ego_hijacking_params" not in route_distributions:
gen_missions(scenario, [Mission(ego_route)])
else:
speed_m_per_s = float("".join(filter(str.isdigit, speed))) * 5.0 / 18.0
hijacking_params = route_distributions["ego_hijacking_params"]
zone_range = hijacking_params["zone_range"]
waiting_time = hijacking_params["wait_to_hijack_limit_s"]
start_time = hijacking_params["start_time"]
if start_time == "default":
start_time = random.randint((LANE_LENGTH // speed_m_per_s), 60)
gen_missions(
scenario,
[
Mission(
ego_route,
# optional: control hijacking time, place, and emission.
start_time=
start_time, # when to start hijacking (might start later)
entry_tactic=TrapEntryTactic(
wait_to_hijack_limit_s=
waiting_time, # when to give up on hijacking and start emitting a social vehicle instead
zone=MapZone(
start=(
f'edge-{mission["start"]}',
0,
ego_start_pos + zone_range[0],
),
length=zone_range[1],
n_lanes=route_lanes[mission["start"]],
), # area to hijack
exclusion_prefixes=tuple(
), # vehicles to be excluded (check vehicle ids)
),
),
],
)
traffic = Traffic(flows=all_flows)
gen_traffic(scenario, traffic, name=f"all", seed=sumo_seed)
# patch: remove route files from traffic folder to make intersection empty
if traffic_density == "no-traffic":
os.remove(f"{scenario}/traffic/all.rou.xml")
if stopwatcher_behavior:
metadata["stopwatcher"] = {
"direction": stopwatcher_info["direction"],
"behavior": stopwatcher_info["behavior"],
}
metadata["intersection"] = {
"type": intersection_name[-1],
"name": intersection_name,
}
metadata["total_vehicles"] = len(all_flows)
metadata["seed"] = seed
metadata["flow_id"] = f"flow_{seed}"
with open(f"{scenario}/metadata.json", "w") as log:
json.dump(metadata, log)
("west-WE", "east-WE"),
("east-EW", "west-EW"),
],
"all": [
("west-WE", "east-WE"),
("east-EW", "west-EW"),
("west-WE", "south-NS"),
("east-EW", "south-NS"),
],
}.items():
traffic = Traffic(flows=[
Flow(
route=Route(begin=(f"edge-{r[0]}", 0, 20),
end=(f"edge-{r[1]}", 0, -20)),
rate=total_rate,
# Share the total rate amongst all flows
actors={
impatient_car: (1.0 / len(routes)) * 0.5,
patient_car: (1.0 / len(routes)) * 0.5,
},
) for r in routes
])
gen_traffic(scenario, traffic, name=name)
gen_traffic(
scenario,
Traffic(flows=[
Flow(
route=RandomRoute(),
rate=3600,
actors={TrafficActor(name="car"): 1.0},
TrafficActor,
)
ego_missions = [
Mission(
route=Route(begin=("edge-west-WE", 0, 10),
end=("edge-west-WE", 0, "max")),
task=CutIn(),
),
]
scenario = Scenario(
traffic={
"basic":
Traffic(flows=[
Flow(
route=Route(begin=("edge-west-WE", 1, 10),
end=("edge-west-WE", 1, "max")),
rate=400,
actors={TrafficActor(name="car"): 1.0},
)
])
},
ego_missions=ego_missions,
)
gen_scenario(
scenario=scenario,
output_dir=Path(__file__).parent,
)
Mission(
route=Route(begin=("edge-south-SN", 1, 10), end=("edge-north-SN", 1, 8)),
),
]
stright_traffic_actor = TrafficActor(
name="car",
speed=Distribution(sigma=0.2, mean=1),
lane_changing_model=LaneChangingModel(impatience=0),
junction_model=JunctionModel(
drive_after_red_time=1.5, drive_after_yellow_time=1.0, impatience=0.5
),
)
scenario = Scenario(
traffic={
"basic": Traffic(
flows=[
Flow(
route=RandomRoute(),
rate=1,
actors={stright_traffic_actor: 1.0},
)
for i in range(social_vehicle_num)
]
)
},
ego_missions=ego_missions,
)
gen_scenario(scenario=scenario, output_dir=Path(__file__).parent)
def generate_left_turn_missions(
missions,
shuffle_missions,
route_distributions,
route_lanes,
speed,
map_dir,
level_name,
save_dir,
stopwatcher_behavior,
stopwatcher_route,
seed,
stops,
bubbles,
intersection_name,
traffic_density,
):
# dont worry about these seeds, theyre used by sumo
sumo_seed = random.choice([0, 1, 2, 3, 4])
stopwatcher_info = None
stopwatcher_added = False
if stopwatcher_behavior:
stopwatcher_info = {
"behavior": stopwatcher_behavior,
"direction": get_direction(stopwatcher_route),
}
random.seed(seed)
np.random.seed(seed)
all_flows = []
metadata = {"routes": {}, "total_vehicles": 0, "stopwatcher": None}
scenario = save_dir + f"-flow-{seed}"
# Remove old traffic route if it exists(otherwise, won't update to new flows)
if os.path.exists(f"{scenario}/traffic/all.rou.xml"):
shutil.rmtree(scenario)
for route_key, route_info in route_distributions["routes"].items():
# to skip None
if route_info:
ego_routes = [
ego_mission_config_to_route(
ego_mission_config=ego_mission_config,
route_lanes=route_lanes,
stopwatcher_behavior=stopwatcher_behavior,
)
for ego_mission_config in missions
]
# Not all routes need to have a custom start/end offset
if "pos_offsets" in route_info:
pos_offsets = route_info["pos_offsets"]
else:
pos_offsets = None
flows, vehicles_log_info = generate_social_vehicles(
route_distribution=route_info["distribution"],
begin_time_init=route_info["begin_time_init"],
num_vehicles=route_info["vehicles"],
route_direction=get_direction(route_key),
route_lanes=route_lanes,
route_has_turn=route_info["has_turn"],
start_end_on_different_lanes_probability=route_info[
"start_end_on_different_lanes_probability"
],
stops=stops,
deadlock_optimization=route_info["deadlock_optimization"],
pos_offsets=pos_offsets,
stopwatcher_info=stopwatcher_info,
traffic_params={"speed": speed, "traffic_density": traffic_density},
)
if (
stopwatcher_behavior
and len(flows) > 0
and get_direction(route_key) == stopwatcher_info["direction"]
):
stopwatcher_added = True
print(
f'stop watcher added to {get_direction(route_key)} flows among {route_info["vehicles"]} vehicles!'
)
all_flows.extend(flows)
metadata["routes"][route_key] = vehicles_log_info
scenario = save_dir + f"-flow-{seed}"
if stopwatcher_behavior:
if not stopwatcher_added and level_name != "no-traffic":
print(
f'There was no matching flows for stopwatcher, adding it to {stopwatcher_info["direction"]}.'
)
# vehicles_log_info[f'stopwatcher_{stopwatcher_info["behavior"]}']["count"] += 1
all_flows.append(
generate_stopwatcher(
stopwatcher_behavior=stopwatcher_info["behavior"],
stopwatcher_route=stopwatcher_info["direction"],
start_lane_id=0,
end_lane_id=0,
)
)
scenario += f"-stopwatcher-{stopwatcher_info['behavior']}"
copy_map_files(scenario, map_dir, speed)
vehicles_to_not_hijack = []
traffic = Traffic(flows=all_flows)
try:
gen_traffic(scenario, traffic, name=f"all", seed=sumo_seed)
if stops:
add_stops_to_traffic(scenario, stops, vehicles_to_not_hijack)
except Exception as exception:
print(exception)
# Patch: Remove route files from traffic folder to make intersection empty.
if traffic_density == "no-traffic":
os.remove(f"{scenario}/traffic/all.rou.xml")
if stopwatcher_behavior or "ego_hijacking_params" not in route_distributions:
mission_objects = [Mission(ego_route) for ego_route in ego_routes]
else:
speed_m_per_s = float("".join(filter(str.isdigit, speed))) * 5.0 / 18.0
hijacking_params = route_distributions["ego_hijacking_params"]
zone_range = hijacking_params["zone_range"]
waiting_time = hijacking_params["wait_to_hijack_limit_s"]
start_time = (
hijacking_params["start_time"]
if hijacking_params["start_time"] != "default"
else random.randint((LANE_LENGTH // speed_m_per_s), 60)
)
mission_objects = [
Mission(
ego_route,
# Optional: control hijacking time, place, and emission.
start_time=start_time, # When to start hijacking (might start later).
entry_tactic=TrapEntryTactic(
wait_to_hijack_limit_s=waiting_time, # When to give up hijacking.
zone=MapZone(
start=(
ego_route.begin[0],
0,
ego_route.begin[2] + zone_range[0],
),
length=zone_range[1],
n_lanes=(ego_route.begin[1] + 1),
), # Area to hijack.
exclusion_prefixes=vehicles_to_not_hijack, # Don't hijack these.
),
)
for ego_route in ego_routes
]
# Shuffle the missions so agents don't do the same route all the time.
if shuffle_missions:
random.shuffle(mission_objects)
gen_missions(scenario, mission_objects)
if bubbles:
bubble_objects = [
bubble_config_to_bubble_object(
scenario, bubble_config, vehicles_to_not_hijack
)
for bubble_config in bubbles
]
gen_bubbles(scenario, bubble_objects)
if stopwatcher_behavior:
metadata["stopwatcher"] = {
"direction": stopwatcher_info["direction"],
"behavior": stopwatcher_info["behavior"],
}
metadata["intersection"] = {
"type": intersection_name[-1],
"name": intersection_name,
}
metadata["total_vehicles"] = len(all_flows)
metadata["seed"] = seed
metadata["flow_id"] = f"flow_{seed}"
with open(f"{scenario}/metadata.json", "w") as log:
json.dump(metadata, log)
)
horizontal_routes = [("west-WE", "east-WE"), ("east-EW", "west-EW")]
turn_left_routes = [("east-EW", "south-NS")]
turn_right_routes = [("west-WE", "south-NS")]
for name, routes in {
"horizontal": horizontal_routes,
"turns": turn_left_routes + turn_right_routes,
}.items():
traffic = Traffic(flows=[
Flow(
route=Route(begin=(f"edge-{r[0]}", 0, "random"),
end=(f"edge-{r[1]}", 0, "max")),
rate=random.randint(50, 100),
actors={
cooperative_car: 0.35,
car: 0.20,
aggressive_car: 0.45
},
) for r in routes
])
for seed in [0, 5]:
gen_traffic(
scenario,
traffic,
name=f"{name}-{seed}",
seed=seed,
)
# Social Agents
seed(seed_)
scenario_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),
"../dataset_public/3lane")
traffic_actor = TrafficActor(
name="car",
speed=Distribution(sigma=0.2, mean=0.8),
)
# add 10 social vehicles with random routes.
traffic = Traffic(flows=[
# generate flows last for 10 hours
Flow(
route=RandomRoute(),
begin=0,
end=10 * 60 * 60,
rate=25,
actors={traffic_actor: 1},
) for i in range(10)
])
gen_traffic(
scenario_path,
traffic,
name="all",
output_dir=scenario_path,
seed=seed_,
overwrite=True,
)
