if speed < 0 and accel < 0:
return 100
if accel == 0:
return distance / speed
discrim = (speed**2 + 2 * accel * distance)
if discrim < 0:
return 100
return (discrim**.5 - speed) / accel
DT = 0.1
# simulations
for simIndex in range(numsims):
parameters = params.iloc[simIndex]
sim = Simulator(roadMap, gui=False, delay=0., waitOnStart=True)
sim.createVehicle('Passing', 'main', parameters['Passing Position'])
sim.createVehicle('Lead', 'main', parameters['Lead Position'])
sim.createVehicle('Oncoming', 'oncoming', parameters['Oncoming Position'])
time = 0
continueSim = True
overtakeNotComplete = True
vPass = parameters['Passing Speed']
vLead = parameters['Lead Speed']
vOncom = parameters['Oncoming Speed']
accPass = parameters['Passing Acceleration']
accLead = parameters['Lead Acceleration']
accOncom = parameters['Oncoming Acceleration']
while continueSim:
return -1
if speed < 0 and accel < 0:
return 100
if accel == 0:
return distance / speed
discrim = (speed**2 + 2*accel*distance)
if discrim < 0:
return 100
return (discrim**.5 - speed) / accel
DT = 0.1
# simulations
for simIndex in range(numsims):
parameters = params.iloc[simIndex]
sim = Simulator(roadMap, gui = False, delay=0., waitOnStart = True)
sim.createVehicle('Passing','main',parameters['Passing Position'])
sim.createVehicle('Lead','main',parameters['Lead Position'])
sim.createVehicle('Oncoming','oncoming',parameters['Oncoming Position'])
time = 0
continueSim = True
overtakeNotComplete = True
vPass = parameters['Passing Speed']
vLead = parameters['Lead Speed']
vOncom = parameters['Oncoming Speed']
accPass = parameters['Passing Acceleration']
accLead = parameters['Lead Acceleration']
accOncom = parameters['Oncoming Acceleration']
while continueSim:
self.restart=True
def add(self, newrows):
if self.restart:
self.df = pd.DataFrame(newrows)
self.restart=False
else:
self.df = self.df.append(newrows, ignore_index = True)
def out(self):
if self.colnames is not None:
self.df.columns = self.colnames
#self.df.to_csv(fileName, sep=',', header=True, index=False)
self.restart=True
return self.df
Sim = Simulator(roadMap, gui=False, delay = 0.)
# first gather the possible positions/angles of each intersection lane
allcars = {}
for start, end in intersections:
road = combineRoad(start, end)
print "at "+road
Sim.createVehicle(road, start, 90.)
turn = 0
if roadOrder.loc[int(start[0]),'left'] == int(end[0]):
turn = 2
elif roadOrder.loc[int(start[0]),'right'] == int(end[0]):
turn = 1
thisdf = WriteFrame(['x','y','angle','length','width','lp'])
'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()
cars['angle'] = [-1]*ncars
cars['ilane'] = ['']*ncars
cars['lanechanged'] = [0]*ncars
cars['changex'] = [0]*ncars
cars['changey'] = [0]*ncars
cars['changeangle'] = [0]*ncars
collisionCount = 0
TotReward = 0
WrongPath = 0
ttime = 0
maxTime = 100 # seconds
prevIndices = {}
# start simulator
Sim = Simulator(roadMap, gui = GUI, delay = SIMDELAY)
## run simulation
while ttime < maxTime and np.any(cars['status']<=0):
# create new vehicles
for carID in np.where(cars['status']<0)[0]:
car = cars.iloc[carID]
if car['time'] <= ttime:
# search through lane and see if another vehicle is taking the spot
otherCars = (cars['status'] == 0) | (cars['status'] >= 2)
addThisCar = True
for otherID in np.where(otherCars)[0]:
if cars['lane'].iloc[otherID] == car['lane']:
if cars['lanepos'].iloc[otherID] <= 10.:
addThisCar = False
cars['angle'] = [-1] * ncars
cars['ilane'] = [''] * ncars
cars['lanechanged'] = [0] * ncars
cars['changex'] = [0] * ncars
cars['changey'] = [0] * ncars
cars['changeangle'] = [0] * ncars
collisionCount = 0
TotReward = 0
WrongPath = 0
ttime = 0
maxTime = 100 # seconds
prevIndices = {}
# start simulator
Sim = Simulator(roadMap, gui=GUI, delay=SIMDELAY)
## run simulation
while ttime < maxTime and np.any(cars['status'] <= 0):
# create new vehicles
for carID in np.where(cars['status'] < 0)[0]:
car = cars.iloc[carID]
if car['time'] <= ttime:
# search through lane and see if another vehicle is taking the spot
otherCars = (cars['status'] == 0) | (cars['status'] >= 2)
addThisCar = True
for otherID in np.where(otherCars)[0]:
if cars['lane'].iloc[otherID] == car['lane']:
if cars['lanepos'].iloc[otherID] <= 10.:
addThisCar = False
def add(self, newrows):
if self.restart:
self.df = pd.DataFrame(newrows)
self.restart = False
else:
self.df = self.df.append(newrows, ignore_index=True)
def out(self):
if self.colnames is not None:
self.df.columns = self.colnames
#self.df.to_csv(fileName, sep=',', header=True, index=False)
self.restart = True
return self.df
Sim = Simulator(roadMap, gui=False, delay=0.)
# first gather the possible positions/angles of each intersection lane
allcars = {}
for start, end in intersections:
road = combineRoad(start, end)
print "at " + road
Sim.createVehicle(road, start, 90.)
turn = 0
if roadOrder.loc[int(start[0]), 'left'] == int(end[0]):
turn = 2
elif roadOrder.loc[int(start[0]), 'right'] == int(end[0]):
turn = 1
thisdf = WriteFrame(['x', 'y', 'angle', 'length', 'width', 'lp'])
