def test_lane_change(self): # World Definition params = ParameterServer() world = World(params) # Model Definitions behavior_model = BehaviorMobil(params) execution_model = ExecutionModelInterpolate(params) dynamic_model = SingleTrackModel(params) behavior_model2 = BehaviorIDMLaneTracking(params) execution_model2 = ExecutionModelInterpolate(params) dynamic_model2 = SingleTrackModel(params) # Map Definition map_interface = MapInterface() xodr_map = MakeXodrMapOneRoadTwoLanes() map_interface.SetOpenDriveMap(xodr_map) world.SetMap(map_interface) #agent_2d_shape = CarLimousine() agent_2d_shape = CarRectangle() init_state = np.array([0, 3, -1.75, 0, 5]) agent_params = params.AddChild("agent1") goal_polygon = Polygon2d( [1, 1, 0], [Point2d(0, 0), Point2d(0, 2), Point2d(2, 2), Point2d(2, 0)]) goal_polygon = goal_polygon.Translate(Point2d(50, -2)) agent = Agent(init_state, behavior_model, dynamic_model, execution_model, agent_2d_shape, agent_params, GoalDefinitionPolygon(goal_polygon), map_interface) world.AddAgent(agent) init_state2 = np.array([0, 15, -1.75, 0, 2]) agent2 = Agent(init_state2, behavior_model2, dynamic_model2, execution_model2, agent_2d_shape, agent_params, GoalDefinitionPolygon(goal_polygon), map_interface) world.AddAgent(agent2) # viewer viewer = MPViewer(params=params, use_world_bounds=True) # World Simulation sim_step_time = params["simulation"]["step_time", "Step-time in simulation", 0.05] sim_real_time_factor = params["simulation"][ "real_time_factor", "execution in real-time or faster", 100] # Draw map for _ in range(0, 10): viewer.clear() world.Step(sim_step_time) viewer.drawWorld(world) viewer.show(block=False) time.sleep(sim_step_time / sim_real_time_factor)
def test_relevant_agents(self): params = ParameterServer() map = "bark/runtime/tests/data/city_highway_straight.xodr" params["EvaluatorRss"]["MapFilename"] = map map_interface = EvaluatorRSSTests.load_map(map) world = World(params) world.SetMap(map_interface) goal_polygon_1 = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) goal_polygon_1 = goal_polygon_1.Translate(Point2d(5.5, 120)) goal_polygon_2 = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) goal_polygon_2 = goal_polygon_2.Translate(Point2d(1.8, 120)) ego_state = np.array([0, 5.5, 10, np.pi / 2, 10]) other_1_state = np.array([0, 1.8, -10, np.pi / 2, 15]) other_2_state = np.array([0, 1.8, -120, np.pi / 2, 10]) ego = TestAgent(ego_state, goal_polygon_1, map_interface, params) other_1 = TestAgent(other_1_state, goal_polygon_2, map_interface, params) other_2 = TestAgent(other_2_state, goal_polygon_2, map_interface, params) world.AddAgent(ego) world.AddAgent(other_1) world.AddAgent(other_2) viewer = MPViewer(params=params, use_world_bounds=True) viewer.drawWorld(world) viewer.show(block=False) evaluator_rss = EvaluatorRSS(ego.id, params) responses = evaluator_rss.PairwiseEvaluate(world) self.assertEqual(1, len(responses)) self.assertTrue(responses[other_1.id]) self.assertFalse(other_2.id in responses)
def test_lateral_highway_unsafe(self): """ Checking Lateral Responses (true means safe) """ params = ParameterServer() map = "bark/runtime/tests/data/city_highway_straight.xodr" params["EvaluatorRss"]["MapFilename"] = map map_interface = EvaluatorRSSTests.load_map(map) world = World(params) world.SetMap(map_interface) goal_polygon_1 = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) goal_polygon_1 = goal_polygon_1.Translate(Point2d(5.5, 120)) goal_polygon_2 = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) goal_polygon_2 = goal_polygon_2.Translate(Point2d(1.8, 120)) # Hard coded ego_state = np.array([0, 5.0, 10, np.pi / 2, 10]) # straight north other_state = np.array([0, 3.1, 0, np.pi / 2, 10]) # straight north ego = TestAgent(ego_state, goal_polygon_1, map_interface, params) other = TestAgent(other_state, goal_polygon_2, map_interface, params) world.AddAgent(ego) world.AddAgent(other) world.UpdateAgentRTree() viewer = MPViewer(params=params, use_world_bounds=True) viewer.drawWorld(world) viewer.show(block=False) evaluator_rss = EvaluatorRSS(ego.id, params) self.assertEqual( False, evaluator_rss.PairwiseDirectionalEvaluate(world)[other.id][1])
def test_longitude_highway_unsafe(self): """ Checking Longitudinal Responses (true means safe) """ params = ParameterServer() map = "bark/runtime/tests/data/city_highway_straight.xodr" params["EvaluatorRss"]["MapFilename"] = map map_interface = EvaluatorRSSTests.load_map(map) world = World(params) world.SetMap(map_interface) goal_polygon = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) goal_polygon = goal_polygon.Translate(Point2d(1.8, 120)) # The safety distance seems more conservative than in the paper # Hard coded ego_state = np.array([0, 1.8, -60.0, np.pi / 2, 10]) other_state = np.array([0, 1.8, -68.0, np.pi / 2, 10]) ego = TestAgent(ego_state, goal_polygon, map_interface, params) other = TestAgent(other_state, goal_polygon, map_interface, params) world.AddAgent(ego) world.AddAgent(other) world.UpdateAgentRTree() viewer = MPViewer(params=params, use_world_bounds=True) viewer.drawWorld(world) viewer.show(block=False) evaluator_rss = EvaluatorRSS(ego.id, params) pw_directional_evaluation_return = evaluator_rss.PairwiseDirectionalEvaluate( world) self.assertEqual(False, pw_directional_evaluation_return[other.id][0])
def test_lateral_merging_safe(self): """ Checking Lateral Responses (true means safe) """ params = ParameterServer() map = "bark/runtime/tests/data/DR_DEU_Merging_MT_v01_centered.xodr" params["EvaluatorRss"]["MapFilename"] = map map_interface = EvaluatorRSSTests.load_map(map) world = World(params) world.SetMap(map_interface) goal_polygon = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) goal_polygon = goal_polygon.Translate(Point2d(-15.4, 108.6)) # Hard coded ego_state = np.array([0, 68.1, 108, -np.pi, 5]) other_state = np.array([0, 64.1, 105, -np.pi, 5]) ego = TestAgent(ego_state, goal_polygon, map_interface, params) other = TestAgent(other_state, goal_polygon, map_interface, params) world.AddAgent(ego) world.AddAgent(other) world.UpdateAgentRTree() viewer = MPViewer(params=params, use_world_bounds=True) viewer.drawWorld(world) viewer.show(block=False) evaluator_rss = EvaluatorRSS(ego.id, params) world.AddEvaluator("rss", evaluator_rss) pw_directional_evaluation_return = evaluator_rss.PairwiseDirectionalEvaluate( world) self.assertEqual(True, pw_directional_evaluation_return[other.id][1])
def test_evaluator_drivable_area(self): # World Definition params = ParameterServer() world = World(params) # Model Definitions behavior_model = BehaviorConstantAcceleration(params) execution_model = ExecutionModelInterpolate(params) dynamic_model = SingleTrackModel(params) # Map Definition map_interface = MapInterface() xodr_map = MakeXodrMapOneRoadTwoLanes() map_interface.SetOpenDriveMap(xodr_map) world.SetMap(map_interface) #open_drive_map = world.map.GetOpenDriveMap() #agent_2d_shape = CarLimousine() agent_2d_shape = Polygon2d( [1.25, 1, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(3, 1), Point2d(3, -1)]) init_state = np.array([0, 3, -1.75, 0, 5]) agent_params = params.AddChild("agent1") goal_polygon = Polygon2d( [1, 1, 0], [Point2d(0, 0), Point2d(0, 2), Point2d(2, 2), Point2d(2, 0)]) goal_polygon = goal_polygon.Translate(Point2d(50, -2)) agent = Agent( init_state, behavior_model, dynamic_model, execution_model, agent_2d_shape, agent_params, GoalDefinitionPolygon(goal_polygon), # goal_lane_id map_interface) world.AddAgent(agent) evaluator = EvaluatorDrivableArea() world.AddEvaluator("drivable_area", evaluator) info = world.Evaluate() self.assertFalse(info["drivable_area"]) viewer = MPViewer(params=params, use_world_bounds=True) # Draw map viewer.drawGoalDefinition(goal_polygon, color=(1, 0, 0), alpha=0.5, facecolor=(1, 0, 0)) viewer.drawWorld(world) viewer.drawRoadCorridor(agent.road_corridor) viewer.show(block=False)