def _make_road(self):
"""
Make an 4-way intersection.
The horizontal road has the right of way. More precisely, the levels of priority are:
- 3 for horizontal straight lanes and right-turns
- 1 for vertical straight lanes and right-turns
- 2 for horizontal left-turns
- 0 for vertical left-turns
The code for nodes in the road network is:
(o:outer | i:inner + [r:right, l:left]) + (0:south | 1:west | 2:north | 3:east)
:return: the intersection road
"""
lane_width = AbstractLane.DEFAULT_WIDTH
right_turn_radius = lane_width + 5 # [m}
left_turn_radius = right_turn_radius + lane_width # [m}
outer_distance = right_turn_radius + lane_width / 2
access_length = 50 + 50 # [m]
net = RoadNetwork()
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
for corner in range(4):
angle = np.radians(90 * corner)
is_horizontal = corner % 2
priority = 3 if is_horizontal else 1
rotation = np.array([[np.cos(angle), -np.sin(angle)], [np.sin(angle), np.cos(angle)]])
# Incoming
start = rotation @ np.array([lane_width / 2, access_length + outer_distance])
end = rotation @ np.array([lane_width / 2, outer_distance])
net.add_lane("o" + str(corner), "ir" + str(corner),
StraightLane(start, end, line_types=[s, c], priority=priority, speed_limit=10))
# Right turn
r_center = rotation @ (np.array([outer_distance, outer_distance]))
net.add_lane("ir" + str(corner), "il" + str((corner - 1) % 4),
CircularLane(r_center, right_turn_radius, angle + np.radians(180), angle + np.radians(270),
line_types=[n, c], priority=priority, speed_limit=10))
# Left turn
l_center = rotation @ (np.array([-left_turn_radius + lane_width / 2, left_turn_radius - lane_width / 2]))
net.add_lane("ir" + str(corner), "il" + str((corner + 1) % 4),
CircularLane(l_center, left_turn_radius, angle + np.radians(0), angle + np.radians(-90),
clockwise=False, line_types=[n, n], priority=priority - 1, speed_limit=10))
# Straight
start = rotation @ np.array([lane_width / 2, outer_distance])
end = rotation @ np.array([lane_width / 2, -outer_distance])
net.add_lane("ir" + str(corner), "il" + str((corner + 2) % 4),
StraightLane(start, end, line_types=[s, n], priority=priority, speed_limit=10))
# Exit
start = rotation @ np.flip([lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip([lane_width / 2, outer_distance], axis=0)
net.add_lane("il" + str((corner - 1) % 4), "o" + str((corner - 1) % 4),
StraightLane(end, start, line_types=[n, c], priority=priority, speed_limit=10))
# TODO: double check here change from regulated to general road
road = RegulatedRoad(network=net, np_random=self.np_random, record_history=self.config["show_trajectories"])
self.road = road
def _make_road(self) -> None:
"""
Make an 4-way intersection.
The horizontal road has the right of way. More precisely, the levels of priority are:
- 3 for horizontal straight lanes and right-turns
- 1 for vertical straight lanes and right-turns
- 2 for horizontal left-turns
- 0 for vertical left-turns
The code for nodes in the road network is:
(o:outer | i:inner + [r:right, l:left]) + (0:south | 1:west | 2:north | 3:east)
:return: the intersection road
"""
lane_width = AbstractLane.DEFAULT_WIDTH
right_turn_radius = lane_width # + 5 # [m}
left_turn_radius = right_turn_radius + lane_width # [m}
outer_distance = right_turn_radius + lane_width / 2 # 7.5
access_length = 50 + 50 # [m]
net = RoadNetwork()
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
if self.config["scenario"] in [9, 10]:
# 2nd lane for this scenario (and 3rd invisible lane)
# incoming from south
rotation = np.array([[1, 0], [0, 1]])
start = rotation @ np.array(
[3 * lane_width / 2, access_length + outer_distance])
end = rotation @ np.array(
[3 * lane_width / 2, outer_distance + lane_width])
net.add_lane(
"o0", "ir0",
StraightLane(start,
end,
line_types=[s, c],
priority=0,
speed_limit=10,
forbidden=True))
if self.config["scenario"] == 10:
start = rotation @ np.array(
[5 * lane_width / 2, access_length + outer_distance])
end = rotation @ np.array(
[5 * lane_width / 2, outer_distance + lane_width])
net.add_lane(
"o0", "ir0",
StraightLane(start,
end,
line_types=[n, n],
priority=0,
speed_limit=10,
forbidden=True))
# intersection
r_center = rotation @ (np.array(
[outer_distance + lane_width, outer_distance + lane_width]))
net.add_lane(
"ir0", "il3",
CircularLane(r_center,
right_turn_radius,
0 + np.radians(180),
0 + np.radians(270),
line_types=[n, c],
priority=0,
speed_limit=10))
# outgoing east
start = rotation @ np.flip(
[3 * lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip(
[3 * lane_width / 2, outer_distance + lane_width], axis=0)
net.add_lane(
"il3", "o3",
StraightLane(end,
start,
line_types=[s, c],
priority=0,
speed_limit=10))
for corner in range(4):
angle = np.radians(90 * corner)
is_horizontal = corner % 2
priority = 3 if is_horizontal else 1
rotation = np.array([[np.cos(angle), -np.sin(angle)],
[np.sin(angle), np.cos(angle)]])
# Incoming
lt = [
c, s
] if self.config["scenario"] in [9, 10] and corner == 0 else [
s, c
]
start = rotation @ np.array(
[lane_width / 2, access_length + outer_distance])
end = rotation @ np.array([lane_width / 2, outer_distance])
net.add_lane(
"o" + str(corner), "ir" + str(corner),
StraightLane(start,
end,
line_types=lt,
priority=priority,
speed_limit=10,
forbidden=True))
# replace s by n to hide ped lanes
ped_display = s
if self.config["scenario"] in [9]:
# Pedestrian lanes (other direction and further from intersection)
start = rotation @ np.array(
[lane_width * 2.5, outer_distance * 2])
end = rotation @ np.array(
[lane_width * 2.5, -outer_distance * 2])
net.add_lane(
"p" + str(corner), "p" + str(corner) + "_end",
StraightLane(end,
start,
line_types=[ped_display, ped_display],
priority=1234,
width=AbstractLane.DEFAULT_WIDTH / 2,
speed_limit=2))
elif self.config["scenario"] in [10]:
# Pedestrian lanes (other direction and further from intersection)
start = rotation @ np.array(
[lane_width * 8, outer_distance * 2.5])
end = rotation @ np.array(
[lane_width * 8, -outer_distance * 2.5])
net.add_lane(
"p" + str(corner), "p" + str(corner) + "_end",
StraightLane(end,
start,
line_types=[ped_display, ped_display],
priority=1234,
width=AbstractLane.DEFAULT_WIDTH / 2,
speed_limit=2))
else:
# Pedestrian lanes
start = rotation @ np.array(
[lane_width * 1.5, outer_distance * 2])
end = rotation @ np.array(
[lane_width * 1.5, -outer_distance * 2])
net.add_lane(
"p" + str(corner), "p" + str(corner) + "_end",
StraightLane(start,
end,
line_types=[ped_display, ped_display],
priority=1234,
width=AbstractLane.DEFAULT_WIDTH / 2,
speed_limit=2))
# Right turn
lt = [
c, s
] if self.config["scenario"] in [9, 10] and corner == 0 else [
n, c
]
r_center = rotation @ (np.array([outer_distance, outer_distance]))
net.add_lane(
"ir" + str(corner), "il" + str((corner - 1) % 4),
CircularLane(r_center,
right_turn_radius,
angle + np.radians(180),
angle + np.radians(270),
line_types=[n, c],
priority=priority,
speed_limit=10))
# Left turn
l_center = rotation @ (np.array([
-left_turn_radius + lane_width / 2,
left_turn_radius - lane_width / 2
]))
net.add_lane(
"ir" + str(corner), "il" + str((corner + 1) % 4),
CircularLane(l_center,
left_turn_radius,
angle + np.radians(0),
angle + np.radians(-90),
clockwise=False,
line_types=[n, n],
priority=priority - 1,
speed_limit=10))
# Straight
start = rotation @ np.array([lane_width / 2, outer_distance])
end = rotation @ np.array([lane_width / 2, -outer_distance])
net.add_lane(
"ir" + str(corner), "il" + str((corner + 2) % 4),
StraightLane(start,
end,
line_types=[s, n],
priority=priority,
speed_limit=10))
# Exit
lt = [
c, s
] if self.config["scenario"] in [9, 10] and corner == 0 else [
s, c
]
start = rotation @ np.flip(
[lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip([lane_width / 2, outer_distance], axis=0)
net.add_lane(
"il" + str((corner - 1) % 4), "o" + str((corner - 1) % 4),
StraightLane(end,
start,
line_types=lt,
priority=priority,
speed_limit=10))
road = RegulatedRoad(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
self.road = road