def _create_road(self):
"""
Create a road composed of straight adjacent lanes.
"""
self.road = Road(network=RoadNetwork.straight_road_network(
self.config["lanes_count"]),
np_random=self.np_random)
def _create_road(self):
"""
Create a road composed of straight adjacent lanes.
"""
self.road = Road(network=RoadNetwork.straight_road_network(
self.config["lanes_count"]),
np_random=self.np_random,
record_history=self.config["show_trajectories"])
def test_partial():
road = Road(RoadNetwork.straight_road_network())
v = IntervalVehicle(road, position=[0, 0], velocity=20, heading=0)
for _ in range(2 * FPS):
v.step(dt=1/FPS, mode="partial")
assert v.interval.position[0, 0] <= v.position[0] <= v.interval.position[1, 0]
assert v.interval.position[0, 1] <= v.position[1] <= v.interval.position[1, 1]
assert v.interval.heading[0] <= v.heading <= v.interval.heading[1]
def test_front():
r = Road(RoadNetwork.straight_road_network(1))
v1 = Vehicle(road=r, position=[0, 0], velocity=20)
v2 = Vehicle(road=r, position=[10, 0], velocity=10)
r.vehicles.extend([v1, v2])
assert v1.lane_distance_to(v2) == pytest.approx(10)
assert v2.lane_distance_to(v1) == pytest.approx(-10)
def test_speed_control():
road = Road(RoadNetwork.straight_road_network(1))
v = ControlledVehicle(road=road, position=road.network.get_lane(("0", "1", 0)).position(0, 0), speed=20, heading=0)
v.act('FASTER')
for _ in range(int(3 * v.TAU_ACC * FPS)):
v.act()
v.step(dt=1/FPS)
assert v.speed == pytest.approx(20 + v.DELTA_SPEED, abs=0.5)
assert v.position[1] == pytest.approx(0)
assert v.lane_index[2] == 0
def test_lane_change():
road = Road(RoadNetwork.straight_road_network(2))
v = ControlledVehicle(road=road, position=road.network.get_lane(("0", "1", 0)).position(0, 0), speed=20, heading=0)
v.act('LANE_RIGHT')
for _ in range(3 * FPS):
v.act()
v.step(dt=1/FPS)
assert v.speed == pytest.approx(20)
assert v.position[1] == pytest.approx(StraightLane.DEFAULT_WIDTH, abs=StraightLane.DEFAULT_WIDTH/4)
assert v.lane_index[2] == 1
def _create_road(self,
road_length=1000,
exit_position=400,
exit_length=100) -> None:
net = RoadNetwork.straight_road_network(self.config["lanes_count"],
start=0,
length=exit_position,
nodes_str=("0", "1"))
net = RoadNetwork.straight_road_network(self.config["lanes_count"] + 1,
start=exit_position,
length=exit_length,
nodes_str=("1", "2"),
net=net)
net = RoadNetwork.straight_road_network(
self.config["lanes_count"],
start=exit_position + exit_length,
length=road_length - exit_position - exit_length,
nodes_str=("2", "3"),
net=net)
for _from in net.graph:
for _to in net.graph[_from]:
for _id in range(len(net.graph[_from][_to])):
net.get_lane(
(_from, _to, _id)).speed_limit = 26 - 3.4 * _id
exit_position = np.array([
exit_position + exit_length,
self.config["lanes_count"] * CircularLane.DEFAULT_WIDTH
])
radius = 150
exit_center = exit_position + np.array([0, radius])
lane = CircularLane(center=exit_center,
radius=radius,
start_phase=3 * np.pi / 2,
end_phase=2 * np.pi,
forbidden=True)
net.add_lane("2", "exit", lane)
self.road = Road(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
def test_velocity_control():
road = Road(RoadNetwork.straight_road_network(1))
v = ControlledVehicle(road=road,
position=road.network.get_lane(
(0, 1, 0)).position(0, 0),
velocity=20,
heading=0)
v.act('FASTER')
for _ in range(int(3 * v.TAU_A * FPS)):
v.act()
v.step(dt=1 / FPS)
assert v.velocity == pytest.approx(20 + v.DELTA_VELOCITY, abs=0.5)
assert v.position[1] == pytest.approx(0)
assert v.lane_index[2] == 0
def test_stop_before_obstacle(vehicle_type):
road = Road(RoadNetwork.straight_road_network(lanes=1))
vehicle = vehicle_type(road=road, position=[0, 0], speed=20, heading=0)
obstacle = Obstacle(road=road, position=[80, 0])
road.vehicles.append(vehicle)
road.objects.append(obstacle)
for _ in range(10 * FPS):
road.act()
road.step(dt=1/FPS)
assert not vehicle.crashed
assert vehicle.position[0] == pytest.approx(obstacle.position[0] - vehicle_type.DISTANCE_WANTED, abs=1)
assert vehicle.position[1] == pytest.approx(0)
assert vehicle.speed == pytest.approx(0, abs=1)
assert vehicle.heading == pytest.approx(0)
def test_collision():
# Collision between two vehicles
r = Road(RoadNetwork.straight_road_network(1))
v1 = Vehicle(road=r, position=[0, 0], speed=10)
v2 = Vehicle(road=r, position=[4, 0], speed=20)
v1.check_collision(v2)
assert v1.crashed and v2.crashed
# Collision between a vehicle and an obstacle
v3 = Vehicle(road=r, position=[20, 0], speed=10)
o = Obstacle(road=r, position=[23, 0])
v3.check_collision(o)
assert v3.crashed and o.hit
# Collision between a vehicle and a landmark
v4 = Vehicle(road=r, position=[40, 0], speed=10)
l = Landmark(road=r, position=[43, 0])
v4.check_collision(l)
assert v4.crashed is False
assert l.hit
def _create_road(self):
self.road = Road(network=RoadNetwork.straight_road_network(
self.config["lanes_count"]),
np_random=self.np_random)
