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:
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:
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']) dist = 0.1 status = -1 totaldist = 0 while status < 1 and totaldist < 50: lane,lanepos,pos,angle = Sim.getVehicleState(road) status = 1*(lane[1]=='o' and lanepos > 5.) - 1*(lane[1]=='i' and len(lane)==4)
'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()
## 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 if addThisCar: Sim.createVehicle(str(carID), car['lane'], 0.) cars.loc[carID,'status'] = 0 # gather vehicle info for carID in np.where(cars['status']==0)[0]: carLane,carLanePos,carPos,carAngle = Sim.getVehicleState(str(carID)) if carLane == '': print '!!!! lane is empty'+ str(carID) + cars.loc[carID,'lane'] carLane = cars.loc[carID,'lane'] carLanePos = 0.0 carPos = (-6.*carID,-6.*carID) carAngle = 0. elif carLane is None: print '!!!! lane is none '+ str(carID) cars.loc[carID,'status']=1
## 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 if addThisCar: Sim.createVehicle(str(carID), car['lane'], 0.) cars.loc[carID, 'status'] = 0 # gather vehicle info for carID in np.where(cars['status'] == 0)[0]: carLane, carLanePos, carPos, carAngle = Sim.getVehicleState( str(carID)) if carLane == '': print '!!!! lane is empty' + str(carID) + cars.loc[carID, 'lane'] carLane = cars.loc[carID, 'lane'] carLanePos = 0.0 carPos = (-6. * carID, -6. * carID) carAngle = 0. elif carLane is None:
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']) dist = 0.1 status = -1 totaldist = 0 while status < 1 and totaldist < 50: lane, lanepos, pos, angle = Sim.getVehicleState(road) status = 1 * (lane[1] == 'o' and