def __init__(self,
veh_id,
sumo_cf_params,
k_d=1,
k_v=1,
k_c=1,
d_des=1,
v_des=8,
time_delay=0.0,
noise=0,
fail_safe=None):
"""Instantiates a Bilateral car-following model controller. Looks ahead
and behind.
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
sumo_cf_params: SumoCarFollowingParams
see parent class
k_d: float, optional
gain on distances to lead/following cars (default: 1)
k_v: float, optional
gain on vehicle velocity differences (default: 1)
k_c: float, optional
gain on difference from desired velocity to current (default: 1)
d_des: float, optional
desired headway (default: 1)
v_des: float, optional
desired velocity (default: 8)
time_delay: float, optional
time delay (default: 0.5)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
fail_safe: str, optional
type of flow-imposed failsafe the vehicle should posses, defaults
to no failsafe (None)
"""
BaseController.__init__(self,
veh_id,
sumo_cf_params,
delay=time_delay,
fail_safe=fail_safe,
noise=noise)
self.veh_id = veh_id
self.k_d = k_d
self.k_v = k_v
self.k_c = k_c
self.d_des = d_des
self.v_des = v_des
def __init__(self,
veh_id,
sumo_cf_params,
alpha=1,
beta=1,
h_st=2,
h_go=15,
v_max=30,
time_delay=0,
noise=0,
fail_safe=None):
"""Instantiates an Optimal Vehicle Model controller.
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
sumo_cf_params: SumoCarFollowingParams
see parent class
alpha: float, optional
gain on desired velocity to current velocity difference
(default: 0.6)
beta: float, optional
gain on lead car velocity and self velocity difference
(default: 0.9)
h_st: float, optional
headway for stopping (default: 5)
h_go: float, optional
headway for full speed (default: 35)
v_max: float, optional
max velocity (default: 30)
time_delay: float, optional
time delay (default: 0.5)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
fail_safe: str, optional
type of flow-imposed failsafe the vehicle should posses, defaults
to no failsafe (None)
"""
BaseController.__init__(self,
veh_id,
sumo_cf_params,
delay=time_delay,
fail_safe=fail_safe,
noise=noise)
self.veh_id = veh_id
self.v_max = v_max
self.alpha = alpha
self.beta = beta
self.h_st = h_st
self.h_go = h_go
def __init__(self,
veh_id,
v_max=30,
accel_max=15,
decel_max=-5,
adaptation=0.65,
h_st=5,
tau=0.5,
dt=0.1,
noise=0):
"""
Instantiates a Linear OVM controller
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
v_max: float, optional
max velocity (default: 30)
accel_max: float, optional
max acceleration (default: 15)
decel_max: float, optional
max deceleration (default: -5)
adaptation: float
adaptation constant (default: 0.65)
h_st: float, optional
headway for stopping (default: 5)
tau: float, optional
time delay (default: 0.5)
dt: float, optional
timestep (default: 0.1)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
"""
controller_params = {
"delay": tau / dt,
"max_deaccel": decel_max,
"noise": noise
}
BaseController.__init__(self, veh_id, controller_params)
self.accel_queue = collections.deque()
self.decel_max = decel_max
self.acc_max = accel_max
self.veh_id = veh_id
# 4.8*1.85 for case I, 3.8*1.85 for case II, per Nakayama
self.v_max = v_max
# TAU in Traffic Flow Dynamics textbook
self.adaptation = adaptation
self.h_st = h_st
self.delay_time = tau
self.dt = dt
def __init__(self,
veh_id,
v0=30,
T=1,
a=1,
b=1.5,
delta=4,
s0=2,
time_delay=0.0,
dt=0.1,
noise=0,
fail_safe=None,
sumo_cf_params=None):
"""Instantiates an Intelligent Driver Model (IDM) controller
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
sumo_cf_params: SumoCarFollowingParams
see parent class
v0: float, optional
desirable velocity, in m/s (default: 30)
T: float, optional
safe time headway, in s (default: 1)
b: float, optional
comfortable deceleration, in m/s2 (default: 1.5)
delta: float, optional
acceleration exponent (default: 4)
s0: float, optional
linear jam distance, in m (default: 2)
dt: float, optional
timestep, in s (default: 0.1)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
fail_safe: str, optional
type of flow-imposed failsafe the vehicle should posses, defaults
to no failsafe (None)
"""
BaseController.__init__(self, veh_id, sumo_cf_params,
delay=time_delay, fail_safe=fail_safe,
noise=noise)
self.v0 = v0
self.T = T
self.a = a
self.b = b
self.delta = delta
self.s0 = s0
self.dt = dt
def __init__(self, veh_id, sumo_cf_params, time_delay=0, fail_safe=None):
"""Instantiates an RL Controller.
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
fail_safe: str, optional
type of flow-imposed failsafe the vehicle should posses, defaults
to no failsafe (None)
"""
BaseController.__init__(self,
veh_id,
sumo_cf_params,
delay=time_delay,
fail_safe=fail_safe)
def __init__(self, veh_id, alpha=1, beta=1, h_st=2, h_go=15, v_max=30,
accel_max=15, decel_max=-5, tau=0.5, dt=0.1, noise=0):
"""
Instantiates an Optimal Vehicle Model controller.
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
alpha: float, optional
gain on desired velocity to current velocity difference
(default: 0.6)
beta: float, optional
gain on lead car velocity and self velocity difference
(default: 0.9)
h_st: float, optional
headway for stopping (default: 5)
h_go: float, optional
headway for full speed (default: 35)
v_max: float, optional
max velocity (default: 30)
accel_max: float, optional
max acceleration (default: 15)
decel_max: float, optional
max deceleration (default: -5)
tau: float, optional
time delay (default: 0.5)
dt: float, optional
timestep (default: 0.1)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
"""
controller_params = {"delay": tau/dt, "max_deaccel": decel_max,
"noise": noise}
BaseController.__init__(self, veh_id, controller_params)
self.accel_queue = collections.deque()
self.decel_max = decel_max
self.accel_max = accel_max
self.veh_id = veh_id
self.v_max = v_max
self.alpha = alpha
self.beta = beta
self.h_st = h_st
self.h_go = h_go
self.tau = tau
self.dt = dt
def __init__(self,
veh_id,
car_following_params,
v_des=13.336,
Penetration_rate=0.05,
danger_edges=None,
control_length=None,
no_control_edges=None):
"""Instantiate FollowerStopper."""
BaseController.__init__(self,
veh_id,
car_following_params,
delay=1.0,
fail_safe='safe_velocity')
# desired speed of the vehicle
# self.v_des = v_des
# self.entry_headway = solve TRAFFIC_FLOW
# self.TRAFFIC_FLOW = solve TRAFFIC_FLOW
#Design parameters
self.d0 = 2.5
self.a = 0.2
self.b = 0.001
self.v_max = 30
#self.TRAFFIC_INFLOW_speed = 11
# if env == None:
self.v_des = v_des
self.v_fast = 24
# else:
# self.v_des = min(self.a+self.b*env.time_counter * env.sim_step,1)*v_des
# self.v_des = min(self.a+self.b*env.time_counter * env.sim_step,1)*TRAFFIC_INFLOW_speed
# self.v_des = min(self.a+self.b*env.time_counter * env.sim_step,1)*v_max*((np.tanh(env.entry_headway/env.h_st-2)+np.tanh(2))/(1+np.tanh(2)))
self.k = 1.0
self.dx_1_0 = 4.5
self.dx_2_0 = 5.25
self.dx_3_0 = 6.0
self.d_1 = 1.5
self.d_2 = 1.0
self.d_3 = 0.5
self.d = 1
self.ref_time = 0
# maximum achievable acceleration by the vehicle
self.max_accel = car_following_params.controller_params['accel']
# other parameters
self.danger_edges = danger_edges if danger_edges else {}
def __init__(self,
veh_id,
a=1,
time_delay=0.0,
dt=0.1,
noise=0,
fail_safe=None,
car_following_params=None):
"""Instantiate an IDM controller."""
BaseController.__init__(self,
veh_id,
car_following_params,
delay=time_delay,
fail_safe=fail_safe,
noise=noise)
self.a = a
self.dt = dt
self.go_action = False
def __init__(self, veh_id, max_deacc=15, tau=0, dt=0.1):
"""
Instantiates an RL Controller. Vehicles with this controller are
provided with actions by rllab, and perform their actions accordingly.
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
acc_max: float, optional
max acceleration (default: 15)
tau: float, optional
time delay (default: 0)
dt: float, optional
timestep (default: 0.1)
"""
controller_params = {"delay": tau / dt, "max_deaccel": max_deacc}
BaseController.__init__(self, veh_id, controller_params)
def __init__(self,
veh_id,
sumo_cf_params,
v_max=30,
adaptation=0.65,
h_st=5,
time_delay=0.0,
noise=0,
fail_safe=None):
"""Instantiates a Linear OVM controller
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
sumo_cf_params: SumoCarFollowingParams
see parent class
v_max: float, optional
max velocity (default: 30)
adaptation: float
adaptation constant (default: 0.65)
h_st: float, optional
headway for stopping (default: 5)
time_delay: float, optional
time delay (default: 0.5)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
fail_safe: str, optional
type of flow-imposed failsafe the vehicle should posses, defaults
to no failsafe (None)
"""
BaseController.__init__(self,
veh_id,
sumo_cf_params,
delay=time_delay,
fail_safe=fail_safe,
noise=noise)
self.veh_id = veh_id
# 4.8*1.85 for case I, 3.8*1.85 for case II, per Nakayama
self.v_max = v_max
# TAU in Traffic Flow Dynamics textbook
self.adaptation = adaptation
self.h_st = h_st
def __init__(self, veh_id, v0=30, T=1, a=1, b=1.5, delta=4, s0=2, s1=0,
decel_max=-5, dt=0.1, noise=0):
"""
Instantiates an Intelligent Driver Model (IDM) controller
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
v0: float, optional
desirable velocity, in m/s (default: 30)
T: float, optional
safe time headway, in s (default: 1)
a: float, optional
maximum acceleration, in m/s2 (default: 1)
b: float, optional
comfortable deceleration, in m/s2 (default: 1.5)
delta: float, optional
acceleration exponent (default: 4)
s0: float, optional
linear jam distance, in m (default: 2)
s1: float, optional
nonlinear jam distance, in m (default: 0)
decel_max: float, optional
max deceleration, in m/s2 (default: -5)
dt: float, optional
timestep, in s (default: 0.1)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
"""
tau = T # the time delay is taken to be the safe time headway
controller_params = {"delay": tau / dt, "max_deaccel": decel_max,
"noise": noise}
BaseController.__init__(self, veh_id, controller_params)
self.v0 = v0
self.T = T
self.a = a
self.b = b
self.delta = delta
self.s0 = s0
self.s1 = s1
self.max_deaccel = decel_max
self.dt = dt
def __init__(self, veh_id, k_d=1, k_v=1, k_c=1, d_des=1, v_des=8,
accel_max=15, decel_max=-5, tau=0.5, dt=0.1, noise=0):
"""
Instantiates a Bilateral car-following model controller. Looks ahead
and behind.
Attributes
----------
veh_id: str
Vehicle ID for SUMO identification
k_d: float, optional
gain on distances to lead/following cars (default: 1)
k_v: float, optional
gain on vehicle velocity differences (default: 1)
k_c: float, optional
gain on difference from desired velocity to current (default: 1)
d_des: float, optional
desired headway (default: 1)
v_des: float, optional
desired velocity (default: 8)
accel_max: float, optional
max acceleration (default: 15)
decel_max: float
max deceleration (default: -5)
tau: float, optional
time delay (default: 0.5)
dt: float, optional
timestep (default: 0.1)
noise: float, optional
std dev of normal perturbation to the acceleration (default: 0)
"""
controller_params = {"delay": tau / dt, "max_deaccel": decel_max,
"noise": noise}
BaseController.__init__(self, veh_id, controller_params)
self.veh_id = veh_id
self.k_d = k_d
self.k_v = k_v
self.k_c = k_c
self.d_des = d_des
self.v_des = v_des
self.accel_max = accel_max
self.accel_queue = collections.deque()
def __init__(self, veh_id, car_following_params):
"""Instantiate PISaturation."""
BaseController.__init__(self, veh_id, car_following_params, delay=1.0)
# maximum achievable acceleration by the vehicle
self.max_accel = car_following_params.controller_params['accel']
# history used to determine AV desired velocity
self.v_history = []
# other parameters
self.gamma = 2
self.g_l = 7
self.g_u = 30
self.v_catch = 1
# values that are updated by using their old information
self.alpha = 0
self.beta = 1 - 0.5 * self.alpha
self.U = 0
self.v_target = 0
self.v_cmd = 0
def __init__(self,
veh_id,
car_following_params,
v_max=30,
adaptation=0.65,
h_st=5,
time_delay=0.0,
noise=0,
fail_safe=None):
"""Instantiate a Linear OVM controller."""
BaseController.__init__(self,
veh_id,
car_following_params,
delay=time_delay,
fail_safe=fail_safe,
noise=noise)
self.veh_id = veh_id
# 4.8*1.85 for case I, 3.8*1.85 for case II, per Nakayama
self.v_max = v_max
# TAU in Traffic Flow Dynamics textbook
self.adaptation = adaptation
self.h_st = h_st
def __init__(self,
veh_id,
car_following_params,
v_des=15,
danger_edges=None):
"""Inspired by Dan Work's... work:
Dissipation of stop-and-go waves via control of autonomous vehicles:
Field experiments https://arxiv.org/abs/1705.01693
Parameters
----------
veh_id: str
unique vehicle identifier
v_des: float, optional
desired speed of the vehicles (m/s)
"""
BaseController.__init__(self,
veh_id,
car_following_params,
delay=1.0,
fail_safe='safe_velocity')
# desired speed of the vehicle
self.v_des = v_des
# maximum achievable acceleration by the vehicle
self.max_accel = car_following_params.controller_params['accel']
# other parameters
self.dx_1_0 = 4.5
self.dx_2_0 = 5.25
self.dx_3_0 = 6.0
self.d_1 = 1.5
self.d_2 = 1.0
self.d_3 = 0.5
self.danger_edges = danger_edges if danger_edges else {}
def __init__(self,
veh_id,
car_following_params,
v_des=15,
danger_edges=None):
"""Instantiate FollowerStopper."""
BaseController.__init__(
self, veh_id, car_following_params, delay=1.0,
fail_safe='safe_velocity')
# desired speed of the vehicle
self.v_des = v_des
# maximum achievable acceleration by the vehicle
self.max_accel = car_following_params.controller_params['accel']
# other parameters
self.dx_1_0 = 4.5
self.dx_2_0 = 5.25
self.dx_3_0 = 6.0
self.d_1 = 1.5
self.d_2 = 1.0
self.d_3 = 0.5
self.danger_edges = danger_edges if danger_edges else {}
def __init__(self,
veh_id,
car_following_params,
alpha=1,
beta=1,
h_st=2,
h_go=15,
v_max=30,
time_delay=0,
noise=0,
fail_safe=None):
"""Instantiate an Optimal Vehicle Model controller."""
BaseController.__init__(self,
veh_id,
car_following_params,
delay=time_delay,
fail_safe=fail_safe,
noise=noise)
self.veh_id = veh_id
self.v_max = v_max
self.alpha = alpha
self.beta = beta
self.h_st = h_st
self.h_go = h_go
def __init__(self, veh_id, car_following_params):
"""Instantiate an RL Controller."""
BaseController.__init__(self, veh_id, car_following_params)
