def _make_road(self) -> None:
"""
Make a road composed of a straight highway and a merging lane.
:return: the road
"""
net = RoadNetwork()
# Highway lanes
ends = [150, 80, 80, 150] # Before, converging, merge, after
c, s, n = LineType.CONTINUOUS_LINE, LineType.STRIPED, LineType.NONE
y = [0, StraightLane.DEFAULT_WIDTH]
line_type = [[c, s], [n, c]]
line_type_merge = [[c, s], [n, s]]
for i in range(2):
net.add_lane("a", "b", StraightLane([0, y[i]], [sum(ends[:2]), y[i]], line_types=line_type[i]))
net.add_lane("b", "c", StraightLane([sum(ends[:2]), y[i]], [sum(ends[:3]), y[i]], line_types=line_type_merge[i]))
net.add_lane("c", "d", StraightLane([sum(ends[:3]), y[i]], [sum(ends), y[i]], line_types=line_type[i]))
# Merging lane
amplitude = 3.25
ljk = StraightLane([0, 6.5 + 4 + 4], [ends[0], 6.5 + 4 + 4], line_types=[c, c], forbidden=True)
lkb = SineLane(ljk.position(ends[0], -amplitude), ljk.position(sum(ends[:2]), -amplitude),
amplitude, 2 * np.pi / (2*ends[1]), np.pi / 2, line_types=[c, c], forbidden=True)
lbc = StraightLane(lkb.position(ends[1], 0), lkb.position(ends[1], 0) + [ends[2], 0],
line_types=[n, c], forbidden=True)
net.add_lane("j", "k", ljk)
net.add_lane("k", "b", lkb)
net.add_lane("b", "c", lbc)
road = Road(network=net, np_random=self.np_random, record_history=self.config["show_trajectories"])
road.objects.append(Obstacle(road, lbc.position(ends[2], 0)))
self.road = road
def generate_merge(self, begin, amplitude_1, sin_length_1, str_length_1,
amplitude_2, sin_length_2, width, reverse):
l_in_1_sin = SineLane([0, begin],
0,
width,
-amplitude_1 * reverse,
np.pi / (sin_length_1),
np.pi / 2,
[LineType.CONTINUOUS, LineType.CONTINUOUS],
bounds=[0, sin_length_1],
forbidden=False)
l_in_1_str = StraightLane(
l_in_1_sin.position(sin_length_1, 0),
0,
width, [LineType.CONTINUOUS_LINE, LineType.CONTINUOUS],
bounds=[0, str_length_1],
name='lm12')
l_in_out_sin = SineLane(l_in_1_str.position(str_length_1,
-amplitude_2 * reverse),
0,
width,
amplitude_2 * reverse,
np.pi / (sin_length_2),
np.pi / 2,
[LineType.CONTINUOUS, LineType.CONTINUOUS],
bounds=[0, sin_length_2],
forbidden=False)
l = LanesConcatenation([l_in_1_sin, l_in_1_str, l_in_out_sin])
return l
def make_straight(self):
lm10 = StraightLane(np.array([0, 0]),
0,
4.0, [LineType.CONTINUOUS_LINE, LineType.STRIPED],
bounds=[0, 500])
l1 = LanesConcatenation([lm10])
lm20 = StraightLane(l1.position(0, 4),
0,
4.0, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 500])
l2 = LanesConcatenation([lm20])
# lm30 = StraightLane(l2.position(0,4), 0, 4.0, [LineType.STRIPED, LineType.STRIPED],bounds=[0,100])
# lm31 = StraightLane(lm30.position(0,0), 0, 4.0, [LineType.STRIPED, LineType.STRIPED],bounds=[0,500])
# l3 = LanesConcatenation([lm30,lm31])
lm30 = StraightLane(l2.position(0, 4),
0,
4.0, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 500])
l3 = LanesConcatenation([lm30])
amplitude = 4.5
lm40 = StraightLane(l3.position(0, 4),
0,
4.0, [LineType.STRIPED, LineType.CONTINUOUS_LINE],
bounds=[200, 400])
lm41 = SineLane(lm40.position(400, amplitude),
0,
4.0,
-amplitude,
2 * np.pi / (2 * 50),
np.pi / 2, [LineType.CONTINUOUS, LineType.CONTINUOUS],
bounds=[0, 50],
forbidden=True)
lm42 = StraightLane(
lm41.position(50, 0),
0,
4.0, [LineType.CONTINUOUS_LINE, LineType.CONTINUOUS_LINE],
bounds=[0, 50],
forbidden=True)
l4 = LanesConcatenation([lm40, lm41, lm42])
road = Road([l1, l2, l3, l4])
# road = Road([ l3])
# road = Road([lm0,lm2])
# todo !!!!!!!!!!! how to do with Obstacle in lane.vehicles
obstacle = Obstacle(road, lm40.position(0, 0))
road.vehicles.append(obstacle)
road.lanes[3].vehicles.append(obstacle)
self.road = road
def _make_road(self) -> None:
"""
Make a road composed of a straight highway and a merging lane.
:return: the road
ljk = StraightLane([0, 6.5 + 4 + 4], [ends[0], 6.5 + 4 + 4], line_types=[c, c], forbidden=True)
lke = SineLane(ljk.position(ends[0], -amplitude), ljk.position(sum(ends[:2]), -amplitude),
amplitude, 2 * np.pi / (2*ends[1]), np.pi / 2, line_types=[c, c], forbidden=True)
net.add_lane("j", "k", ljk)
net.add_lane("k", "b", lke)
#net.add_lane("e", "c", lbc)
road = Road(network=net, np_random=self.np_random, record_history=self.config["show_trajectories"])
#road.objects.append(Obstacle(road, lbc.position(ends[2], 0)))
self.road = road
Make a road composed of a straight highway and a merging lane.
:return: the road
"""
net = RoadNetwork()
# Highway lanes
ends = [90, 155, 180] # Before, converging, merge, after
c, s, n = LineType.CONTINUOUS_LINE, LineType.STRIPED, LineType.NONE
y = [18.9, 21.2, 25.5]
#line_type = [[c, s], [n, c]]
#line_type_merge=[[s,s],[n,c]]
line_type_merge = [[c, n], [s, c]]
#line_type_highway=[[c,s],[n,c]]
#line_type_merge = [[c, s], [n, s]]
line_type = [c, c]
#amplitude = 2
#ljk = StraightLane([0,6.85],[183,6.85],line_types=[c,c], forbidden=True)
#lbc = SineLane(ljk.position(182,amplitude), ljk.position(218, amplitude),
# -amplitude, 2 * np.pi / 72, np.pi / 2, line_types=[c, n], forbidden=True)
#net.add_lane("b", "c", lbc)
#net.add_lane("a", "b", StraightLane([0, 6.85], [183, 6.85], line_types=[c,n]))
'''
for i in range(2):
net.add_lane("a", "c", StraightLane([0, y[i]], [218, y[i]], line_types=line_type_merge[i]))
net.add_lane("c", "d", StraightLane([218, y[i]], [400, y[i]], line_types=line_type_highway[i]))
#net.add_lane("e", "c", lbc)
road = Road(network=net, np_random=self.np_random, record_history=self.config["show_trajectories"])
'''
amplitude = 2.15
lmn = StraightLane([0, y[0]], [90, y[0]],
2.2,
line_types=[c, n],
forbidden=True)
lab = StraightLane([0, y[1]], [90, y[1]],
2.2,
line_types=[c, n],
forbidden=True)
net.add_lane(
"m", "n",
StraightLane([0, y[0]], [90, y[0]],
2.2,
line_types=line_type_merge[0]))
net.add_lane(
"a", "b",
StraightLane([0, y[1]], [90, y[1]],
2.2,
line_types=line_type_merge[1]))
net.add_lane(
"d", "e",
StraightLane([155, y[2]], [180, y[2]], 2.2, line_types=line_type))
lnd = SineLane(lmn.position(90, amplitude),
lmn.position(155, amplitude),
-amplitude,
2 * np.pi / 130,
np.pi / 2,
2.2,
line_types=[c, n],
forbidden=True)
lbd = SineLane(lab.position(90, amplitude),
lab.position(155, amplitude),
-amplitude,
2 * np.pi / 130,
np.pi / 2,
2.2,
line_types=[s, c],
forbidden=False)
net.add_lane("n", "d", lnd)
net.add_lane("b", "d", lbd)
#road.objects.append(Obstacle(road, lbc.position(ends[2], 0)))
road = Road(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
self.road = road
road.objects.append(Obstacle(road, lnd.position(65, 0)))
def make_sin(self):
# amplitude = 4.5
amplitude = 9.0
lm10 = StraightLane(np.array([0, 0]),
0,
5.0, [LineType.CONTINUOUS_LINE, LineType.STRIPED],
bounds=[0, 400])
lm11 = SineLane(lm10.position(400, amplitude),
0,
5.0,
-amplitude,
2 * np.pi / (2 * 50),
np.pi / 2, [LineType.CONTINUOUS, LineType.STRIPED],
bounds=[0, 250])
lm12 = StraightLane(lm11.position(250, 0),
0,
5.0, [LineType.CONTINUOUS_LINE, LineType.STRIPED],
bounds=[0, 50])
l1 = LanesConcatenation([lm10, lm11, lm12])
lm20 = StraightLane(lm10.position(0, 5),
0,
5.0, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 400])
lm21 = SineLane(lm20.position(400, amplitude),
0,
5.0,
-amplitude,
2 * np.pi / (2 * 50),
np.pi / 2, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 250])
lm22 = StraightLane(lm21.position(250, 0),
0,
5.0, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 50])
l2 = LanesConcatenation([lm20, lm21, lm22])
lm30 = StraightLane(lm20.position(0, 5),
0,
5.0, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 400])
lm31 = SineLane(lm30.position(400, amplitude),
0,
5.0,
-amplitude,
2 * np.pi / (2 * 50),
np.pi / 2, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 250])
lm32 = StraightLane(lm31.position(250, 0),
0,
5.0, [LineType.STRIPED, LineType.STRIPED],
bounds=[0, 50])
l3 = LanesConcatenation([lm30, lm31, lm32])
lm40 = StraightLane(lm30.position(0, 5),
0,
5.0, [LineType.STRIPED, LineType.CONTINUOUS_LINE],
bounds=[0, 400])
lm41 = SineLane(lm40.position(400, amplitude),
0,
5.0,
-amplitude,
2 * np.pi / (2 * 50),
np.pi / 2, [LineType.STRIPED, LineType.CONTINUOUS],
bounds=[0, 250])
lm42 = StraightLane(
lm41.position(250, 0),
0,
5.0,
[LineType.STRIPED, LineType.CONTINUOUS_LINE],
bounds=[0, 50],
)
l4 = LanesConcatenation([lm40, lm41, lm42])
road = Road([l1, l2, l3, l4])
# road = Road([ l3])
# road = Road([lm0,lm2])
# todo !!!!!!!!!!! how to do with Obstacle in lane.vehicles
obstacle = Obstacle(road, lm40.position(0, 0))
road.vehicles.append(obstacle)
road.lanes[3].vehicles.append(obstacle)
self.road = road
def make_road2(self):
"""
Make a road composed of a straight highway and a merging lane.
:return: the road
"""
net = RoadNetwork()
# pre-processing
ends = [150, 80, 80, 150]
c, s, n = LineType.CONTINUOUS_LINE, LineType.STRIPED, LineType.NONE
W = StraightLane.DEFAULT_WIDTH
# Highway lanes
ptr_LB, ptr_UB = 0, ends[0] + ends[
1] # Miss what is relevant only for merging lane
net.add_lane("a", "b",
StraightLane([ptr_LB, W], [ptr_UB, W],
line_types=[c, s])) # Lane 1
net.add_lane("a", "b",
StraightLane([ptr_LB, W], [ptr_UB, W],
line_types=[n, c])) # Lane 2
ptr_LB, ptr_UB = ptr_UB, ptr_UB + ends[1]
net.add_lane("b", "c",
StraightLane([ptr_LB, W], [ptr_UB, W], line_types=[c, s]))
net.add_lane("b", "c",
StraightLane([ptr_LB, W], [ptr_UB, W], line_types=[n, s]))
ptr_LB, ptr_UB = ptr_UB, ptr_UB + ends[2]
net.add_lane("c", "d",
StraightLane([ptr_LB, W], [ptr_UB, W], line_types=[c, s]))
net.add_lane("c", "d",
StraightLane([ptr_LB, W], [ptr_UB, W], line_types=[n, c]))
# Crossing Lane
# TBA
# Merging lane
amplitude = 3.25
offset = 6.5
ljk = StraightLane([0, offset + 2 * W], [ends[0], offset + 2 * W],
line_types=[c, c],
forbidden=True)
if 1:
lkb = SineLane(ljk.position(ends[0], -amplitude),
ljk.position(sum(ends[:2]), -amplitude),
amplitude,
2 * np.pi / (2 * ends[1]),
np.pi / 2,
line_types=[c, c],
forbidden=True)
else:
lkb = StraightLane([ends[0], offset + 2 * W],
[ends[0] + ends[1], 2 * W],
line_types=[c, c],
forbidden=True)
lbc = StraightLane(lkb.position(ends[1], 0),
lkb.position(ends[1], 0) + [ends[2], 0],
line_types=[n, c],
forbidden=True)
net.add_lane("j", "k", ljk)
net.add_lane("k", "b", lkb)
net.add_lane("b", "c", lbc)
road = Road(network=net)
# road.vehicles.append(Obstacle(road, lbc.position(ends[2], 0)))
self.road = road