def test_step():
v = ControlledVehicle(road=None, position=[0, 0], velocity=20, heading=0)
for _ in range(2 * FPS):
v.step(dt=1 / FPS)
assert v.position[0] == pytest.approx(40)
assert v.position[1] == pytest.approx(0)
assert v.velocity == pytest.approx(20)
assert v.heading == pytest.approx(0)
def test_network():
# Diamond
net = RoadNetwork()
net.add_lane(0, 1, StraightLane([0, 0], [10, 0]))
net.add_lane(1, 2, StraightLane([10, 0], [5, 5]))
net.add_lane(2, 0, StraightLane([5, 5], [0, 0]))
net.add_lane(1, 3, StraightLane([10, 0], [5, -5]))
net.add_lane(3, 0, StraightLane([5, -5], [0, 0]))
print(net.graph)
# Road
road = Road(network=net)
v = ControlledVehicle(road, [5, 0], heading=0, target_velocity=2)
road.vehicles.append(v)
assert v.lane_index == (0, 1, 0)
# Lane changes
dt = 1 / 15
lane_index = v.target_lane_index
lane_changes = 0
for _ in range(int(20 / dt)):
road.act()
road.step(dt)
if lane_index != v.target_lane_index:
lane_index = v.target_lane_index
lane_changes += 1
assert lane_changes == 3
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_lane_change():
road = Road(RoadNetwork.straight_road_network(2))
v = ControlledVehicle(road=road,
position=road.network.get_lane(
(0, 1, 0)).position(0, 0),
velocity=20,
heading=0)
v.act('LANE_RIGHT')
for _ in range(3 * FPS):
v.act()
v.step(dt=1 / FPS)
assert v.velocity == pytest.approx(20)
assert v.position[1] == pytest.approx(StraightLane.DEFAULT_WIDTH,
abs=StraightLane.DEFAULT_WIDTH / 4)
assert v.lane_index[2] == 1
def make_vehicles(self):
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:return: the ego-vehicle
"""
max_l = 300
road = self.road
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
car_number_each_lane = 2
# reset_position_range = (20,40)
# reset_lane = random.choice(road.lanes)
reset_lane = ("s2", "ee", 0)
ego_vehicle = None
birth_place = [("s1", "ex", 0), ("s1", "ex", 1), ("s1", "ex", 2),
("s2", "ee", 0)]
destinations = ["x1"]
position_deviation = 10
velocity_deviation = 2
for l in self.road.network.LANES:
lane = road.network.get_lane(l)
cars_on_lane = car_number_each_lane
reset_position = None
if l == reset_lane:
cars_on_lane += 1
reset_position = random.choice(range(1, car_number_each_lane))
for i in range(cars_on_lane):
if i == reset_position and not ego_vehicle:
ego_lane = self.road.network.get_lane(("s2", "ee", 0))
ego_vehicle = ControlledVehicle(
self.road,
ego_lane.position(0, 0),
velocity=20,
heading=ego_lane.heading_at(0)).plan_route_to("x1")
ego_vehicle.id = 0
road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
else:
car = other_vehicles_type.make_on_lane(
road,
birth_place[np.random.randint(0, 4)],
longitudinal=5 +
np.random.randint(1, 7) * position_deviation,
velocity=5 +
np.random.randint(1, 5) * velocity_deviation)
destination = destinations[0]
# print("destination:",destination)
car.plan_route_to(destination)
car.randomize_behavior()
road.vehicles.append(car)
lane.vehicles.append(car)
for i in range(self.road.network.LANES_NUMBER):
lane = road.network.get_lane(self.road.network.LANES[i])
# print("lane:", lane.LANEINDEX, "\n")
lane.vehicles = sorted(
lane.vehicles,
key=lambda x: lane.local_coordinates(x.position)[0])
# print("len of lane.vehicles:", len(lane.vehicles), "\n")
for j, v in enumerate(lane.vehicles):
# print("i:",i,"\n")
v.vehicle_index_in_line = j