def make_vehicles(self, other_vehicles_mandatory=False):
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:param other_vehicles_mandatory: if the lane changing maneuvers of other vehicles are mandatory
:return: None
"""
max_l = 500
road = self.road
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
car_number_each_lane = 15
# reset_position_range = (30, 40)
reset_position_range = (20, 30)
# reset_lane = random.choice(road.lanes)
reset_lane = road.lanes[0]
for l in road.lanes[:3]:
cars_on_lane = car_number_each_lane
reset_position = None
if l is reset_lane:
cars_on_lane += 1
reset_position = random.choice(range(5, 6))
# reset_position = 2
for i in range(cars_on_lane):
if i == reset_position:
if self.switch:
ego_vehicle = MDPVehicle(
road,
l.position(
(i + 1) *
np.random.randint(*reset_position_range), 0),
velocity=20,
max_length=max_l)
else:
ego_vehicle = IDMVehicle(
road,
l.position(
(i + 1) *
np.random.randint(*reset_position_range), 0),
velocity=20,
max_length=max_l)
ego_vehicle.destination = 1
ego_vehicle.id = 0
road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
l.vehicles.append(ego_vehicle)
else:
car = other_vehicles_type(
road,
l.position(
(i + 1) * np.random.randint(*reset_position_range),
0),
velocity=np.random.randint(18, 25),
dst=3,
max_length=max_l)
if other_vehicles_mandatory:
car.destination = 1
road.vehicles.append(car)
l.vehicles.append(car)
for l in [road.lanes[3]]:
cars_on_lane = car_number_each_lane
reset_position = None
if l is reset_lane:
cars_on_lane += 1
reset_position = random.choice(range(5, 6))
# reset_position = 2
for i in range(cars_on_lane):
if i < 8:
continue
if i == reset_position:
# ego_vehicle = MDPVehicle(road, l.position((i+1) * np.random.randint(*reset_position_range), 0),
# velocity=20, max_length=max_l)
ego_vehicle = IDMVehicle(
road,
l.position(
(i + 1) * np.random.randint(*reset_position_range),
0),
velocity=20,
max_length=max_l)
ego_vehicle.destination = 1
ego_vehicle.id = 0
road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
l.vehicles.append(ego_vehicle)
else:
car = other_vehicles_type(
road,
l.position(
(i + 1) * np.random.randint(*reset_position_range),
0),
velocity=np.random.randint(18, 25),
dst=3,
max_length=max_l)
if other_vehicles_mandatory:
car.destination = 1
road.vehicles.append(car)
l.vehicles.append(car)
for lane in road.lanes:
lane.vehicles = sorted(
lane.vehicles,
key=lambda x: lane.local_coordinates(x.position)[0])
for i, v in enumerate(lane.vehicles):
v.vehicle_index_in_line = i
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
"""
"""
road = self.road
other_vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
car_number_each_lane = 5
# reset_position_range = (30, 40)
reset_position_range = (100, 0)
# reset_lane = random.choice(road.lanes)
for l in road.lanes[:3]:
reset_lane = road.lanes[2]
cars_on_lane = car_number_each_lane
reset_position = (32, 0)
if l is reset_lane:
cars_on_lane += 1
# reset_position = random.choice(range(5, 6))
# github-version
position_deviation = 2
velocity_deviation = 2
# Ego-vehicle
# ego_lane = self.road.network.get_lane(("ser", "ses", 0))
ego_lane = self.road.get_lane((100, 0))
print("\nego_lane.position:", ego_lane.position(140, 0), "\n")
# ego_vehicle = MDPVehicle(self.road,
# ego_lane.position(140, 0),
# velocity=5,
# heading=ego_lane.heading_at(140)).plan_route_to("nxs")
ego_vehicle = IDMVehicle(road, (60, 0), np.pi / 2, velocity=10, max_length=500)
# MDPVehicle.SPEED_MIN = 0
# MDPVehicle.SPEED_MAX = 15
# MDPVehicle.SPEED_COUNT = 4
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
# Incoming vehicle
# destinations = ["exr", "sxr", "nxr"]
other_vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
vehicle = other_vehicles_type.make_on_lane(self.road,
(0, 30),
longitudinal=5 + self.np_random.randn() * position_deviation,
velocity=16 + self.np_random.randn() * velocity_deviation)
# if self.config["incoming_vehicle_destination"] is not None:
# destination = destinations[self.config["incoming_vehicle_destination"]]
# else:
# destination = self.np_random.choice(destinations)
# vehicle.plan_route_to(destination)
# vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
# Other vehicles
for i in list(range(1, 2)) + list(range(-1, 0)):
vehicle = other_vehicles_type.make_on_lane(self.road,
(30 * i, 0),
longitudinal=20 * i + self.np_random.randn() * position_deviation,
velocity=16 + self.np_random.randn() * velocity_deviation)
# vehicle.plan_route_to(self.np_random.choice(destinations))
# vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
# Entering vehicle
# vehicle = other_vehicles_type.make_on_lane(self.road,
# ("eer", "ees", 0),
# longitudinal=50 + self.np_random.randn() * position_deviation,
# velocity=16 + self.np_random.randn() * velocity_deviation)
# vehicle.plan_route_to(self.np_random.choice(destinations))
# vehicle.randomize_behavior()
# self.road.vehicles.append(vehicle)
vehicle = MDPVehicle.create_random(self.road, 25, spacing=3, np_random=self.np_random)
self.road.vehicles.append(vehicle)
for v in self.road.vehicles:
lane_index = v.lane_index
self.road.lanes[lane_index].vehicles.append(v)
"""
position_deviation = 5
velocity_deviation = 1.5
other_vehicles_mandatory = False
max_l = 700
road = self.road
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
car_number_each_lane = 1
# reset_position_range = (30, 40)
# reset_lane = random.choice(road.lanes)
reset_lane = ("ser", "ses", 0)
ego_vehicle = None
num = 0
print("lanes:", self.road.network.LANES, "\n")
# self.road.network.LANES_NUMBER = 28
for l in self.road.network.LANES:
# print("l:",l,"\n")
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(0, 3))
# reset_position = 2
for j in range(cars_on_lane):
if not ego_vehicle:
ego_lane = self.road.network.get_lane(("ser", "ses", 0))
if self.switch:
ego_vehicle = MDPVehicle(self.road,
ego_lane.position(110, 0),
velocity=15,
heading=ego_lane.heading_at(
110)).plan_route_to("nxs")
else:
ego_vehicle = IDMVehicle(self.road,
ego_lane.position(110, 0),
velocity=15,
heading=ego_lane.heading_at(
110)).plan_route_to("wxs")
# ego_vehicle.destination = 1
ego_vehicle.id = 0
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
lane.vehicles.append(ego_vehicle)
else:
destinations = ["wxr", "sxr", "nxr", "exr"]
birth_place = [("ee", "nx", 0), ("ne", "wx", 0),
("we", "sx", 0), ("se", "ex", 0),
("ee", "nx", 1), ("ne", "wx", 1),
("we", "sx", 1), ("se", "ex", 1),
("wer", "wes", 0), ("eer", "ees", 0),
("ner", "nes", 0), ("ser", "ses", 0),
("wxs", "wxr", 0), ("exs", "exr", 0),
("nxs", "nxr", 0), ("sxs", "sxr", 0)]
car = other_vehicles_type.make_on_lane(
self.road,
birth_place[np.random.randint(0, 16)],
longitudinal=70 +
np.random.randint(1, 5) * position_deviation,
velocity=5 +
np.random.randint(1, 10) * velocity_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[
self.config["incoming_vehicle_destination"]]
else:
destination = destinations[np.random.randint(0, 4)]
# destination = self.np_random.choice(destinations)
"""
if 0<= num <=6:
destinations = ["wxr", "sxr", "nxr"]
car = other_vehicles_type.make_on_lane(self.road, ("ee", "nx", 1),
longitudinal=5 + self.np_random.randn() * position_deviation,
velocity=5 + self.np_random.randn() * velocity_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[self.config["incoming_vehicle_destination"]]
else:
destination = self.np_random.choice(destinations)
# if other_vehicles_mandatory:
# car.destination = 1
# car.plan_route_to(destination)
# car.randomize_behavior()
# self.road.vehicles.append(car)
# road.vehicles.append(car)
# lane.vehicles.append(car)
elif 7<=num<=13:
destinations = ["exr", "sxr", "wxr"]
car = other_vehicles_type.make_on_lane(self.road, ("ne", "wx", 1),
longitudinal=5 + self.np_random.randn() * position_deviation,
velocity=5 + self.np_random.randn() * velocity_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[self.config["incoming_vehicle_destination"]]
else:
destination = self.np_random.choice(destinations)
# if other_vehicles_mandatory:
# car.destination = 1
# car.plan_route_to(destination)
# car.randomize_behavior()
# self.road.vehicles.append(car)
# road.vehicles.append(car)
# lane.vehicles.append(car)
elif 14<=num<=20:
destinations = ["exr", "sxr", "nxr"]
car = other_vehicles_type.make_on_lane(self.road, ("we", "sx", 1),
longitudinal=5 + self.np_random.randn() * position_deviation,
velocity=5 + self.np_random.randn() * velocity_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[self.config["incoming_vehicle_destination"]]
else:
destination = self.np_random.choice(destinations)
# if other_vehicles_mandatory:
# car.destination = 1
# car.plan_route_to(destination)
# car.randomize_behavior()
# self.road.vehicles.append(car)
# road.vehicles.append(car)
# lane.vehicles.append(car)
else :
destinations = ["exr", "wxr", "nxr"]
car = other_vehicles_type.make_on_lane(self.road, ("se", "ex", 1),
longitudinal=5 + self.np_random.randn() * position_deviation,
velocity=5 + self.np_random.randn() * velocity_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[self.config["incoming_vehicle_destination"]]
else:
destination = self.np_random.choice(destinations)
# if other_vehicles_mandatory:
# car.destination = 1
# car.plan_route_to(destination)
# car.randomize_behavior()
# self.road.vehicles.append(car)
# road.vehicles.append(car)
# lane.vehicles.append(car)
"""
car.plan_route_to(destination)
car.randomize_behavior()
self.road.vehicles.append(car)
# road.vehicles.append(car)
lane.vehicles.append(car)
# if other_vehicles_mandatory:
# car.destination = 1
# road.vehicles.append(car)
# l.vehicles.append(car)
num += 1
# print("make_vehicle finish")
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
