def _create_left_turn(self, radius, lane_num, attach_left_lane, attach_road, intersect_nodes, part_idx): left_turn_radius = radius + lane_num * attach_left_lane.width_at(0) diff = self.lane_num_intersect - self.positive_lane_num # increase lane num if ((part_idx == 1 or part_idx == 3) and diff > 0) or ((part_idx == 0 or part_idx == 2) and diff < 0): diff = abs(diff) left_bend, extra_part = sharpbend( attach_left_lane, self.lane_width * diff, left_turn_radius, np.deg2rad(self.ANGLE), False, attach_left_lane.width_at(0), (LineType.NONE, LineType.NONE) ) left_road_start = intersect_nodes[2] pre_left_road_start = left_road_start + self.EXTRA_PART CreateRoadFrom( left_bend, min(self.positive_lane_num, self.lane_num_intersect), Road(attach_road.end_node, pre_left_road_start), self.block_network, self._global_network, toward_smaller_lane_index=False, center_line_type=LineType.NONE, side_lane_line_type=LineType.NONE, inner_lane_line_type=LineType.NONE ) CreateRoadFrom( extra_part, min(self.positive_lane_num, self.lane_num_intersect), Road(pre_left_road_start, left_road_start), self.block_network, self._global_network, toward_smaller_lane_index=False, center_line_type=LineType.NONE, side_lane_line_type=LineType.NONE, inner_lane_line_type=LineType.NONE ) else: left_bend, _ = sharpbend( attach_left_lane, self.EXIT_PART_LENGTH, left_turn_radius, np.deg2rad(self.ANGLE), False, attach_left_lane.width_at(0), (LineType.NONE, LineType.NONE) ) left_road_start = intersect_nodes[2] CreateRoadFrom( left_bend, min(self.positive_lane_num, self.lane_num_intersect), Road(attach_road.end_node, left_road_start), self.block_network, self._global_network, toward_smaller_lane_index=False, center_line_type=LineType.NONE, side_lane_line_type=LineType.NONE, inner_lane_line_type=LineType.NONE )
def _try_plug_into_previous_block(self) -> bool: parameters = self.get_config() basic_lane = self.positive_basic_lane lane_num = self.positive_lane_num # part 1 start_node = self._pre_block_socket.positive_road.end_node end_node = self.add_road_node() positive_road = Road(start_node, end_node) length = parameters[Parameter.length] direction = parameters[Parameter.dir] angle = parameters[Parameter.angle] radius = parameters[Parameter.radius] curve, straight = sharpbend(basic_lane, length, radius, np.deg2rad(angle), direction, basic_lane.width, (LineType.STRIPED, LineType.SIDE)) no_cross = CreateRoadFrom(curve, lane_num, positive_road, self.block_network, self._global_network) no_cross = CreateAdverseRoad(positive_road, self.block_network, self._global_network) and no_cross # part 2 start_node = end_node end_node = self.add_road_node() positive_road = Road(start_node, end_node) no_cross = CreateRoadFrom(straight, lane_num, positive_road, self.block_network, self._global_network) and no_cross no_cross = CreateAdverseRoad(positive_road, self.block_network, self._global_network) and no_cross # common properties self.add_sockets(self.create_socket_from_positive_road(positive_road)) return no_cross
def _get_merge_part(self, side_lane: StraightLane): tool_lane = StraightLane(side_lane.end, side_lane.start, side_lane.width) merge_part, _ = sharpbend(tool_lane, 10, self.lane_width / 2, np.pi / 2, True, width=self.lane_width, line_types=(LineType.CONTINUOUS, LineType.STRIPED)) return merge_part
def _create_part(self, attach_lanes, attach_road: Road, radius: float, intersect_nodes: deque, part_idx) -> (StraightLane, bool): lane_num = self.lane_num_intersect if part_idx == 0 or part_idx == 2 else self.positive_lane_num non_cross = True attach_left_lane = attach_lanes[0] # first left part assert isinstance(attach_left_lane, StraightLane), "Can't create a intersection following a circular lane" self._create_left_turn(radius, lane_num, attach_left_lane, attach_road, intersect_nodes, part_idx) # go forward part lanes_on_road = copy.deepcopy(attach_lanes) straight_lane_len = 2 * radius + (2 * lane_num - 1) * lanes_on_road[0].width_at(0) for l in lanes_on_road: next_lane = ExtendStraightLane(l, straight_lane_len, (LineType.NONE, LineType.NONE)) self.block_network.add_lane(attach_road.end_node, intersect_nodes[1], next_lane) # right part length = self.EXIT_PART_LENGTH right_turn_lane = lanes_on_road[-1] assert isinstance(right_turn_lane, StraightLane), "Can't create a intersection following a circular lane" right_bend, right_straight = sharpbend( right_turn_lane, length, radius, np.deg2rad(self.ANGLE), True, right_turn_lane.width_at(0), (LineType.NONE, LineType.SIDE) ) non_cross = (not check_lane_on_road(self._global_network, right_bend, 1)) and non_cross CreateRoadFrom( right_bend, min(self.positive_lane_num, self.lane_num_intersect), Road(attach_road.end_node, intersect_nodes[0]), self.block_network, self._global_network, toward_smaller_lane_index=True, side_lane_line_type=LineType.SIDE, inner_lane_line_type=LineType.NONE, center_line_type=LineType.NONE ) intersect_nodes.rotate(-1) return right_straight, non_cross
def _try_plug_into_previous_block(self) -> bool: acc_lane_len = self.get_config()[Parameter.length] no_cross = True fork_lane_num = self.get_config()[Parameter.lane_num] + 1 # extend road and acc raod part, part 0 self.set_part_idx(0) sin_angle = np.sin(np.deg2rad(self.ANGLE)) cos_angle = np.cos(np.deg2rad(self.ANGLE)) longitude_len = sin_angle * self.RADIUS * 2 + cos_angle * self.CONNECT_PART_LEN + self.RAMP_LEN extend_lane = ExtendStraightLane( self.positive_basic_lane, longitude_len + self.EXTRA_PART, [LineType.STRIPED, LineType.CONTINUOUS]) extend_road = Road(self._pre_block_socket.positive_road.end_node, self.add_road_node()) no_cross = CreateRoadFrom(extend_lane, self.positive_lane_num, extend_road, self.block_network, self._global_network) and no_cross no_cross = CreateAdverseRoad(extend_road, self.block_network, self._global_network) and no_cross acc_side_lane = ExtendStraightLane( extend_lane, acc_lane_len + self.lane_width, [LineType.STRIPED, LineType.CONTINUOUS]) acc_road = Road(extend_road.end_node, self.add_road_node()) no_cross = CreateRoadFrom(acc_side_lane, self.positive_lane_num, acc_road, self.block_network, self._global_network) and no_cross no_cross = CreateAdverseRoad(acc_road, self.block_network, self._global_network) and no_cross acc_road.get_lanes(self.block_network)[-1].line_types = [ LineType.STRIPED, LineType.STRIPED ] self.add_sockets(Block.create_socket_from_positive_road(acc_road)) # ramp part, part 1 self.set_part_idx(1) lateral_dist = (1 - cos_angle ) * self.RADIUS * 2 + sin_angle * self.CONNECT_PART_LEN end_point = extend_lane.position(self.EXTRA_PART + self.RAMP_LEN, lateral_dist + self.lane_width) start_point = extend_lane.position(self.EXTRA_PART, lateral_dist + self.lane_width) straight_part = StraightLane(start_point, end_point, self.lane_width, self.LANE_TYPE, speed_limit=self.SPEED_LIMIT) straight_road = Road(self.add_road_node(), self.add_road_node()) self.block_network.add_lane(straight_road.start_node, straight_road.end_node, straight_part) no_cross = (not check_lane_on_road(self._global_network, straight_part, 0.95)) and no_cross self.add_reborn_roads(straight_road) # p1 road 0, 1 bend_1, connect_part = sharpbend(straight_part, self.CONNECT_PART_LEN, self.RADIUS, np.deg2rad(self.ANGLE), False, self.lane_width, self.LANE_TYPE, speed_limit=self.SPEED_LIMIT) bend_1_road = Road(straight_road.end_node, self.add_road_node()) connect_road = Road(bend_1_road.end_node, self.add_road_node()) self.block_network.add_lane(bend_1_road.start_node, bend_1_road.end_node, bend_1) self.block_network.add_lane(connect_road.start_node, connect_road.end_node, connect_part) no_cross = CreateRoadFrom(bend_1, fork_lane_num, bend_1_road, self.block_network, self._global_network, False) and no_cross no_cross = CreateRoadFrom(connect_part, fork_lane_num, connect_road, self.block_network, self._global_network, False) and no_cross # p1, road 2, 3 bend_2, acc_lane = sharpbend(connect_part, acc_lane_len, self.RADIUS, np.deg2rad(self.ANGLE), True, self.lane_width, self.LANE_TYPE, speed_limit=self.SPEED_LIMIT) acc_lane.line_types = [LineType.STRIPED, LineType.CONTINUOUS] bend_2_road = Road(connect_road.end_node, self.road_node( 0, 0)) # end at part1 road 0, extend road acc_road = Road(self.road_node(0, 0), self.road_node(0, 1)) self.block_network.add_lane(bend_2_road.start_node, bend_2_road.end_node, bend_2) self.block_network.add_lane(acc_road.start_node, acc_road.end_node, acc_lane) no_cross = CreateRoadFrom(bend_2, fork_lane_num, bend_2_road, self.block_network, self._global_network, False) and no_cross no_cross = CreateRoadFrom(acc_lane, fork_lane_num, acc_road, self.block_network, self._global_network, False) and no_cross return no_cross
def _try_plug_into_previous_block(self) -> bool: no_cross = True sin_angle = np.sin(np.deg2rad(self.ANGLE)) cos_angle = np.cos(np.deg2rad(self.ANGLE)) longitude_len = sin_angle * self.RADIUS * 2 + cos_angle * self.CONNECT_PART_LEN + self.RAMP_LEN self.set_part_idx(0) # part 0 road 0 dec_lane_len = self.PARAMETER_SPACE.sample()[Parameter.length] dec_lane = ExtendStraightLane(self.positive_basic_lane, dec_lane_len + self.lane_width, [LineType.STRIPED, LineType.CONTINUOUS]) dec_road = Road(self._pre_block_socket.positive_road.end_node, self.add_road_node()) no_cross = CreateRoadFrom(dec_lane, self.positive_lane_num, dec_road, self.block_network, self._global_network) and no_cross no_cross = CreateAdverseRoad(dec_road, self.block_network, self._global_network) and no_cross dec_right_lane = dec_road.get_lanes(self.block_network)[-1] dec_right_lane.line_types = [LineType.STRIPED, LineType.STRIPED] # part 0 road 1 extend_lane = ExtendStraightLane( dec_right_lane, longitude_len, [LineType.STRIPED, LineType.CONTINUOUS]) extend_road = Road(dec_road.end_node, self.add_road_node()) no_cross = CreateRoadFrom(extend_lane, self.positive_lane_num, extend_road, self.block_network, self._global_network) and no_cross no_cross = CreateAdverseRoad(extend_road, self.block_network, self._global_network) and no_cross self.add_sockets(self.create_socket_from_positive_road(extend_road)) # part 1 road 0 self.set_part_idx(1) dec_side_right_lane = self._get_deacc_lane(dec_right_lane) self.block_network.add_lane(dec_road.start_node, self.add_road_node(), dec_side_right_lane) no_cross = (not check_lane_on_road( self._global_network, dec_side_right_lane, 0.95)) and no_cross bend_1, connect_part = sharpbend(dec_side_right_lane, self.CONNECT_PART_LEN, self.RADIUS, np.deg2rad(self.ANGLE), True, self.lane_width, self.LANE_TYPE, speed_limit=self.SPEED_LIMIT) bend_1_road = Road(self.road_node(1, 0), self.add_road_node()) connect_road = Road(bend_1_road.end_node, self.add_road_node()) self.block_network.add_lane(bend_1_road.start_node, bend_1_road.end_node, bend_1) self.block_network.add_lane(connect_road.start_node, connect_road.end_node, connect_part) no_cross = (not check_lane_on_road(self._global_network, bend_1, 0.95)) and no_cross no_cross = (not check_lane_on_road(self._global_network, connect_part, 0.95)) and no_cross bend_2, straight_part = sharpbend(connect_part, self.RAMP_LEN, self.RADIUS, np.deg2rad(self.ANGLE), False, self.lane_width, self.LANE_TYPE, speed_limit=self.SPEED_LIMIT) bend_2_road = Road( connect_road.end_node, self.add_road_node()) # end at part1 road 0, extend road straight_road = Road(bend_2_road.end_node, self.add_road_node()) self.block_network.add_lane(bend_2_road.start_node, bend_2_road.end_node, bend_2) self.block_network.add_lane(straight_road.start_node, straight_road.end_node, straight_part) no_cross = (not check_lane_on_road(self._global_network, bend_2, 0.95)) and no_cross no_cross = (not check_lane_on_road(self._global_network, straight_part, 0.95)) and no_cross decoration_part = self._get_merge_part(dec_side_right_lane) self.block_network.add_lane(Decoration.start, Decoration.end, decoration_part) return no_cross
def _create_circular_part(self, road: Road, part_idx: int, radius_exit: float, radius_inner: float, angle: float) -> (str, str, StraightLane, bool): """ Create a part of roundabout according to a straight road """ none_cross = True self.set_part_idx(part_idx) radius_big = (self.positive_lane_num * 2 - 1) * self.lane_width + radius_inner # circular part 0 segment_start_node = road.end_node segment_end_node = self.add_road_node() segment_road = Road(segment_start_node, segment_end_node) lanes = road.get_lanes( self._global_network) if part_idx == 0 else road.get_lanes( self.block_network) right_lane = lanes[-1] bend, straight = sharpbend(right_lane, 10, radius_exit, np.deg2rad(angle), True, self.lane_width, (LineType.STRIPED, LineType.SIDE)) ignore_last_2_part_start = self.road_node((part_idx + 3) % 4, 0) ignore_last_2_part_end = self.road_node((part_idx + 3) % 4, 0) none_cross = CreateRoadFrom( bend, self.positive_lane_num, segment_road, self.block_network, self._global_network, ignore_start=ignore_last_2_part_start, ignore_end=ignore_last_2_part_end) and none_cross # set circular part 0 visualization for k, lane in enumerate(segment_road.get_lanes(self.block_network)): if k == self.positive_lane_num - 1: lane.line_types = [LineType.NONE, LineType.SIDE] else: lane.line_types = [LineType.NONE, LineType.NONE] # circular part 1 tool_lane_start = straight.position(-5, 0) tool_lane_end = straight.position(0, 0) tool_lane = StraightLane(tool_lane_start, tool_lane_end) bend, straight_to_next_iter_part = sharpbend( tool_lane, 10, radius_big, np.deg2rad(2 * angle - 90), False, self.lane_width, (LineType.STRIPED, LineType.SIDE)) segment_start_node = segment_end_node segment_end_node = self.add_road_node() segment_road = Road(segment_start_node, segment_end_node) none_cross = CreateRoadFrom(bend, self.positive_lane_num, segment_road, self.block_network, self._global_network) and none_cross # circular part 2 and exit straight part length = self.EXIT_PART_LENGTH tool_lane_start = straight_to_next_iter_part.position(-5, 0) tool_lane_end = straight_to_next_iter_part.position(0, 0) tool_lane = StraightLane(tool_lane_start, tool_lane_end) bend, straight = sharpbend(tool_lane, length, radius_exit, np.deg2rad(angle), True, self.lane_width, (LineType.STRIPED, LineType.SIDE)) segment_start_node = segment_end_node segment_end_node = self.add_road_node( ) if part_idx < 3 else self._pre_block_socket.negative_road.start_node segment_road = Road(segment_start_node, segment_end_node) none_cross = CreateRoadFrom(bend, self.positive_lane_num, segment_road, self.block_network, self._global_network) and none_cross # set circular part 2 (curve) visualization for k, lane in enumerate(segment_road.get_lanes(self.block_network)): if k == self.positive_lane_num - 1: lane.line_types = [LineType.NONE, LineType.SIDE] else: lane.line_types = [LineType.NONE, LineType.NONE] exit_start = segment_end_node exit_end = self.add_road_node() segment_road = Road(exit_start, exit_end) if part_idx < 3: none_cross = CreateRoadFrom(straight, self.positive_lane_num, segment_road, self.block_network, self._global_network) and none_cross self.add_sockets( self.create_socket_from_positive_road(segment_road)) # add circular part 3 at last segment_start = self.road_node(part_idx, 1) segment_end = self.road_node((part_idx + 1) % 4, 0) segment_road = Road(segment_start, segment_end) tool_lane_start = straight_to_next_iter_part.position(-6, 0) tool_lane_end = straight_to_next_iter_part.position(0, 0) tool_lane = StraightLane(tool_lane_start, tool_lane_end) beneath = (self.positive_lane_num * 2 - 1) * self.lane_width / 2 + radius_exit cos = np.cos(np.deg2rad(angle)) radius_this_seg = beneath / cos - radius_exit bend, _ = sharpbend(tool_lane, 5, radius_this_seg, np.deg2rad(180 - 2 * angle), False, self.lane_width, (LineType.STRIPED, LineType.SIDE)) CreateRoadFrom(bend, self.positive_lane_num, segment_road, self.block_network, self._global_network) # set circular part 2 visualization for k, lane in enumerate(segment_road.get_lanes(self.block_network)): if k == 0: if self.positive_lane_num > 1: lane.line_types = [LineType.CONTINUOUS, LineType.STRIPED] else: lane.line_types = [LineType.CONTINUOUS, LineType.NONE] else: lane.line_types = [LineType.STRIPED, LineType.STRIPED] return Road(exit_start, exit_end), none_cross