# inflow rate at the highway
FLOW_RATE = 2000
# percent of autonomous vehicles
RL_PENETRATION = [0.1, 0.25, 0.33][EXP_NUM]
# num_rl term (see ADDITIONAL_ENV_PARAMs)
NUM_RL = [5, 13, 17][EXP_NUM]
# We consider a highway network with an upstream merging lane producing
# shockwaves
additional_net_params = ADDITIONAL_NET_PARAMS.copy()
additional_net_params["merge_lanes"] = 1
additional_net_params["highway_lanes"] = 1
additional_net_params["pre_merge_length"] = 500
# RL vehicles constitute 5% of the total number of vehicles
vehicles = Vehicles()
vehicles.add(veh_id="human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
speed_mode="no_collide",
num_vehicles=5)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
speed_mode="no_collide",
num_vehicles=0)
# Vehicles are introduced from both sides of merge, with RL vehicles entering
# from the highway portion as well
inflow = InFlows()
inflow.add(veh_type="human",
def bay_bridge_bottleneck_example(sumo_binary=None, use_traffic_lights=False):
"""
Performs a non-RL simulation of the bottleneck portion of the Oakland-San
Francisco Bay Bridge. This consists of the toll booth and sections of the
road leading up to it.
Parameters
----------
sumo_binary: bool, optional
specifies whether to use sumo's gui during execution
use_traffic_lights: bool, optional
whether to activate the traffic lights in the scenario
Note
----
Unlike the bay_bridge_example, inflows are always activated here.
"""
sumo_params = SumoParams(sim_step=0.4, overtake_right=True)
if sumo_binary is not None:
sumo_params.sumo_binary = sumo_binary
sumo_car_following_params = SumoCarFollowingParams(speedDev=0.2)
sumo_lc_params = SumoLaneChangeParams(model="LC2013",
lcCooperative=0.2,
lcSpeedGain=15)
vehicles = Vehicles()
vehicles.add(veh_id="human",
acceleration_controller=(SumoCarFollowingController, {}),
routing_controller=(BayBridgeRouter, {}),
speed_mode="all_checks",
lane_change_mode="no_lat_collide",
sumo_car_following_params=sumo_car_following_params,
sumo_lc_params=sumo_lc_params,
num_vehicles=50)
additional_env_params = {}
env_params = EnvParams(additional_params=additional_env_params)
inflow = InFlows()
inflow.add(veh_type="human",
edge="393649534",
probability=0.2,
departLane="random",
departSpeed=10)
inflow.add(veh_type="human",
edge="4757680",
probability=0.2,
departLane="random",
departSpeed=10)
inflow.add(veh_type="human",
edge="32661316",
probability=0.2,
departLane="random",
departSpeed=10)
inflow.add(veh_type="human",
edge="90077193#0",
vehs_per_hour=2000,
departLane="random",
departSpeed=10)
net_params = NetParams(in_flows=inflow,
no_internal_links=False,
netfile=NETFILE)
# download the netfile from AWS
if use_traffic_lights:
my_url = "https://s3-us-west-1.amazonaws.com/flow.netfiles/" \
"bay_bridge_TL_all_green.net.xml"
else:
my_url = "https://s3-us-west-1.amazonaws.com/flow.netfiles/" \
"bay_bridge_junction_fix.net.xml"
my_file = urllib.request.urlopen(my_url)
data_to_write = my_file.read()
with open(
os.path.join(os.path.dirname(os.path.abspath(__file__)), NETFILE),
"wb+") as f:
f.write(data_to_write)
initial_config = InitialConfig(
spacing="uniform", # "random",
min_gap=15)
scenario = BayBridgeTollScenario(name="bay_bridge_toll",
generator_class=BayBridgeTollGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config)
env = BayBridgeEnv(env_params, sumo_params, scenario)
return SumoExperiment(env, scenario)
from rllab.misc.instrument import run_experiment_lite
from rllab.algos.ppo import PPO
from rllab.baselines.linear_feature_baseline import LinearFeatureBaseline
from rllab.policies.gaussian_gru_policy import GaussianGRUPolicy
SCALING = 1
NUM_LANES = 4 * SCALING # number of lanes in the widest highway
DISABLE_TB = True
DISABLE_RAMP_METER = True
AV_FRAC = .1
N_CPUS = 32
i = 0
sumo_params = SumoParams(sim_step=0.5, render=False, restart_instance=True)
vehicles = Vehicles()
vehicles.add(
veh_id="human",
speed_mode=9,
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
lane_change_mode=0, # 1621,#0b100000101,
num_vehicles=1 * SCALING)
vehicles.add(veh_id="followerstopper",
acceleration_controller=(RLController, {
"fail_safe": "instantaneous"
}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
speed_mode=9,
def run_task(*_):
"""Implement the run_task method needed to run experiments with rllab."""
v_enter = 10
inner_length = 300
long_length = 100
short_length = 300
n = 3
m = 3
num_cars_left = 1
num_cars_right = 1
num_cars_top = 1
num_cars_bot = 1
tot_cars = (num_cars_left + num_cars_right) * m \
+ (num_cars_bot + num_cars_top) * n
grid_array = {
"short_length": short_length,
"inner_length": inner_length,
"long_length": long_length,
"row_num": n,
"col_num": m,
"cars_left": num_cars_left,
"cars_right": num_cars_right,
"cars_top": num_cars_top,
"cars_bot": num_cars_bot
}
sumo_params = SumoParams(sim_step=1, render=True)
vehicles = Vehicles()
vehicles.add(veh_id="idm",
acceleration_controller=(SumoCarFollowingController, {}),
sumo_car_following_params=SumoCarFollowingParams(
min_gap=2.5,
tau=1.1,
max_speed=v_enter,
speed_mode="all_checks"),
routing_controller=(GridRouter, {}),
num_vehicles=tot_cars)
tl_logic = TrafficLightParams(baseline=False)
additional_env_params = {
"target_velocity": 50,
"switch_time": 3.0,
"num_observed": 2,
"discrete": False,
"tl_type": "controlled"
}
env_params = EnvParams(additional_params=additional_env_params)
additional_net_params = {
"speed_limit": 35,
"grid_array": grid_array,
"horizontal_lanes": 1,
"vertical_lanes": 1
}
initial_config, net_params = get_flow_params(10, 300, n, m,
additional_net_params)
scenario = SimpleGridScenario(name="grid-intersection",
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=tl_logic)
env_name = "PO_TrafficLightGridEnv"
pass_params = (env_name, sumo_params, vehicles, env_params, net_params,
initial_config, scenario)
env = GymEnv(env_name, record_video=False, register_params=pass_params)
horizon = env.horizon
env = normalize(env)
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=40000,
max_path_length=horizon,
# whole_paths=True,
n_itr=800,
discount=0.999,
# step_size=0.01,
)
algo.train()
def bay_bridge_example(sumo_binary=None,
use_inflows=False,
use_traffic_lights=False):
"""
Performs a simulation of human-driven vehicle on the Oakland-San Francisco
Bay Bridge.
Parameters
----------
sumo_binary: bool, optional
specifies whether to use sumo's gui during execution
use_inflows: bool, optional
whether to activate inflows from the peripheries of the network
use_traffic_lights: bool, optional
whether to activate the traffic lights in the scenario
Returns
-------
exp: flow.core.SumoExperiment type
A non-rl experiment demonstrating the performance of human-driven
vehicles simulated by sumo on the Bay Bridge.
"""
sumo_params = SumoParams(sim_step=0.6, overtake_right=True)
if sumo_binary is not None:
sumo_params.sumo_binary = sumo_binary
sumo_car_following_params = SumoCarFollowingParams(speedDev=0.2)
sumo_lc_params = SumoLaneChangeParams(
lcAssertive=20,
lcPushy=0.8,
lcSpeedGain=4.0,
model="LC2013",
# lcKeepRight=0.8
)
vehicles = Vehicles()
vehicles.add(
veh_id="human",
acceleration_controller=(SumoCarFollowingController, {}),
routing_controller=(BayBridgeRouter, {}),
speed_mode="all_checks",
lane_change_mode="no_lat_collide",
sumo_car_following_params=sumo_car_following_params,
sumo_lc_params=sumo_lc_params,
num_vehicles=1400)
additional_env_params = {}
env_params = EnvParams(additional_params=additional_env_params)
traffic_lights = TrafficLights()
inflow = InFlows()
if use_inflows:
# south
inflow.add(
veh_type="human",
edge="183343422",
vehsPerHour=528,
departLane="0",
departSpeed=20)
inflow.add(
veh_type="human",
edge="183343422",
vehsPerHour=864,
departLane="1",
departSpeed=20)
inflow.add(
veh_type="human",
edge="183343422",
vehsPerHour=600,
departLane="2",
departSpeed=20)
inflow.add(
veh_type="human",
edge="393649534",
probability=0.1,
departLane="0",
departSpeed=20) # no data for this
# west
inflow.add(
veh_type="human",
edge="11189946",
vehsPerHour=1752,
departLane="0",
departSpeed=20)
inflow.add(
veh_type="human",
edge="11189946",
vehsPerHour=2136,
departLane="1",
departSpeed=20)
inflow.add(
veh_type="human",
edge="11189946",
vehsPerHour=576,
departLane="2",
departSpeed=20)
# north
inflow.add(
veh_type="human",
edge="28413687#0",
vehsPerHour=2880,
departLane="0",
departSpeed=20)
inflow.add(
veh_type="human",
edge="28413687#0",
vehsPerHour=2328,
departLane="1",
departSpeed=20)
inflow.add(
veh_type="human",
edge="28413687#0",
vehsPerHour=3060,
departLane="2",
departSpeed=20)
inflow.add(
veh_type="human",
edge="11198593",
probability=0.1,
departLane="0",
departSpeed=20) # no data for this
inflow.add(
veh_type="human",
edge="11197889",
probability=0.1,
departLane="0",
departSpeed=20) # no data for this
# midway through bridge
inflow.add(
veh_type="human",
edge="35536683",
probability=0.1,
departLane="0",
departSpeed=20) # no data for this
net_params = NetParams(in_flows=inflow, no_internal_links=False)
net_params.netfile = NETFILE
# download the netfile from AWS
if use_traffic_lights:
my_url = "https://s3-us-west-1.amazonaws.com/flow.netfiles/" \
"bay_bridge_TL_all_green.net.xml"
else:
my_url = "https://s3-us-west-1.amazonaws.com/flow.netfiles/" \
"bay_bridge_junction_fix.net.xml"
my_file = urllib.request.urlopen(my_url)
data_to_write = my_file.read()
with open(
os.path.join(os.path.dirname(os.path.abspath(__file__)), NETFILE),
"wb+") as f:
f.write(data_to_write)
initial_config = InitialConfig(spacing="uniform", min_gap=15)
scenario = BayBridgeScenario(
name="bay_bridge",
generator_class=BayBridgeGenerator,
vehicles=vehicles,
traffic_lights=traffic_lights,
net_params=net_params,
initial_config=initial_config)
env = BayBridgeEnv(env_params, sumo_params, scenario)
return SumoExperiment(env, scenario)
def run_task(_):
sumo_params = SumoParams(sumo_binary="sumo-gui",
sim_step=0.2,
restart_instance=True)
# RL vehicles constitute 5% of the total number of vehicles
vehicles = Vehicles()
vehicles.add(veh_id="human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
speed_mode="no_collide",
num_vehicles=5)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
speed_mode="no_collide",
num_vehicles=0)
# Vehicles are introduced from both sides of merge, with RL vehicles
# entering from the highway portion as well
inflow = InFlows()
inflow.add(veh_type="human",
edge="inflow_highway",
vehs_per_hour=(1 - RL_PENETRATION) * FLOW_RATE,
departLane="free",
departSpeed=10)
inflow.add(veh_type="rl",
edge="inflow_highway",
vehs_per_hour=RL_PENETRATION * FLOW_RATE,
departLane="free",
departSpeed=10)
inflow.add(veh_type="human",
edge="inflow_merge",
vehs_per_hour=100,
departLane="free",
departSpeed=7.5)
additional_env_params = {
"target_velocity": 25,
"num_rl": 5,
"max_accel": 1.5,
"max_decel": 1.5
}
env_params = EnvParams(horizon=HORIZON,
sims_per_step=5,
warmup_steps=0,
additional_params=additional_env_params)
additional_net_params = ADDITIONAL_NET_PARAMS.copy()
additional_net_params["merge_lanes"] = 1
additional_net_params["highway_lanes"] = 1
additional_net_params["pre_merge_length"] = 500
net_params = NetParams(in_flows=inflow,
no_internal_links=False,
additional_params=additional_net_params)
initial_config = InitialConfig(spacing="uniform",
lanes_distribution=float("inf"))
scenario = MergeScenario(name="merge-rl",
generator_class=MergeGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config)
env_name = "WaveAttenuationMergePOEnv"
pass_params = (env_name, sumo_params, vehicles, env_params, net_params,
initial_config, scenario)
env = GymEnv(env_name, record_video=False, register_params=pass_params)
horizon = env.horizon
env = normalize(env)
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(32, 32, 32),
)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=18000,
max_path_length=horizon,
n_itr=1000,
# whole_paths=True,
discount=0.999,
)
algo.train(),
def test_encoder_and_get_flow_params(self):
"""Tests both FlowParamsEncoder and get_flow_params.
FlowParamsEncoder is used to serialize the data from a flow_params dict
for replay by the visualizer later. Then, the get_flow_params method is
used to try and read the parameters from the config file, and is
checked to match expected results.
"""
# use a flow_params dict derived from flow/benchmarks/merge0.py
vehicles = Vehicles()
vehicles.add(
veh_id="human",
acceleration_controller=(IDMController, {}),
sumo_car_following_params=SumoCarFollowingParams(
speed_mode="no_collide", ),
# for testing coverage purposes, we add a routing controller
routing_controller=(ContinuousRouter, {}),
num_vehicles=5)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
sumo_car_following_params=SumoCarFollowingParams(
speed_mode="no_collide", ),
num_vehicles=0)
inflow = InFlows()
inflow.add(veh_type="human",
edge="inflow_highway",
vehs_per_hour=1800,
departLane="free",
departSpeed=10)
inflow.add(veh_type="rl",
edge="inflow_highway",
vehs_per_hour=200,
departLane="free",
departSpeed=10)
inflow.add(veh_type="human",
edge="inflow_merge",
vehs_per_hour=100,
departLane="free",
departSpeed=7.5)
flow_params = dict(
exp_tag="merge_0",
env_name="WaveAttenuationMergePOEnv",
scenario="MergeScenario",
sumo=SumoParams(
restart_instance=True,
sim_step=0.5,
render=False,
),
env=EnvParams(
horizon=750,
sims_per_step=2,
warmup_steps=0,
additional_params={
"max_accel": 1.5,
"max_decel": 1.5,
"target_velocity": 20,
"num_rl": 5,
},
),
net=NetParams(
inflows=inflow,
no_internal_links=False,
additional_params={
"merge_length": 100,
"pre_merge_length": 500,
"post_merge_length": 100,
"merge_lanes": 1,
"highway_lanes": 1,
"speed_limit": 30,
},
),
veh=vehicles,
initial=InitialConfig(),
tls=TrafficLightParams(),
)
# create an config dict with space for the flow_params dict
config = {"env_config": {}}
# save the flow params for replay
flow_json = json.dumps(flow_params,
cls=FlowParamsEncoder,
sort_keys=True,
indent=4)
config['env_config']['flow_params'] = flow_json
# dump the config so we can fetch it
json_out_file = 'params.json'
with open(os.path.expanduser(json_out_file), 'w+') as outfile:
json.dump(config,
outfile,
cls=FlowParamsEncoder,
sort_keys=True,
indent=4)
# fetch values using utility function `get_flow_params`
imported_flow_params = get_flow_params(config)
# delete the created file
os.remove(os.path.expanduser('params.json'))
# test that this inflows are correct
self.assertTrue(imported_flow_params["net"].inflows.__dict__ ==
flow_params["net"].inflows.__dict__)
imported_flow_params["net"].inflows = None
flow_params["net"].inflows = None
# make sure the rest of the imported flow_params match the originals
self.assertTrue(imported_flow_params["env"].__dict__ ==
flow_params["env"].__dict__)
self.assertTrue(imported_flow_params["initial"].__dict__ ==
flow_params["initial"].__dict__)
self.assertTrue(imported_flow_params["tls"].__dict__ ==
flow_params["tls"].__dict__)
self.assertTrue(imported_flow_params["sumo"].__dict__ ==
flow_params["sumo"].__dict__)
self.assertTrue(imported_flow_params["net"].__dict__ ==
flow_params["net"].__dict__)
self.assertTrue(
imported_flow_params["exp_tag"] == flow_params["exp_tag"])
self.assertTrue(
imported_flow_params["env_name"] == flow_params["env_name"])
self.assertTrue(
imported_flow_params["scenario"] == flow_params["scenario"])
def search_dicts(obj1, obj2):
"""Searches through dictionaries as well as lists of dictionaries
recursively to determine if any two components are mismatched."""
for key in obj1.keys():
# if an next element is a list, either compare the two lists,
# or if the lists contain dictionaries themselves, look at each
# dictionary component recursively to check for mismatches
if isinstance(obj1[key], list):
if len(obj1[key]) > 0:
if isinstance(obj1[key][0], dict):
for i in range(len(obj1[key])):
if not search_dicts(obj1[key][i],
obj2[key][i]):
return False
elif obj1[key] != obj2[key]:
return False
# if the next element is a dict, run through it recursively to
# determine if the separate elements of the dict match
if isinstance(obj1[key], (dict, collections.OrderedDict)):
if not search_dicts(obj1[key], obj2[key]):
return False
# if it is neither a list or a dictionary, compare to determine
# if the two elements match
elif obj1[key] != obj2[key]:
# if the two elements that are being compared are objects,
# make sure that they are the same type
if not isinstance(obj1[key], type(obj2[key])):
return False
return True
# make sure that the Vehicles class that was imported matches the
# original one
self.assertTrue(
search_dicts(imported_flow_params["veh"].__dict__,
flow_params["veh"].__dict__))
def run_task(*_):
"""Implement the run_task method needed to run experiments with rllab."""
sumo_params = SumoParams(sim_step=0.1, sumo_binary="sumo-gui")
vehicles = Vehicles()
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
speed_mode="no_collide",
num_vehicles=1)
vehicles.add(veh_id="idm",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
routing_controller=(ContinuousRouter, {}),
speed_mode="no_collide",
num_vehicles=13)
additional_env_params = {
"target_velocity": 20,
"max_accel": 3,
"max_decel": 3
}
env_params = EnvParams(horizon=HORIZON,
additional_params=additional_env_params)
additional_net_params = {
"radius_ring": 30,
"lanes": 1,
"speed_limit": 30,
"resolution": 40
}
net_params = NetParams(no_internal_links=False,
additional_params=additional_net_params)
initial_config = InitialConfig(spacing="uniform")
print("XXX name", exp_tag)
scenario = Figure8Scenario(exp_tag,
Figure8Generator,
vehicles,
net_params,
initial_config=initial_config)
env_name = "AccelEnv"
pass_params = (env_name, sumo_params, vehicles, env_params, net_params,
initial_config, scenario)
env = GymEnv(env_name, record_video=False, register_params=pass_params)
horizon = env.horizon
env = normalize(env)
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(16, 16))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=15000,
max_path_length=horizon,
n_itr=500,
# whole_paths=True,
discount=0.999,
# step_size=v["step_size"],
)
algo.train(),
def loop_merge_example(render=None):
"""
Perform a simulation of vehicles on a loop merge.
Parameters
----------
render : bool, optional
specifies whether to use sumo's gui during execution
Returns
-------
exp: flow.core.SumoExperiment type
A non-rl experiment demonstrating the performance of human-driven
vehicles on a loop merge.
"""
sumo_params = SumoParams(sim_step=0.1,
emission_path="./data/",
render=True)
if render is not None:
sumo_params.render = render
# note that the vehicles are added sequentially by the generator,
# so place the merging vehicles after the vehicles in the ring
vehicles = Vehicles()
vehicles.add(veh_id="idm",
acceleration_controller=(IDMController, {}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=7,
speed_mode="no_collide",
sumo_car_following_params=SumoCarFollowingParams(minGap=0.0,
tau=0.5),
sumo_lc_params=SumoLaneChangeParams())
vehicles.add(veh_id="merge-idm",
acceleration_controller=(IDMController, {}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=10,
speed_mode="no_collide",
sumo_car_following_params=SumoCarFollowingParams(minGap=0.01,
tau=0.5),
sumo_lc_params=SumoLaneChangeParams())
env_params = EnvParams(additional_params=ADDITIONAL_ENV_PARAMS)
additional_net_params = ADDITIONAL_NET_PARAMS.copy()
additional_net_params["ring_radius"] = 50
additional_net_params["inner_lanes"] = 1
additional_net_params["outer_lanes"] = 1
additional_net_params["lane_length"] = 75
net_params = NetParams(no_internal_links=False,
additional_params=additional_net_params)
initial_config = InitialConfig(x0=50,
spacing="uniform",
additional_params={"merge_bunching": 0})
scenario = TwoLoopsOneMergingScenario(
name="two-loop-one-merging",
generator_class=TwoLoopOneMergingGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config)
env = AccelEnv(env_params, sumo_params, scenario)
return SumoExperiment(env, scenario)
N_ROWS = 3
# number of columns of bidirectional lanes
N_COLUMNS = 3
# length of inner edges in the grid network
INNER_LENGTH = 300
# length of final edge in route
LONG_LENGTH = 100
# length of edges that vehicles start on
SHORT_LENGTH = 300
# number of vehicles originating in the left, right, top, and bottom edges
N_LEFT, N_RIGHT, N_TOP, N_BOTTOM = 1, 1, 1, 1
# we place a sufficient number of vehicles to ensure they confirm with the
# total number specified above. We also use a "right_of_way" speed mode to
# support traffic light compliance
vehicles = Vehicles()
vehicles.add(veh_id="human",
acceleration_controller=(SumoCarFollowingController, {}),
sumo_car_following_params=SumoCarFollowingParams(
min_gap=2.5,
max_speed=V_ENTER,
),
routing_controller=(GridRouter, {}),
num_vehicles=(N_LEFT + N_RIGHT) * N_COLUMNS +
(N_BOTTOM + N_TOP) * N_ROWS,
speed_mode="right_of_way")
# inflows of vehicles are place on all outer edges (listed here)
outer_edges = []
outer_edges += ["left{}_{}".format(N_ROWS, i) for i in range(N_COLUMNS)]
outer_edges += ["right0_{}".format(i) for i in range(N_ROWS)]
from flow.utils.rllib import FlowParamsEncoder
from flow.core.params import SumoParams, EnvParams, InitialConfig, NetParams, \
SumoCarFollowingParams
from flow.core.vehicles import Vehicles
from flow.controllers import IDMController, ContinuousRouter, RLController
from flow.scenarios.figure_eight import ADDITIONAL_NET_PARAMS
# time horizon of a single rollout
HORIZON = 1500
# number of rollouts per training iteration
N_ROLLOUTS = 20
# number of parallel workers
N_CPUS = 2
# We place one autonomous vehicle and 13 human-driven vehicles in the network
vehicles = Vehicles()
vehicles.add(
veh_id='human',
acceleration_controller=(IDMController, {
'noise': 0.2
}),
routing_controller=(ContinuousRouter, {}),
sumo_car_following_params=SumoCarFollowingParams(
speed_mode="no_collide",
),
num_vehicles=13)
vehicles.add(
veh_id='rl',
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
sumo_car_following_params=SumoCarFollowingParams(
from flow.core.params import SumoParams, EnvParams, InitialConfig, NetParams, \
InFlows
from flow.core.traffic_lights import TrafficLights
from flow.core.vehicles import Vehicles
from flow.controllers import RLController, ContinuousRouter
# time horizon of a single rollout
HORIZON = 1000
SCALING = 2
NUM_LANES = 4 * SCALING # number of lanes in the widest highway
DISABLE_TB = True
DISABLE_RAMP_METER = True
AV_FRAC = .10
vehicles = Vehicles()
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
speed_mode=9,
lane_change_mode=0,
num_vehicles=1 * SCALING)
vehicles.add(veh_id="human",
speed_mode=9,
routing_controller=(ContinuousRouter, {}),
lane_change_mode=0,
num_vehicles=1 * SCALING)
controlled_segments = [("1", 1, False), ("2", 2, True), ("3", 2, True),
("4", 2, True), ("5", 1, False)]
num_observed_segments = [("1", 1), ("2", 3), ("3", 3), ("4", 3), ("5", 1)]
from flow.core.params import SumoParams, EnvParams, InitialConfig, NetParams, \
InFlows, SumoCarFollowingParams, SumoLaneChangeParams
from flow.core.params import TrafficLightParams
from flow.core.vehicles import Vehicles
from flow.controllers import RLController, ContinuousRouter
# time horizon of a single rollout
HORIZON = 1000
SCALING = 1
NUM_LANES = 4 * SCALING # number of lanes in the widest highway
DISABLE_TB = True
DISABLE_RAMP_METER = True
AV_FRAC = 0.10
vehicles = Vehicles()
vehicles.add(veh_id="human",
routing_controller=(ContinuousRouter, {}),
sumo_car_following_params=SumoCarFollowingParams(speed_mode=9, ),
sumo_lc_params=SumoLaneChangeParams(lane_change_mode=0, ),
num_vehicles=1 * SCALING)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
sumo_car_following_params=SumoCarFollowingParams(speed_mode=9, ),
sumo_lc_params=SumoLaneChangeParams(lane_change_mode=0, ),
num_vehicles=1 * SCALING)
controlled_segments = [("1", 1, False), ("2", 2, True), ("3", 2, True),
("4", 2, True), ("5", 1, False)]
num_observed_segments = [("1", 1), ("2", 3), ("3", 3), ("4", 3), ("5", 1)]
def bottleneck1_baseline(num_runs, render=True):
"""Run script for the bottleneck1 baseline.
Parameters
----------
num_runs : int
number of rollouts the performance of the environment is evaluated
over
render: str, optional
specifies whether to use sumo's gui during execution
Returns
-------
SumoExperiment
class needed to run simulations
"""
vehicles = Vehicles()
vehicles.add(veh_id="human",
speed_mode=9,
routing_controller=(ContinuousRouter, {}),
lane_change_mode=1621,
num_vehicles=1 * SCALING)
controlled_segments = [("1", 1, False), ("2", 2, True), ("3", 2, True),
("4", 2, True), ("5", 1, False)]
num_observed_segments = [("1", 1), ("2", 3), ("3", 3), ("4", 3), ("5", 1)]
additional_env_params = {
"target_velocity": 40,
"disable_tb": True,
"disable_ramp_metering": True,
"controlled_segments": controlled_segments,
"symmetric": False,
"observed_segments": num_observed_segments,
"reset_inflow": False,
"lane_change_duration": 5,
"max_accel": 3,
"max_decel": 3,
"inflow_range": [1000, 2000]
}
# flow rate
flow_rate = 1900 * SCALING
# percentage of flow coming out of each lane
inflow = InFlows()
inflow.add(veh_type="human",
edge="1",
vehs_per_hour=flow_rate,
departLane="random",
departSpeed=10)
traffic_lights = TrafficLights()
if not DISABLE_TB:
traffic_lights.add(node_id="2")
if not DISABLE_RAMP_METER:
traffic_lights.add(node_id="3")
additional_net_params = {"scaling": SCALING}
net_params = NetParams(inflows=inflow,
no_internal_links=False,
additional_params=additional_net_params)
sumo_params = SumoParams(
sim_step=0.5,
render=render,
print_warnings=False,
restart_instance=False,
)
env_params = EnvParams(
evaluate=True, # Set to True to evaluate traffic metrics
warmup_steps=40,
sims_per_step=1,
horizon=HORIZON,
additional_params=additional_env_params,
)
initial_config = InitialConfig(
spacing="uniform",
min_gap=5,
lanes_distribution=float("inf"),
edges_distribution=["2", "3", "4", "5"],
)
scenario = BottleneckScenario(name="bay_bridge_toll",
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=traffic_lights)
env = DesiredVelocityEnv(env_params, sumo_params, scenario)
exp = SumoExperiment(env, scenario)
results = exp.run(num_runs, HORIZON)
return np.mean(results["returns"]), np.std(results["returns"])
def run_task(*_):
tot_cars = 8
auton_cars = 5
human_cars = tot_cars - auton_cars
sumo_params = SumoParams(time_step=0.1,
human_speed_mode="no_collide",
rl_speed_mode="no_collide",
human_lane_change_mode="strategic",
rl_lane_change_mode="no_lat_collide",
sumo_binary="sumo-gui")
vehicles = Vehicles()
vehicles.add_vehicles("rl", (RLController, {}), None,
(ContinuousRouter, {}), 0, auton_cars)
vehicles.add_vehicles("cfm", (IDMController, {}), None,
(ContinuousRouter, {}), 0, human_cars)
additional_env_params = {
"target_velocity": 8,
"max-deacc": 3,
"max-acc": 3,
"num_steps": 500
}
env_params = EnvParams(additional_params=additional_env_params)
additional_net_params = {
"length": 200,
"lanes": 2,
"speed_limit": 35,
"resolution": 40
}
net_params = NetParams(additional_params=additional_net_params)
initial_config = InitialConfig()
scenario = LoopScenario("rl-test", CircleGenerator, vehicles, net_params,
initial_config)
env_name = "SimpleLaneChangingAccelerationEnvironment"
pass_params = (env_name, sumo_params, vehicles, env_params, net_params,
initial_config, scenario)
env = GymEnv(env_name, record_video=False, register_params=pass_params)
horizon = env.horizon
env = normalize(env)
logging.info("Experiment Set Up complete")
print("experiment initialized")
env = normalize(env)
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=10000,
max_path_length=horizon,
# whole_paths=True,
n_itr=2,
# discount=0.99,
# step_size=0.01,
)
algo.train()
def figure_eight_baseline(num_runs, render=True):
"""Run script for all figure eight baselines.
Parameters
----------
num_runs : int
number of rollouts the performance of the environment is evaluated
over
render : bool, optional
specifies whether to use sumo's gui during execution
Returns
-------
SumoExperiment
class needed to run simulations
"""
# We place 1 autonomous vehicle and 13 human-driven vehicles in the network
vehicles = Vehicles()
vehicles.add(veh_id="human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
routing_controller=(ContinuousRouter, {}),
speed_mode="no_collide",
num_vehicles=14)
sumo_params = SumoParams(
sim_step=0.1,
render=render,
)
env_params = EnvParams(
horizon=HORIZON,
evaluate=True, # Set to True to evaluate traffic metrics
additional_params={
"target_velocity": 20,
"max_accel": 3,
"max_decel": 3,
},
)
initial_config = InitialConfig()
net_params = NetParams(
no_internal_links=False,
additional_params=ADDITIONAL_NET_PARAMS,
)
scenario = Figure8Scenario(name="figure_eight",
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config)
env = AccelEnv(env_params, sumo_params, scenario)
exp = SumoExperiment(env, scenario)
results = exp.run(num_runs, HORIZON)
avg_speed = np.mean(results["mean_returns"])
return avg_speed
def run_task(*_):
sumo_params = SumoParams(sim_step=0.2, sumo_binary="sumo")
# note that the vehicles are added sequentially by the generator,
# so place the merging vehicles after the vehicles in the ring
vehicles = Vehicles()
# Inner ring vehicles
vehicles.add(veh_id="human",
acceleration_controller=(IDMController, {"noise": 0.2}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=6,
sumo_car_following_params=SumoCarFollowingParams(
minGap=0.0,
tau=0.5
),
sumo_lc_params=SumoLaneChangeParams())
# A single learning agent in the inner ring
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
speed_mode="no_collide",
num_vehicles=1,
sumo_car_following_params=SumoCarFollowingParams(
minGap=0.01,
tau=0.5
),
sumo_lc_params=SumoLaneChangeParams())
# Outer ring vehicles
vehicles.add(veh_id="merge-human",
acceleration_controller=(IDMController, {"noise": 0.2}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=10,
sumo_car_following_params=SumoCarFollowingParams(
minGap=0.0,
tau=0.5
),
sumo_lc_params=SumoLaneChangeParams())
additional_env_params = {"target_velocity": 20, "max-deacc": -1.5,
"max-acc": 1}
env_params = EnvParams(horizon=HORIZON,
additional_params=additional_env_params)
additional_net_params = {"ring_radius": 50, "lanes": 1,
"lane_length": 75, "speed_limit": 30,
"resolution": 40}
net_params = NetParams(
no_internal_links=False,
additional_params=additional_net_params
)
initial_config = InitialConfig(
x0=50,
spacing="custom",
additional_params={"merge_bunching": 0}
)
scenario = TwoLoopsOneMergingScenario(
name=exp_tag,
generator_class=TwoLoopOneMergingGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config
)
env_name = "TwoLoopsMergePOEnv"
pass_params = (env_name, sumo_params, vehicles, env_params,
net_params, initial_config, scenario)
env = GymEnv(env_name, record_video=False, register_params=pass_params)
horizon = env.horizon
env = normalize(env)
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(100, 50, 25)
)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=64 * 3 * horizon,
max_path_length=horizon,
# whole_paths=True,
n_itr=1000,
discount=0.999,
# step_size=0.01,
)
algo.train()
def grid_mxn_exp_setup(row_num=1,
col_num=1,
sumo_params=None,
vehicles=None,
env_params=None,
net_params=None,
initial_config=None,
tl_logic=None):
"""
Create an environment and scenario pair for grid 1x1 test experiments.
Parameters
----------
row_num: int, optional
number of horizontal rows of edges in the grid network
col_num: int, optional
number of vertical columns of edges in the grid network
sumo_params: SumoParams type
sumo-related configuration parameters, defaults to a time step of 1s
and no sumo-imposed failsafe on human or rl vehicles
vehicles: Vehicles type
vehicles to be placed in the network, default is 5 vehicles per edge
for a total of 20 vehicles with an IDM acceleration controller and
GridRouter routing controller.
env_params: EnvParams type
environment-specific parameters, defaults to a environment with
failsafes, where other parameters do not matter for non-rl runs
net_params: NetParams type
network-specific configuration parameters, defaults to a 1x1 grid
which traffic lights on and "no_internal_links" set to False
initial_config: InitialConfig type
specifies starting positions of vehicles, defaults to evenly
distributed vehicles across the length of the network
tl_logic: TrafficLights type
specifies logic of any traffic lights added to the system
"""
logging.basicConfig(level=logging.WARNING)
if tl_logic is None:
tl_logic = TrafficLights(baseline=False)
if sumo_params is None:
# set default sumo_params configuration
sumo_params = SumoParams(sim_step=1, render=False)
if vehicles is None:
total_vehicles = 20
vehicles = Vehicles()
vehicles.add(veh_id="idm",
acceleration_controller=(IDMController, {}),
sumo_car_following_params=SumoCarFollowingParams(
min_gap=2.5, tau=1.1, max_speed=30),
routing_controller=(GridRouter, {}),
num_vehicles=total_vehicles)
if env_params is None:
# set default env_params configuration
additional_env_params = {
"target_velocity": 50,
"switch_time": 3.0,
"tl_type": "controlled",
"discrete": False
}
env_params = EnvParams(additional_params=additional_env_params,
horizon=100)
if net_params is None:
# set default net_params configuration
total_vehicles = vehicles.num_vehicles
grid_array = {
"short_length": 100,
"inner_length": 300,
"long_length": 3000,
"row_num": row_num,
"col_num": col_num,
"cars_left": int(total_vehicles / 4),
"cars_right": int(total_vehicles / 4),
"cars_top": int(total_vehicles / 4),
"cars_bot": int(total_vehicles / 4)
}
additional_net_params = {
"length": 200,
"lanes": 2,
"speed_limit": 35,
"resolution": 40,
"grid_array": grid_array,
"horizontal_lanes": 1,
"vertical_lanes": 1
}
net_params = NetParams(no_internal_links=False,
additional_params=additional_net_params)
if initial_config is None:
# set default initial_config configuration
initial_config = InitialConfig(spacing="uniform",
additional_params={"enter_speed": 30})
# create the scenario
scenario = SimpleGridScenario(name="Grid1x1Test",
generator_class=SimpleGridGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=tl_logic)
# create the environment
env = GreenWaveTestEnv(env_params=env_params,
sumo_params=sumo_params,
scenario=scenario)
return env, scenario
from flow.core.vehicles import Vehicles
# time horizon of a single rollout
HORIZON = 100
# number of rollouts per training iteration
N_ROLLOUTS = 10
# number of parallel workers
N_CPUS = 2
RING_RADIUS = 100
NUM_MERGE_HUMANS = 9
NUM_MERGE_RL = 1
# note that the vehicles are added sequentially by the scenario,
# so place the merging vehicles after the vehicles in the ring
vehicles = Vehicles()
# Inner ring vehicles
vehicles.add(veh_id='human',
acceleration_controller=(IDMController, {
'noise': 0.2
}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=6,
sumo_car_following_params=SumoCarFollowingParams(minGap=0.0,
tau=0.5),
sumo_lc_params=SumoLaneChangeParams())
# A single learning agent in the inner ring
vehicles.add(veh_id='rl',
acceleration_controller=(RLController, {}),
lane_change_controller=(SumoLaneChangeController, {}),
def variable_lanes_exp_setup(sumo_params=None,
vehicles=None,
env_params=None,
net_params=None,
initial_config=None,
traffic_lights=None):
"""
Create an environment and scenario variable-lane ring road.
Each edge in this scenario can have a different number of lanes. Used for
test purposes.
Parameters
----------
sumo_params: SumoParams type
sumo-related configuration parameters, defaults to a time step of 0.1s
and no sumo-imposed failsafe on human or rl vehicles
vehicles: Vehicles type
vehicles to be placed in the network, default is one vehicles with an
IDM acceleration controller and ContinuousRouter routing controller.
env_params: EnvParams type
environment-specific parameters, defaults to a environment with no
failsafes, where other parameters do not matter for non-rl runs
net_params: NetParams type
network-specific configuration parameters, defaults to a figure eight
with a 30 m radius and "no_internal_links" set to False
initial_config: InitialConfig type
specifies starting positions of vehicles, defaults to evenly
distributed vehicles across the length of the network
traffic_lights: TrafficLights type
traffic light signals, defaults to no traffic lights in the network
"""
logging.basicConfig(level=logging.WARNING)
if sumo_params is None:
# set default sumo_params configuration
sumo_params = SumoParams(sim_step=0.1, render=False)
if vehicles is None:
# set default vehicles configuration
vehicles = Vehicles()
vehicles.add(veh_id="idm",
acceleration_controller=(IDMController, {}),
speed_mode="aggressive",
routing_controller=(ContinuousRouter, {}),
num_vehicles=1)
if env_params is None:
# set default env_params configuration
additional_env_params = {
"target_velocity": 8,
"max_accel": 1,
"max_decel": 1,
"num_steps": 500
}
env_params = EnvParams(additional_params=additional_env_params)
if net_params is None:
# set default net_params configuration
additional_net_params = {
"length": 230,
"lanes": 1,
"speed_limit": 30,
"resolution": 40
}
net_params = NetParams(additional_params=additional_net_params)
if initial_config is None:
# set default initial_config configuration
initial_config = InitialConfig()
if traffic_lights is None:
# set default to no traffic lights
traffic_lights = TrafficLights()
# create the scenario
scenario = LoopScenario(name="VariableLaneRingRoadTest",
generator_class=VariableLanesGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=traffic_lights)
# create the environment
env = AccelEnv(env_params=env_params,
sumo_params=sumo_params,
scenario=scenario)
return env, scenario
def test_make_create_env(self):
"""Tests that the make_create_env methods generates an environment with
the expected flow parameters."""
# use a flow_params dict derived from flow/benchmarks/figureeight0.py
vehicles = Vehicles()
vehicles.add(veh_id="human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
routing_controller=(ContinuousRouter, {}),
sumo_car_following_params=SumoCarFollowingParams(
speed_mode="no_collide", ),
num_vehicles=13)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
sumo_car_following_params=SumoCarFollowingParams(
speed_mode="no_collide", ),
num_vehicles=1)
flow_params = dict(
exp_tag="figure_eight_0",
env_name="AccelEnv",
scenario="Figure8Scenario",
sumo=SumoParams(
sim_step=0.1,
render=False,
),
env=EnvParams(
horizon=1500,
additional_params={
"target_velocity": 20,
"max_accel": 3,
"max_decel": 3,
},
),
net=NetParams(
no_internal_links=False,
additional_params={
"radius_ring": 30,
"lanes": 1,
"speed_limit": 30,
"resolution": 40,
},
),
veh=vehicles,
initial=InitialConfig(),
tls=TrafficLightParams(),
)
# some random version number for testing
v = 23434
# call make_create_env
create_env, env_name = make_create_env(params=flow_params, version=v)
# check that the name is correct
self.assertEqual(env_name, '{}-v{}'.format(flow_params["env_name"], v))
# create the gym environment
env = create_env()
# Note that we expect the port number in sumo_params to change, and
# that this feature is in fact needed to avoid race conditions
flow_params["sumo"].port = env.sumo_params.port
# check that each of the parameter match
self.assertEqual(env.env_params.__dict__, flow_params["env"].__dict__)
self.assertEqual(env.sumo_params.__dict__,
flow_params["sumo"].__dict__)
self.assertEqual(env.traffic_lights.__dict__,
flow_params["tls"].__dict__)
self.assertEqual(env.scenario.net_params.__dict__,
flow_params["net"].__dict__)
self.assertEqual(env.scenario.net_params.__dict__,
flow_params["net"].__dict__)
self.assertEqual(env.scenario.initial_config.__dict__,
flow_params["initial"].__dict__)
self.assertEqual(env.__class__.__name__, flow_params["env_name"])
self.assertEqual(env.scenario.__class__.__name__,
flow_params["scenario"])
def setup_bottlenecks(sumo_params=None,
vehicles=None,
env_params=None,
net_params=None,
initial_config=None,
traffic_lights=None,
inflow=None,
scaling=1):
"""
Create an environment and scenario pair for grid 1x1 test experiments.
Sumo-related configuration parameters, defaults to a time step of 1s
and no sumo-imposed failsafe on human or rl vehicles
Parameters
----------
sumo_params: SumoParams type
sumo-related configuration parameters, defaults to a time step of 0.1s
and no sumo-imposed failsafe on human or rl vehicles
vehicles: Vehicles type
vehicles to be placed in the network, default is 5 vehicles per edge
for a total of 20 vehicles with an IDM acceleration controller and
GridRouter routing controller.
env_params: EnvParams type
environment-specific parameters, defaults to a environment with
failsafes, where other parameters do not matter for non-rl runs
net_params: NetParams type
network-specific configuration parameters, defaults to a 1x1 grid
which traffic lights on and "no_internal_links" set to False
initial_config: InitialConfig type
specifies starting positions of vehicles, defaults to evenly
distributed vehicles across the length of the network
traffic_lights: TrafficLights type
specifies logic of any traffic lights added to the system
"""
if sumo_params is None:
# set default sumo_params configuration
sumo_params = SumoParams(sim_step=0.1, render=False)
if vehicles is None:
vehicles = Vehicles()
vehicles.add(veh_id="human",
speed_mode=25,
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
lane_change_mode=1621,
num_vehicles=1 * scaling)
if env_params is None:
additional_env_params = {
"target_velocity": 40,
"max_accel": 1,
"max_decel": 1,
"lane_change_duration": 5,
"add_rl_if_exit": False,
"disable_tb": True,
"disable_ramp_metering": True
}
env_params = EnvParams(additional_params=additional_env_params)
if inflow is None:
inflow = InFlows()
inflow.add(veh_type="human",
edge="1",
vehsPerHour=1000,
departLane="random",
departSpeed=10)
if traffic_lights is None:
traffic_lights = TrafficLights()
if net_params is None:
additional_net_params = {"scaling": scaling}
net_params = NetParams(inflows=inflow,
no_internal_links=False,
additional_params=additional_net_params)
if initial_config is None:
initial_config = InitialConfig(spacing="random",
min_gap=5,
lanes_distribution=float("inf"),
edges_distribution=["2", "3", "4", "5"])
scenario = BottleneckScenario(name="bay_bridge_toll",
generator_class=BottleneckGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=traffic_lights)
# create the environment
env = AccelEnv(env_params=env_params,
sumo_params=sumo_params,
scenario=scenario)
return env, scenario
from flow.core.experiment import SumoExperiment
from flow.envs.two_intersection import TwoIntersectionEnvironment
from flow.scenarios.intersections.gen import TwoWayIntersectionGenerator
from flow.scenarios.intersections.intersection_scenario import *
from flow.controllers.car_following_models import *
import logging
logging.basicConfig(level=logging.INFO)
sumo_params = SumoParams(time_step=0.1,
emission_path="./data/",
sumo_binary="sumo-gui")
vehicles = Vehicles()
vehicles.add_vehicles("idm", (IDMController, {}), None, None, 0, 20)
intensity = .2
v_enter = 10
env_params = EnvParams(
additional_params={
"target_velocity": v_enter,
"max-deacc": -6,
"max-acc": 3,
"control-length": 150,
"max_speed": v_enter
})
additional_net_params = {
Observation Dimension: (28, )
Horizon: 1500 steps
"""
from copy import deepcopy
from flow.core.params import SumoParams, EnvParams, InitialConfig, NetParams
from flow.core.vehicles import Vehicles
from flow.controllers import ContinuousRouter, RLController
from flow.scenarios.figure_eight import ADDITIONAL_NET_PARAMS
# time horizon of a single rollout
HORIZON = 1500
# We place 16 autonomous vehicle and 0 human-driven vehicles in the network
vehicles = Vehicles()
vehicles.add(
veh_id="rl",
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
speed_mode="no_collide",
num_vehicles=14)
flow_params = dict(
# name of the experiment
exp_tag="figure_eight_2",
# name of the flow environment the experiment is running on
env_name="AccelEnv",
# name of the scenario class the experiment is running on
def bottleneck_example(flow_rate, horizon, sumo_binary=None):
if sumo_binary is None:
sumo_binary = "sumo"
sumo_params = SumoParams(sim_step=0.5,
sumo_binary=sumo_binary,
overtake_right=False,
restart_instance=True)
vehicles = Vehicles()
vehicles.add(veh_id="human",
speed_mode=25,
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
lane_change_mode=1621,
num_vehicles=1)
additional_env_params = {
"target_velocity": 40,
"max_accel": 1,
"max_decel": 1,
"lane_change_duration": 5,
"add_rl_if_exit": False,
"disable_tb": DISABLE_TB,
"disable_ramp_metering": DISABLE_RAMP_METER
}
env_params = EnvParams(horizon=horizon,
additional_params=additional_env_params)
inflow = InFlows()
inflow.add(veh_type="human",
edge="1",
vehsPerHour=flow_rate,
departLane="random",
departSpeed=10)
traffic_lights = TrafficLights()
if not DISABLE_TB:
traffic_lights.add(node_id="2")
if not DISABLE_RAMP_METER:
traffic_lights.add(node_id="3")
additional_net_params = {"scaling": SCALING}
net_params = NetParams(in_flows=inflow,
no_internal_links=False,
additional_params=additional_net_params)
initial_config = InitialConfig(spacing="random",
min_gap=5,
lanes_distribution=float("inf"),
edges_distribution=["2", "3", "4", "5"])
scenario = BottleneckScenario(name="bay_bridge_toll",
generator_class=BottleneckGenerator,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=traffic_lights)
env = BottleneckEnv(env_params, sumo_params, scenario)
return SumoExperiment(env, scenario)
def run_task(*_):
"""Implement the run_task method needed to run experiments with rllab."""
sumo_params = SumoParams(sim_step=0.2, render=True)
# note that the vehicles are added sequentially by the scenario,
# so place the merging vehicles after the vehicles in the ring
vehicles = Vehicles()
# Inner ring vehicles
vehicles.add(veh_id="human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=6,
sumo_car_following_params=SumoCarFollowingParams(minGap=0.0,
tau=0.5),
sumo_lc_params=SumoLaneChangeParams())
# A single learning agent in the inner ring
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
speed_mode="no_collide",
num_vehicles=1,
sumo_car_following_params=SumoCarFollowingParams(minGap=0.01,
tau=0.5),
sumo_lc_params=SumoLaneChangeParams())
# Outer ring vehicles
vehicles.add(veh_id="merge-human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
lane_change_controller=(SumoLaneChangeController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=10,
sumo_car_following_params=SumoCarFollowingParams(minGap=0.0,
tau=0.5),
sumo_lc_params=SumoLaneChangeParams())
env_params = EnvParams(horizon=HORIZON,
additional_params={
"max_accel": 3,
"max_decel": 3,
"target_velocity": 10,
"n_preceding": 2,
"n_following": 2,
"n_merging_in": 2,
})
additional_net_params = ADDITIONAL_NET_PARAMS.copy()
additional_net_params["ring_radius"] = 50
additional_net_params["inner_lanes"] = 1
additional_net_params["outer_lanes"] = 1
additional_net_params["lane_length"] = 75
net_params = NetParams(no_internal_links=False,
additional_params=additional_net_params)
initial_config = InitialConfig(x0=50,
spacing="uniform",
additional_params={"merge_bunching": 0})
scenario = TwoLoopsOneMergingScenario(name=exp_tag,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config)
env_name = "TwoLoopsMergePOEnv"
pass_params = (env_name, sumo_params, vehicles, env_params, net_params,
initial_config, scenario)
env = GymEnv(env_name, record_video=False, register_params=pass_params)
horizon = env.horizon
env = normalize(env)
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(100, 50, 25))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=64 * 3 * horizon,
max_path_length=horizon,
# whole_paths=True,
n_itr=1000,
discount=0.999,
# step_size=0.01,
)
algo.train()
def figure_eight_baseline(num_runs, flow_params, render=True):
"""Run script for all figure eight baselines.
Parameters
----------
num_runs : int
number of rollouts the performance of the environment is evaluated
over
flow_params : dict
the flow meta-parameters describing the structure of a benchmark.
Must be one of the figure eight flow_params
render : bool, optional
specifies whether to use sumo's gui during execution
Returns
-------
SumoExperiment
class needed to run simulations
"""
exp_tag = flow_params['exp_tag']
sumo_params = flow_params['sumo']
env_params = flow_params['env']
net_params = flow_params['net']
initial_config = flow_params.get('initial', InitialConfig())
traffic_lights = flow_params.get('tls', TrafficLights())
# modify the rendering to match what is requested
sumo_params.render = render
# set the evaluation flag to True
env_params.evaluate = True
# we want no autonomous vehicles in the simulation
vehicles = Vehicles()
vehicles.add(veh_id='human',
acceleration_controller=(IDMController, {'noise': 0.2}),
routing_controller=(ContinuousRouter, {}),
speed_mode='no_collide',
num_vehicles=14)
# import the scenario class
module = __import__('flow.scenarios', fromlist=[flow_params['scenario']])
scenario_class = getattr(module, flow_params['scenario'])
# create the scenario object
scenario = scenario_class(
name=exp_tag,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=traffic_lights
)
# import the environment class
module = __import__('flow.envs', fromlist=[flow_params['env_name']])
env_class = getattr(module, flow_params['env_name'])
# create the environment object
env = env_class(env_params, sumo_params, scenario)
exp = SumoExperiment(env, scenario)
results = exp.run(num_runs, env_params.horizon)
avg_speed = np.mean(results['mean_returns'])
return avg_speed
# inflow rate at the highway
FLOW_RATE = 2000
# percent of autonomous vehicles
RL_PENETRATION = 0.333
# num_rl term (see ADDITIONAL_ENV_PARAMs)
NUM_RL = 17
# We consider a highway network with an upstream merging lane producing
# shockwaves
additional_net_params = deepcopy(ADDITIONAL_NET_PARAMS)
additional_net_params["merge_lanes"] = 1
additional_net_params["highway_lanes"] = 1
additional_net_params["pre_merge_length"] = 500
# RL vehicles constitute 5% of the total number of vehicles
vehicles = Vehicles()
vehicles.add(veh_id="human",
acceleration_controller=(SumoCarFollowingController, {}),
sumo_car_following_params=SumoCarFollowingParams(
speed_mode="no_collide", ),
num_vehicles=5)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
sumo_car_following_params=SumoCarFollowingParams(
speed_mode="no_collide", ),
num_vehicles=0)
# Vehicles are introduced from both sides of merge, with RL vehicles entering
# from the highway portion as well
inflow = InFlows()
inflow.add(veh_type="human",
from flow.utils.registry import make_create_env
from flow.utils.rllib import FlowParamsEncoder
from flow.core.params import SumoParams, EnvParams, InitialConfig, NetParams
from flow.core.vehicles import Vehicles
from flow.controllers import RLController, IDMController, ContinuousRouter
# time horizon of a single rollout
HORIZON = 3000
# number of rollouts per training iteration
N_ROLLOUTS = 20
# number of parallel workers
N_CPUS = 2
# We place one autonomous vehicle and 22 human-driven vehicles in the network
vehicles = Vehicles()
vehicles.add(
veh_id="human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=21)
vehicles.add(
veh_id="rl",
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=1)
flow_params = dict(
# name of the experiment
from flow.core.params import SumoParams, EnvParams, InitialConfig, NetParams
from flow.core.vehicles import Vehicles
from flow.core.experiment import SumoExperiment
from flow.envs.loop_merges import SimpleLoopMergesEnvironment
from flow.scenarios.loop_merges.gen import LoopMergesGenerator
from flow.scenarios.loop_merges.loop_merges_scenario import LoopMergesScenario
from numpy import pi
logging.basicConfig(level=logging.INFO)
sumo_params = SumoParams(time_step=0.1, emission_path="./data/", human_speed_mode="no_collide",
sumo_binary="sumo-gui")
vehicles = Vehicles()
vehicles.add_vehicles("idm", (IDMController, {}), (StaticLaneChanger, {}), None, 0, 14)
vehicles.add_vehicles("merge-idm", (IDMController, {}), (StaticLaneChanger, {}), None, 0, 14)
additional_env_params = {"target_velocity": 8, "fail-safe": "None"}
env_params = EnvParams(additional_params=additional_env_params)
additional_net_params = {"merge_in_length": 500, "merge_in_angle": pi/9,
"merge_out_length": 500, "merge_out_angle": pi * 17/9,
"ring_radius": 400 / (2 * pi), "resolution": 40, "lanes": 1, "speed_limit": 30}
net_params = NetParams(no_internal_links=False, additional_params=additional_net_params)
initial_config = InitialConfig(spacing="custom",
additional_params={"merge_bunching": 250})
scenario = LoopMergesScenario("loop-merges", LoopMergesGenerator, vehicles, net_params,