def _create_road(self) -> None:
# Circle lanes: (s)outh/(e)ast/(n)orth/(w)est (e)ntry/e(x)it.
center = [0, 0] # [m]
radius = self.config["derby_radius"] # [m]
alpha = 90 # [deg]
net = RoadNetwork()
radii = [radius]
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.CONTINUOUS
line = [[c, s], [n, c]]
for lane in [0]:
net.add_lane(
"se", "ee",
CircularLane(center,
radii[lane],
np.deg2rad(-90 - alpha),
np.deg2rad(alpha + 5),
clockwise=True,
line_types=line[lane]))
net.add_lane(
"ee", "se",
CircularLane(center,
radii[lane],
np.deg2rad(alpha - 5),
np.deg2rad(92 + alpha),
clockwise=True,
line_types=line[lane]))
road = Road(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
self.road = road
def _make_road(self):
"""
Make an 4-way intersection.
The horizontal road has the right of way. More precisely, the levels of priority are:
- 3 for horizontal straight lanes and right-turns
- 1 for vertical straight lanes and right-turns
- 2 for horizontal left-turns
- 0 for vertical left-turns
The code for nodes in the road network is:
(o:outer | i:inner + [r:right, l:left]) + (0:south | 1:west | 2:north | 3:east)
:return: the intersection road
"""
lane_width = AbstractLane.DEFAULT_WIDTH
right_turn_radius = lane_width + 5 # [m}
left_turn_radius = right_turn_radius + lane_width # [m}
outer_distance = right_turn_radius + lane_width / 2
access_length = 50 + 50 # [m]
net = RoadNetwork()
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
for corner in range(4):
angle = np.radians(90 * corner)
is_horizontal = corner % 2
priority = 3 if is_horizontal else 1
rotation = np.array([[np.cos(angle), -np.sin(angle)], [np.sin(angle), np.cos(angle)]])
# Incoming
start = rotation @ np.array([lane_width / 2, access_length + outer_distance])
end = rotation @ np.array([lane_width / 2, outer_distance])
net.add_lane("o" + str(corner), "ir" + str(corner),
StraightLane(start, end, line_types=[s, c], priority=priority, speed_limit=10))
# Right turn
r_center = rotation @ (np.array([outer_distance, outer_distance]))
net.add_lane("ir" + str(corner), "il" + str((corner - 1) % 4),
CircularLane(r_center, right_turn_radius, angle + np.radians(180), angle + np.radians(270),
line_types=[n, c], priority=priority, speed_limit=10))
# Left turn
l_center = rotation @ (np.array([-left_turn_radius + lane_width / 2, left_turn_radius - lane_width / 2]))
net.add_lane("ir" + str(corner), "il" + str((corner + 1) % 4),
CircularLane(l_center, left_turn_radius, angle + np.radians(0), angle + np.radians(-90),
clockwise=False, line_types=[n, n], priority=priority - 1, speed_limit=10))
# Straight
start = rotation @ np.array([lane_width / 2, outer_distance])
end = rotation @ np.array([lane_width / 2, -outer_distance])
net.add_lane("ir" + str(corner), "il" + str((corner + 2) % 4),
StraightLane(start, end, line_types=[s, n], priority=priority, speed_limit=10))
# Exit
start = rotation @ np.flip([lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip([lane_width / 2, outer_distance], axis=0)
net.add_lane("il" + str((corner - 1) % 4), "o" + str((corner - 1) % 4),
StraightLane(end, start, line_types=[n, c], priority=priority, speed_limit=10))
# TODO: double check here change from regulated to general road
road = RegulatedRoad(network=net, np_random=self.np_random, record_history=self.config["show_trajectories"])
self.road = road
def _make_road(self):
lane_width = AbstractLane.DEFAULT_WIDTH
right_turn_radius = lane_width + 5 # [m}
left_turn_radius = right_turn_radius + lane_width # [m}
outer_distance = right_turn_radius + lane_width / 2
access_length = 40 # [m]
# Corners: 0:south, 1:west, 2:north, 3:east. i:inner, o:outer, r:right, l:left
net = RoadNetwork()
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
for corner in range(4):
angle = rad(90 * corner)
rotation = np.array([[np.cos(angle), -np.sin(angle)],
[np.sin(angle), np.cos(angle)]])
# Incoming
start = rotation @ np.array(
[lane_width / 2, access_length + outer_distance])
end = rotation @ np.array([lane_width / 2, outer_distance])
net.add_lane("o" + str(corner), "ir" + str(corner),
StraightLane(start, end, line_types=[s, c]))
# Right turn
r_center = rotation @ (np.array([outer_distance, outer_distance]))
net.add_lane(
"ir" + str(corner), "il" + str((corner - 1) % 4),
CircularLane(r_center,
right_turn_radius,
angle + rad(180),
angle + rad(270),
line_types=[n, c]))
# Left turn
l_center = rotation @ (np.array([
-left_turn_radius + lane_width / 2,
left_turn_radius - lane_width / 2
]))
net.add_lane(
"ir" + str(corner), "il" + str((corner + 1) % 4),
CircularLane(l_center,
left_turn_radius,
angle + rad(0),
angle + rad(-90),
clockwise=False,
line_types=[n, n]))
# Straight
start = rotation @ np.array([lane_width / 2, outer_distance])
end = rotation @ np.array([lane_width / 2, -outer_distance])
net.add_lane("ir" + str(corner), "il" + str((corner + 2) % 4),
StraightLane(start, end, line_types=[s, n]))
# Exit
start = rotation @ np.flip(
[lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip([lane_width / 2, outer_distance], axis=0)
net.add_lane("il" + str((corner - 1) % 4), "o" + str(
(corner - 1) % 4), StraightLane(end, start, line_types=[n, c]))
road = Road(network=net, np_random=self.np_random)
self.road = road
def _make_road(self) -> None:
net = RoadNetwork()
radius = self.config["radius"] # [m]
# radius = np.random.choice([50, 500]) # [m]
# radius = np.random.choice([50, 200, 500, 1000]) # [m]
center = [0, StraightLane.DEFAULT_WIDTH + radius] # [m]
alpha = 0 # [deg]
radii = [
radius, radius + StraightLane.DEFAULT_WIDTH,
radius + 2 * StraightLane.DEFAULT_WIDTH
]
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
line = [[c, s], [n, s], [n, c]]
for lane in [0, 1, 2]:
net.add_lane(
"a",
"b",
# CircularLane(center, radii[lane], np.deg2rad(90 - alpha), np.deg2rad(-90+alpha),
CircularLane(center,
radii[lane],
np.deg2rad(90 - alpha),
np.deg2rad(-360 + alpha),
clockwise=False,
line_types=line[lane]))
road = Road(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
self.road = road
self.road.record_history = True
def _create_circuit(self):
circular_radius = 50
line_types = [LineType.STRIPED, LineType.CONTINUOUS]
circular_lane_1 = CircularLane(center=(0.0, 0.0),
radius=circular_radius,
start_phase=0,
end_phase=math.pi * 0.5,
speed_limit=self.speed_limit,
width=self.circuit_width,
line_types=line_types)
circular_lane_2 = CircularLane(
center=(0.0, 0.0),
radius=circular_radius,
start_phase=math.pi * 0.5,
end_phase=math.pi,
speed_limit=self.speed_limit,
width=self.circuit_width,
line_types=line_types,
)
circular_lane_start = circular_lane_1.position(0, 0)
circular_lane_end = circular_lane_2.position(circular_lane_2.length, 0)
sine_lane = SineLane(
circular_lane_end,
circular_lane_start,
amplitude=10,
pulsation=2 * math.pi / (circular_radius * 2),
phase=0,
speed_limit=self.speed_limit,
width=self.circuit_width,
line_types=line_types,
)
self._add_lane('start', 'int1', circular_lane_1)
self._add_lane('int1', 'int2', circular_lane_2)
self._add_lane('int2', 'end', sine_lane)
def make_road(self):
# Circle lanes: (s)outh/(e)ast/(n)orth/(w)est (e)ntry/e(x)it.
center = [0, 0] # [m]
radius = 30 # [m]
alpha = 20 # [deg]
net = RoadNetwork()
radii = [radius, radius+4]
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
line = [[c, s], [n, c]]
for lane in [0, 1]:
net.add_lane("se", "ex", CircularLane(center, radii[lane], rad(90-alpha), rad(alpha), line_types=line[lane]))
net.add_lane("ex", "ee", CircularLane(center, radii[lane], rad(alpha), rad(-alpha), line_types=line[lane]))
net.add_lane("ee", "nx", CircularLane(center, radii[lane], rad(-alpha), rad(-90+alpha), line_types=line[lane]))
net.add_lane("nx", "ne", CircularLane(center, radii[lane], rad(-90+alpha), rad(-90-alpha), line_types=line[lane]))
net.add_lane("ne", "wx", CircularLane(center, radii[lane], rad(-90-alpha), rad(-180+alpha), line_types=line[lane]))
net.add_lane("wx", "we", CircularLane(center, radii[lane], rad(-180+alpha), rad(-180-alpha), line_types=line[lane]))
net.add_lane("we", "sx", CircularLane(center, radii[lane], rad(180-alpha), rad(90+alpha), line_types=line[lane]))
net.add_lane("sx", "se", CircularLane(center, radii[lane], rad(90+alpha), rad(90-alpha), line_types=line[lane]))
# Access lanes: (r)oad/(s)ine
access = 200 # [m]
dev = 120 # [m]
a = 5 # [m]
delta_st = 0.20*dev # [m]
delta_en = dev-delta_st
w = 2*np.pi/dev
net.add_lane("ser", "ses", StraightLane([2, access], [2, dev/2], line_types=[s, c]))
net.add_lane("ses", "se", SineLane([2+a, dev/2], [2+a, dev/2-delta_st], a, w, -np.pi/2, line_types=[c, c]))
net.add_lane("sx", "sxs", SineLane([-2-a, -dev/2+delta_en], [-2-a, dev/2], a, w, -np.pi/2+w*delta_en, line_types=[c, c]))
net.add_lane("sxs", "sxr", StraightLane([-2, dev / 2], [-2, access], line_types=[n, c]))
net.add_lane("eer", "ees", StraightLane([access, -2], [dev / 2, -2], line_types=[s, c]))
net.add_lane("ees", "ee", SineLane([dev / 2, -2-a], [dev / 2 - delta_st, -2-a], a, w, -np.pi / 2, line_types=[c, c]))
net.add_lane("ex", "exs", SineLane([-dev / 2 + delta_en, 2+a], [dev / 2, 2+a], a, w, -np.pi / 2 + w * delta_en, line_types=[c, c]))
net.add_lane("exs", "exr", StraightLane([dev / 2, 2], [access, 2], line_types=[n, c]))
net.add_lane("ner", "nes", StraightLane([-2, -access], [-2, -dev / 2], line_types=[s, c]))
net.add_lane("nes", "ne", SineLane([-2 - a, -dev / 2], [-2 - a, -dev / 2 + delta_st], a, w, -np.pi / 2, line_types=[c, c]))
net.add_lane("nx", "nxs", SineLane([2 + a, dev / 2 - delta_en], [2 + a, -dev / 2], a, w, -np.pi / 2 + w * delta_en, line_types=[c, c]))
net.add_lane("nxs", "nxr", StraightLane([2, -dev / 2], [2, -access], line_types=[n, c]))
road = Road(network=net)
self.road = road
def _make_road(self, length=128):
"""
Making double lane road with counter-clockwise U-Turn.
:return: the road
"""
net = RoadNetwork()
# Defining upper starting lanes after the U-Turn.
# These Lanes are defined from x-coordinate 'length' to 0.
net.add_lane("c", "d", StraightLane([length, StraightLane.DEFAULT_WIDTH], [0, StraightLane.DEFAULT_WIDTH],
line_types=(LineType.CONTINUOUS_LINE, LineType.STRIPED)))
net.add_lane("c", "d", StraightLane([length, 0], [0, 0],
line_types=(LineType.NONE, LineType.CONTINUOUS_LINE)))
# Defining counter-clockwise circular U-Turn lanes.
center = [length, StraightLane.DEFAULT_WIDTH + 20] # [m]
radius = 20 # [m]
alpha = 0 # [deg]
radii = [radius, radius+StraightLane.DEFAULT_WIDTH]
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
line = [[c, s], [n, c]]
for lane in [0, 1]:
net.add_lane("b", "c",
CircularLane(center, radii[lane], np.deg2rad(90 - alpha), np.deg2rad(-90+alpha),
clockwise=False, line_types=line[lane]))
offset = 2*radius
# Defining lower starting lanes before the U-Turn.
# These Lanes are defined from x-coordinate 0 to 'length'.
net.add_lane("a", "b", StraightLane([0, ((2 * StraightLane.DEFAULT_WIDTH + offset) - StraightLane.DEFAULT_WIDTH)],
[length, ((2 * StraightLane.DEFAULT_WIDTH + offset) - StraightLane.DEFAULT_WIDTH)],
line_types=(LineType.CONTINUOUS_LINE,
LineType.STRIPED)))
net.add_lane("a", "b", StraightLane([0, (2 * StraightLane.DEFAULT_WIDTH + offset)],
[length, (2 * StraightLane.DEFAULT_WIDTH + offset)],
line_types=(LineType.NONE,
LineType.CONTINUOUS_LINE)))
road = Road(network=net, np_random=self.np_random, record_history=self.config["show_trajectories"])
self.road = road
def _make_road(self) -> None:
# Circle lanes: (s)outh/(e)ast/(n)orth/(w)est (e)ntry/e(x)it.
center = [0, 0] # [m]
radius = 20 # [m]
alpha = 24 # [deg]
net = RoadNetwork()
radii = [radius, radius + 4]
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
line = [[c, s], [n, c]]
for lane in [0, 1]:
net.add_lane(
"se", "ex",
CircularLane(center,
radii[lane],
np.deg2rad(90 - alpha),
np.deg2rad(alpha),
clockwise=False,
line_types=line[lane]))
net.add_lane(
"ex", "ee",
CircularLane(center,
radii[lane],
np.deg2rad(alpha),
np.deg2rad(-alpha),
clockwise=False,
line_types=line[lane]))
net.add_lane(
"ee", "nx",
CircularLane(center,
radii[lane],
np.deg2rad(-alpha),
np.deg2rad(-90 + alpha),
clockwise=False,
line_types=line[lane]))
net.add_lane(
"nx", "ne",
CircularLane(center,
radii[lane],
np.deg2rad(-90 + alpha),
np.deg2rad(-90 - alpha),
clockwise=False,
line_types=line[lane]))
net.add_lane(
"ne", "wx",
CircularLane(center,
radii[lane],
np.deg2rad(-90 - alpha),
np.deg2rad(-180 + alpha),
clockwise=False,
line_types=line[lane]))
net.add_lane(
"wx", "we",
CircularLane(center,
radii[lane],
np.deg2rad(-180 + alpha),
np.deg2rad(-180 - alpha),
clockwise=False,
line_types=line[lane]))
net.add_lane(
"we", "sx",
CircularLane(center,
radii[lane],
np.deg2rad(180 - alpha),
np.deg2rad(90 + alpha),
clockwise=False,
line_types=line[lane]))
net.add_lane(
"sx", "se",
CircularLane(center,
radii[lane],
np.deg2rad(90 + alpha),
np.deg2rad(90 - alpha),
clockwise=False,
line_types=line[lane]))
# Access lanes: (r)oad/(s)ine
access = 170 # [m]
dev = 85 # [m]
a = 5 # [m]
delta_st = 0.2 * dev # [m]
delta_en = dev - delta_st
w = 2 * np.pi / dev
net.add_lane(
"ser", "ses",
StraightLane([2, access], [2, dev / 2], line_types=(s, c)))
net.add_lane(
"ses", "se",
SineLane([2 + a, dev / 2], [2 + a, dev / 2 - delta_st],
a,
w,
-np.pi / 2,
line_types=(c, c)))
net.add_lane(
"sx", "sxs",
SineLane([-2 - a, -dev / 2 + delta_en], [-2 - a, dev / 2],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=(c, c)))
net.add_lane(
"sxs", "sxr",
StraightLane([-2, dev / 2], [-2, access], line_types=(n, c)))
net.add_lane(
"eer", "ees",
StraightLane([access, -2], [dev / 2, -2], line_types=(s, c)))
net.add_lane(
"ees", "ee",
SineLane([dev / 2, -2 - a], [dev / 2 - delta_st, -2 - a],
a,
w,
-np.pi / 2,
line_types=(c, c)))
net.add_lane(
"ex", "exs",
SineLane([-dev / 2 + delta_en, 2 + a], [dev / 2, 2 + a],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=(c, c)))
net.add_lane(
"exs", "exr",
StraightLane([dev / 2, 2], [access, 2], line_types=(n, c)))
net.add_lane(
"ner", "nes",
StraightLane([-2, -access], [-2, -dev / 2], line_types=(s, c)))
net.add_lane(
"nes", "ne",
SineLane([-2 - a, -dev / 2], [-2 - a, -dev / 2 + delta_st],
a,
w,
-np.pi / 2,
line_types=(c, c)))
net.add_lane(
"nx", "nxs",
SineLane([2 + a, dev / 2 - delta_en], [2 + a, -dev / 2],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=(c, c)))
net.add_lane(
"nxs", "nxr",
StraightLane([2, -dev / 2], [2, -access], line_types=(n, c)))
net.add_lane(
"wer", "wes",
StraightLane([-access, 2], [-dev / 2, 2], line_types=(s, c)))
net.add_lane(
"wes", "we",
SineLane([-dev / 2, 2 + a], [-dev / 2 + delta_st, 2 + a],
a,
w,
-np.pi / 2,
line_types=(c, c)))
net.add_lane(
"wx", "wxs",
SineLane([dev / 2 - delta_en, -2 - a], [-dev / 2, -2 - a],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=(c, c)))
net.add_lane(
"wxs", "wxr",
StraightLane([-dev / 2, -2], [-access, -2], line_types=(n, c)))
road = Road(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
self.road = road
def _make_road(self) -> None:
net = RoadNetwork()
# Set Speed Limits for Road Sections - Straight, Turn20, Straight, Turn 15, Turn15, Straight, Turn25x2, Turn18
speedlimits = [None, 10, 10, 10, 10, 10, 10, 10, 10]
# Initialise First Lane
lane = StraightLane([42, 0], [100, 0],
line_types=(LineType.CONTINUOUS, LineType.STRIPED),
width=5,
speed_limit=speedlimits[1])
self.lane = lane
# Add Lanes to Road Network - Straight Section
net.add_lane("a", "b", lane)
net.add_lane(
"a", "b",
StraightLane([42, 5], [100, 5],
line_types=(LineType.STRIPED, LineType.CONTINUOUS),
width=5,
speed_limit=speedlimits[1]))
# 2 - Circular Arc #1
center1 = [100, -20]
radii1 = 20
net.add_lane(
"b", "c",
CircularLane(center1,
radii1,
np.deg2rad(90),
np.deg2rad(-1),
width=5,
clockwise=False,
line_types=(LineType.CONTINUOUS, LineType.NONE),
speed_limit=speedlimits[2]))
net.add_lane(
"b", "c",
CircularLane(center1,
radii1 + 5,
np.deg2rad(90),
np.deg2rad(-1),
width=5,
clockwise=False,
line_types=(LineType.STRIPED, LineType.CONTINUOUS),
speed_limit=speedlimits[2]))
# 3 - Vertical Straight
net.add_lane(
"c", "d",
StraightLane([120, -20], [120, -30],
line_types=(LineType.CONTINUOUS, LineType.NONE),
width=5,
speed_limit=speedlimits[3]))
net.add_lane(
"c", "d",
StraightLane([125, -20], [125, -30],
line_types=(LineType.STRIPED, LineType.CONTINUOUS),
width=5,
speed_limit=speedlimits[3]))
# 4 - Circular Arc #2
center2 = [105, -30]
radii2 = 15
net.add_lane(
"d", "e",
CircularLane(center2,
radii2,
np.deg2rad(0),
np.deg2rad(-181),
width=5,
clockwise=False,
line_types=(LineType.CONTINUOUS, LineType.NONE),
speed_limit=speedlimits[4]))
net.add_lane(
"d", "e",
CircularLane(center2,
radii2 + 5,
np.deg2rad(0),
np.deg2rad(-181),
width=5,
clockwise=False,
line_types=(LineType.STRIPED, LineType.CONTINUOUS),
speed_limit=speedlimits[4]))
# 5 - Circular Arc #3
center3 = [70, -30]
radii3 = 15
net.add_lane(
"e", "f",
CircularLane(center3,
radii3 + 5,
np.deg2rad(0),
np.deg2rad(136),
width=5,
clockwise=True,
line_types=(LineType.CONTINUOUS, LineType.STRIPED),
speed_limit=speedlimits[5]))
net.add_lane(
"e", "f",
CircularLane(center3,
radii3,
np.deg2rad(0),
np.deg2rad(137),
width=5,
clockwise=True,
line_types=(LineType.NONE, LineType.CONTINUOUS),
speed_limit=speedlimits[5]))
# 6 - Slant
net.add_lane(
"f", "g",
StraightLane([55.7, -15.7], [35.7, -35.7],
line_types=(LineType.CONTINUOUS, LineType.NONE),
width=5,
speed_limit=speedlimits[6]))
net.add_lane(
"f", "g",
StraightLane([59.3934, -19.2], [39.3934, -39.2],
line_types=(LineType.STRIPED, LineType.CONTINUOUS),
width=5,
speed_limit=speedlimits[6]))
# 7 - Circular Arc #4 - Bugs out when arc is too large, hence written in 2 sections
center4 = [18.1, -18.1]
radii4 = 25
net.add_lane(
"g", "h",
CircularLane(center4,
radii4,
np.deg2rad(315),
np.deg2rad(170),
width=5,
clockwise=False,
line_types=(LineType.CONTINUOUS, LineType.NONE),
speed_limit=speedlimits[7]))
net.add_lane(
"g", "h",
CircularLane(center4,
radii4 + 5,
np.deg2rad(315),
np.deg2rad(165),
width=5,
clockwise=False,
line_types=(LineType.STRIPED, LineType.CONTINUOUS),
speed_limit=speedlimits[7]))
net.add_lane(
"h", "i",
CircularLane(center4,
radii4,
np.deg2rad(170),
np.deg2rad(56),
width=5,
clockwise=False,
line_types=(LineType.CONTINUOUS, LineType.NONE),
speed_limit=speedlimits[7]))
net.add_lane(
"h", "i",
CircularLane(center4,
radii4 + 5,
np.deg2rad(170),
np.deg2rad(58),
width=5,
clockwise=False,
line_types=(LineType.STRIPED, LineType.CONTINUOUS),
speed_limit=speedlimits[7]))
# 8 - Circular Arc #5 - Reconnects to Start
center5 = [43.2, 23.4]
radii5 = 18.5
net.add_lane(
"i", "a",
CircularLane(center5,
radii5 + 5,
np.deg2rad(240),
np.deg2rad(270),
width=5,
clockwise=True,
line_types=(LineType.CONTINUOUS, LineType.STRIPED),
speed_limit=speedlimits[8]))
net.add_lane(
"i", "a",
CircularLane(center5,
radii5,
np.deg2rad(238),
np.deg2rad(268),
width=5,
clockwise=True,
line_types=(LineType.NONE, LineType.CONTINUOUS),
speed_limit=speedlimits[8]))
road = Road(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
self.road = road
def _make_road(self) -> None:
"""
Make an 4-way intersection.
The horizontal road has the right of way. More precisely, the levels of priority are:
- 3 for horizontal straight lanes and right-turns
- 1 for vertical straight lanes and right-turns
- 2 for horizontal left-turns
- 0 for vertical left-turns
The code for nodes in the road network is:
(o:outer | i:inner + [r:right, l:left]) + (0:south | 1:west | 2:north | 3:east)
:return: the intersection road
"""
lane_width = AbstractLane.DEFAULT_WIDTH
right_turn_radius = lane_width # + 5 # [m}
left_turn_radius = right_turn_radius + lane_width # [m}
outer_distance = right_turn_radius + lane_width / 2 # 7.5
access_length = 50 + 50 # [m]
net = RoadNetwork()
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
if self.config["scenario"] in [9, 10]:
# 2nd lane for this scenario (and 3rd invisible lane)
# incoming from south
rotation = np.array([[1, 0], [0, 1]])
start = rotation @ np.array(
[3 * lane_width / 2, access_length + outer_distance])
end = rotation @ np.array(
[3 * lane_width / 2, outer_distance + lane_width])
net.add_lane(
"o0", "ir0",
StraightLane(start,
end,
line_types=[s, c],
priority=0,
speed_limit=10,
forbidden=True))
if self.config["scenario"] == 10:
start = rotation @ np.array(
[5 * lane_width / 2, access_length + outer_distance])
end = rotation @ np.array(
[5 * lane_width / 2, outer_distance + lane_width])
net.add_lane(
"o0", "ir0",
StraightLane(start,
end,
line_types=[n, n],
priority=0,
speed_limit=10,
forbidden=True))
# intersection
r_center = rotation @ (np.array(
[outer_distance + lane_width, outer_distance + lane_width]))
net.add_lane(
"ir0", "il3",
CircularLane(r_center,
right_turn_radius,
0 + np.radians(180),
0 + np.radians(270),
line_types=[n, c],
priority=0,
speed_limit=10))
# outgoing east
start = rotation @ np.flip(
[3 * lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip(
[3 * lane_width / 2, outer_distance + lane_width], axis=0)
net.add_lane(
"il3", "o3",
StraightLane(end,
start,
line_types=[s, c],
priority=0,
speed_limit=10))
for corner in range(4):
angle = np.radians(90 * corner)
is_horizontal = corner % 2
priority = 3 if is_horizontal else 1
rotation = np.array([[np.cos(angle), -np.sin(angle)],
[np.sin(angle), np.cos(angle)]])
# Incoming
lt = [
c, s
] if self.config["scenario"] in [9, 10] and corner == 0 else [
s, c
]
start = rotation @ np.array(
[lane_width / 2, access_length + outer_distance])
end = rotation @ np.array([lane_width / 2, outer_distance])
net.add_lane(
"o" + str(corner), "ir" + str(corner),
StraightLane(start,
end,
line_types=lt,
priority=priority,
speed_limit=10,
forbidden=True))
# replace s by n to hide ped lanes
ped_display = s
if self.config["scenario"] in [9]:
# Pedestrian lanes (other direction and further from intersection)
start = rotation @ np.array(
[lane_width * 2.5, outer_distance * 2])
end = rotation @ np.array(
[lane_width * 2.5, -outer_distance * 2])
net.add_lane(
"p" + str(corner), "p" + str(corner) + "_end",
StraightLane(end,
start,
line_types=[ped_display, ped_display],
priority=1234,
width=AbstractLane.DEFAULT_WIDTH / 2,
speed_limit=2))
elif self.config["scenario"] in [10]:
# Pedestrian lanes (other direction and further from intersection)
start = rotation @ np.array(
[lane_width * 8, outer_distance * 2.5])
end = rotation @ np.array(
[lane_width * 8, -outer_distance * 2.5])
net.add_lane(
"p" + str(corner), "p" + str(corner) + "_end",
StraightLane(end,
start,
line_types=[ped_display, ped_display],
priority=1234,
width=AbstractLane.DEFAULT_WIDTH / 2,
speed_limit=2))
else:
# Pedestrian lanes
start = rotation @ np.array(
[lane_width * 1.5, outer_distance * 2])
end = rotation @ np.array(
[lane_width * 1.5, -outer_distance * 2])
net.add_lane(
"p" + str(corner), "p" + str(corner) + "_end",
StraightLane(start,
end,
line_types=[ped_display, ped_display],
priority=1234,
width=AbstractLane.DEFAULT_WIDTH / 2,
speed_limit=2))
# Right turn
lt = [
c, s
] if self.config["scenario"] in [9, 10] and corner == 0 else [
n, c
]
r_center = rotation @ (np.array([outer_distance, outer_distance]))
net.add_lane(
"ir" + str(corner), "il" + str((corner - 1) % 4),
CircularLane(r_center,
right_turn_radius,
angle + np.radians(180),
angle + np.radians(270),
line_types=[n, c],
priority=priority,
speed_limit=10))
# Left turn
l_center = rotation @ (np.array([
-left_turn_radius + lane_width / 2,
left_turn_radius - lane_width / 2
]))
net.add_lane(
"ir" + str(corner), "il" + str((corner + 1) % 4),
CircularLane(l_center,
left_turn_radius,
angle + np.radians(0),
angle + np.radians(-90),
clockwise=False,
line_types=[n, n],
priority=priority - 1,
speed_limit=10))
# Straight
start = rotation @ np.array([lane_width / 2, outer_distance])
end = rotation @ np.array([lane_width / 2, -outer_distance])
net.add_lane(
"ir" + str(corner), "il" + str((corner + 2) % 4),
StraightLane(start,
end,
line_types=[s, n],
priority=priority,
speed_limit=10))
# Exit
lt = [
c, s
] if self.config["scenario"] in [9, 10] and corner == 0 else [
s, c
]
start = rotation @ np.flip(
[lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip([lane_width / 2, outer_distance], axis=0)
net.add_lane(
"il" + str((corner - 1) % 4), "o" + str((corner - 1) % 4),
StraightLane(end,
start,
line_types=lt,
priority=priority,
speed_limit=10))
road = RegulatedRoad(network=net,
np_random=self.np_random,
record_history=self.config["show_trajectories"])
self.road = road
def _make_road(self):
# Circle lanes: (s)outh/(e)ast/(n)orth/(w)est (e)ntry/e(x)it.
center = [0, 0] # [m]
radius = 30 # [m]
alpha = 20 # [deg]
net = RoadNetwork()
radii = [radius, radius + 4]
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
line = [[c, s], [n, c]]
# r = []
# bounds = [30 * 50 * np.pi / 180, 30 * 40 * np.pi / 180, 34 * 50 * np.pi / 180, 34 * 40 * np.pi / 180]
# bounds = [30 * 2 * np.pi, 34 * 2 * np.pi ]
for lane in [0, 1]:
net.add_lane(
"se", "ex",
CircularLane(center,
radii[lane],
rad(90 - alpha),
rad(alpha),
line_types=line[lane]))
net.add_lane(
"ex", "ee",
CircularLane(center,
radii[lane],
rad(alpha),
rad(-alpha),
line_types=line[lane]))
net.add_lane(
"ee", "nx",
CircularLane(center,
radii[lane],
rad(-alpha),
rad(-90 + alpha),
line_types=line[lane]))
net.add_lane(
"nx", "ne",
CircularLane(center,
radii[lane],
rad(-90 + alpha),
rad(-90 - alpha),
line_types=line[lane]))
net.add_lane(
"ne", "wx",
CircularLane(center,
radii[lane],
rad(-90 - alpha),
rad(-180 + alpha),
line_types=line[lane]))
net.add_lane(
"wx", "we",
CircularLane(center,
radii[lane],
rad(-180 + alpha),
rad(-180 - alpha),
line_types=line[lane]))
net.add_lane(
"we", "sx",
CircularLane(center,
radii[lane],
rad(180 - alpha),
rad(90 + alpha),
line_types=line[lane]))
net.add_lane(
"sx", "se",
CircularLane(center,
radii[lane],
rad(90 + alpha),
rad(90 - alpha),
line_types=line[lane]))
"""
lane = 0
net.add_lane("se", "ex",
CircularLane(center, radii[lane], rad(90 - alpha), rad(alpha), line_types=line[lane]))
net.add_lane("ex", "ee", CircularLane(center, radii[lane], rad(alpha), rad(-alpha), line_types=line[lane]))
net.add_lane("ee", "nx",
CircularLane(center, radii[lane], rad(-alpha), rad(-90 + alpha), line_types=line[lane]))
net.add_lane("nx", "ne",
CircularLane(center, radii[lane], rad(-90 + alpha), rad(-90 - alpha), line_types=line[lane]))
net.add_lane("ne", "wx",
CircularLane(center, radii[lane], rad(-90 - alpha), rad(-180 + alpha), line_types=line[lane]))
net.add_lane("wx", "we",
CircularLane(center, radii[lane], rad(-180 + alpha), rad(-180 - alpha), line_types=line[lane]))
net.add_lane("we", "sx",
CircularLane(center, radii[lane], rad(180 - alpha), rad(90 + alpha), line_types=line[lane]))
net.add_lane("sx", "se",
CircularLane(center, radii[lane], rad(90 + alpha), rad(90 - alpha),
line_types=line[lane]))
lane = 1
# net.add_lane("se", "ex",
# CircularLane(center, radii[lane], rad(90 - alpha), rad(alpha), line_types=line[lane]))
net.add_lane("ser", "exb",
CircularLane(center, radii[lane], rad(90 - alpha + 8), rad(alpha - 2), line_types=line[lane]))
net.add_lane("exb", "exl",
CircularLane(center, radii[lane], rad(alpha - 2), rad(alpha - 7),
line_types=line[lane]))
net.add_lane("eel", "exr",
CircularLane(center, radii[lane], rad(-180 + alpha + 165), rad(-180 + alpha + 155),
line_types=line[lane]))
# net.add_lane("ex", "ee", CircularLane(center, radii[lane], rad(alpha), rad(-alpha), line_types=line[lane]))
# net.add_lane("ee", "nx",
# CircularLane(center, radii[lane], rad(-alpha), rad(-90 + alpha), line_types=line[lane]))
net.add_lane("eer", "nxb",
CircularLane(center, radii[lane], rad(-180 + alpha + 147), rad(-180 + alpha + 65),
line_types=line[lane]))
net.add_lane("nxb", "nxl",
CircularLane(center, radii[lane], rad(-180 + alpha + 65), rad(-180 + alpha + 60),
line_types=line[lane]))
# net.add_lane("nx", "ne",
# CircularLane(center, radii[lane], rad(-90 + alpha), rad(-90 - alpha), line_types=line[lane]))
net.add_lane("nxr", "nel",
CircularLane(center, radii[lane], rad(-180 + alpha + 58), rad(-180 + alpha + 48),
line_types=line[lane]))
net.add_lane("ner", "wxb",
CircularLane(center, radii[lane], rad(-180 + alpha + 45), rad(-180 + alpha + 5),
line_types=line[lane]))
# net.add_lane("ner", "wxb",
# CircularLane(center, radii[lane], rad(-90 - alpha), rad(-180 + alpha), line_types=line[lane]))
net.add_lane("wxb", "wxl",
CircularLane(center, radii[lane], rad(-180 + alpha + 5), rad(-180 + alpha - 7),
line_types=line[lane]))
# net.add_lane("wx", "we",
# CircularLane(center, radii[lane], rad(-180 + alpha), rad(-180 - alpha), line_types=line[lane]))
net.add_lane("wxr", "wel",
CircularLane(center, radii[lane], rad(-180 + alpha - 15), rad(-180 - alpha + 15),
line_types=line[lane]))
# net.add_lane("we", "sx",
# CircularLane(center, radii[lane], rad(180 - alpha), rad(90 + alpha - 5), line_types=line[lane]))
net.add_lane("wer", "sxb",
CircularLane(center, radii[lane], rad(180 - alpha + 7), rad(90 + alpha + 5),
line_types=line[lane]))
net.add_lane("sxb", "sxl",
CircularLane(center, radii[lane], rad(95 + alpha), rad(90 + alpha - 7), line_types=line[lane]))
net.add_lane("sxr", "sel",
CircularLane(center, radii[lane], rad(90 + alpha - 15), rad(90 - alpha + 15),
line_types=line[lane]))
"""
# Access lanes: (r)oad/(s)ine
access = 200 # [m]
dev = 120 # [m]
a = 5 # [m]
delta_st = 0.20 * dev # [m]
delta_en = dev - delta_st
w = 2 * np.pi / dev
net.add_lane(
"ser", "ses",
StraightLane([2, access], [2, dev / 2], line_types=[s, c]))
net.add_lane(
"ses", "se",
SineLane([2 + a, dev / 2], [2 + a, dev / 2 - delta_st],
a,
w,
-np.pi / 2,
line_types=[c, c]))
net.add_lane(
"sx", "sxs",
SineLane([-2 - a, -dev / 2 + delta_en], [-2 - a, dev / 2],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=[c, c]))
net.add_lane(
"sxs", "sxr",
StraightLane([-2, dev / 2], [-2, access], line_types=[n, c]))
net.add_lane(
"eer", "ees",
StraightLane([access, -2], [dev / 2, -2], line_types=[s, c]))
net.add_lane(
"ees", "ee",
SineLane([dev / 2, -2 - a], [dev / 2 - delta_st, -2 - a],
a,
w,
-np.pi / 2,
line_types=[c, c]))
net.add_lane(
"ex", "exs",
SineLane([-dev / 2 + delta_en, 2 + a], [dev / 2, 2 + a],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=[c, c]))
net.add_lane(
"exs", "exr",
StraightLane([dev / 2, 2], [access, 2], line_types=[n, c]))
net.add_lane(
"ner", "nes",
StraightLane([-2, -access], [-2, -dev / 2], line_types=[s, c]))
net.add_lane(
"nes", "ne",
SineLane([-2 - a, -dev / 2], [-2 - a, -dev / 2 + delta_st],
a,
w,
-np.pi / 2,
line_types=[c, c]))
net.add_lane(
"nx", "nxs",
SineLane([2 + a, dev / 2 - delta_en], [2 + a, -dev / 2],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=[c, c]))
net.add_lane(
"nxs", "nxr",
StraightLane([2, -dev / 2], [2, -access], line_types=[n, c]))
net.add_lane(
"wer", "wes",
StraightLane([-access, 2], [-dev / 2, 2], line_types=[s, c]))
net.add_lane(
"wes", "we",
SineLane([-dev / 2, 2 + a], [-dev / 2 + delta_st, 2 + a],
a,
w,
-np.pi / 2,
line_types=[c, c]))
net.add_lane(
"wx", "wxs",
SineLane([dev / 2 - delta_en, -2 - a], [-dev / 2, -2 - a],
a,
w,
-np.pi / 2 + w * delta_en,
line_types=[c, c]))
net.add_lane(
"wxs", "wxr",
StraightLane([-dev / 2, -2], [-access, -2], line_types=[n, c]))
road = Road(network=net, np_random=self.np_random)
self.road = road