maxTime = 100 # seconds
## run simulation
while ttime < maxTime and err == 0 and np.any(cars['status']<=0):
# create new vehicles
for carID in np.where(cars['status']<0)[0]:
car = cars.iloc[carID]
if car['time'] <= ttime:
err += Sim.createVehicle(str(carID), car['lane'], 0.)
# need to create an Agent?
cars['status'].iloc[carID] = 0
# gather vehicle info
for carID in np.where(cars['status']==0)[0]:
carLane,carLanePos,carPos,carAngle = Sim.getVehicleState(str(carID))
if carLane[1] == 'o':
cars['status'] = 1
cars['lane'].iloc[carID] = carLane
cars['lanepos'].iloc[carID] = carLanePos
cars['x'].iloc[carID] = carPos[0]
cars['y'].iloc[carID] = carPos[1]
cars['angle'].iloc[carID] = carAngle
if carLane[1] == 'i': # not in intersection yet
cars['ilane'].iloc[carID] = next((k for i,j,k in
intersectionLookUp if i==carLane and
j==cars['dest'].iloc[carID]))
else:
cars['ilane'].iloc[carID] = carLane
# check for collisions
err += Sim.createVehicle('ego','1i_0',0.)
egoSpeed = 25.
err += Sim.createVehicle('left','3i_1',0.)
leftSpeed = 20.
params_iter = pd.DataFrame([[egoSpeed, leftSpeed, 0., 0., -1., 'na']],
columns=ParameterColumns)
output = None
ttime = 0
maxTime = 100 # seconds
## run simulation
while ttime < maxTime:
# get info on this step
egoLane,egoLanePos,egoPos,egoAngle = Sim.getVehicleState('ego')
leftLane,leftLanePos,leftPos,leftAngle = Sim.getVehicleState('left')
# save
egoState = [ttime, 'ego', egoPos[0], egoPos[1], egoAngle, egoSpeed]
leftState = [ttime, 'left', leftPos[0], leftPos[1], leftAngle, leftSpeed]
if output is None:
output = pd.DataFrame([egoState, leftState])
else:
output = output.append([egoState, leftState])
# check for first collision - others too difficult to store..
if params_iter['Collision Time'].iloc[0] < 0:
egoObject = pd.Series(egoState[2:5] + list(VEHsize),
index=collisionCheck.collisionVars)
leftObject = pd.Series(leftState[2:5] + list(VEHsize),
# egoControl.accel, leadControl.accel,
# leadControl.brakeMagnitude, leadControl.brakeTime,
# -1.]], columns=ParameterColumns)
params_iter = pd.DataFrame([[egoControl.speed, leadControl.speed, -1.]],
columns=ParameterColumns)
output = None
ttime = 0
maxTime = 100 # seconds
lanelength = Sim.getLaneInfo('main_0')[0]
## run simulation
while ttime < maxTime:
# get info on this step
aa,egoLanePos,egoPos,egoAngle = Sim.getVehicleState('ego')
aa,leadLanePos,leadPos,leadAngle = Sim.getVehicleState('lead')
egoControl.update(DELTAT)
leadControl.update(DELTAT)
egoSpeed = egoControl.nextStep()
leadSpeed = leadControl.nextStep()
# save
egoState = [ttime, 'ego', egoPos[0], egoPos[1], egoAngle, egoSpeed]
leadState = [ttime, 'lead', leadPos[0], leadPos[1], leadAngle, leadSpeed]
if output is None:
output = pd.DataFrame([egoState, leadState])
else:
output = output.append([egoState, leadState])
# check for first collision - others too difficult to store..
err += Sim.createVehicle('ego', '1i_0', 0.)
egoSpeed = 25.
err += Sim.createVehicle('left', '3i_1', 0.)
leftSpeed = 20.
params_iter = pd.DataFrame([[egoSpeed, leftSpeed, 0., 0., -1., 'na']],
columns=ParameterColumns)
output = None
ttime = 0
maxTime = 100 # seconds
## run simulation
while ttime < maxTime:
# get info on this step
egoLane, egoLanePos, egoPos, egoAngle = Sim.getVehicleState('ego')
leftLane, leftLanePos, leftPos, leftAngle = Sim.getVehicleState('left')
# save
egoState = [ttime, 'ego', egoPos[0], egoPos[1], egoAngle, egoSpeed]
leftState = [
ttime, 'left', leftPos[0], leftPos[1], leftAngle, leftSpeed
]
if output is None:
output = pd.DataFrame([egoState, leftState])
else:
output = output.append([egoState, leftState])
# check for first collision - others too difficult to store..
if params_iter['Collision Time'].iloc[0] < 0:
egoObject = pd.Series(egoState[2:5] + list(VEHsize),
maxTime = 100 # seconds
## run simulation
while ttime < maxTime and err == 0 and np.any(cars['status'] <= 0):
# create new vehicles
for carID in np.where(cars['status'] < 0)[0]:
car = cars.iloc[carID]
if car['time'] <= ttime:
err += Sim.createVehicle(str(carID), car['lane'], 0.)
# need to create an Agent?
cars['status'].iloc[carID] = 0
# gather vehicle info
for carID in np.where(cars['status'] == 0)[0]:
carLane, carLanePos, carPos, carAngle = Sim.getVehicleState(
str(carID))
if carLane[1] == 'o':
cars['status'] = 1
cars['lane'].iloc[carID] = carLane
cars['lanepos'].iloc[carID] = carLanePos
cars['x'].iloc[carID] = carPos[0]
cars['y'].iloc[carID] = carPos[1]
cars['angle'].iloc[carID] = carAngle
if carLane[1] == 'i': # not in intersection yet
cars['ilane'].iloc[carID] = next(
(k for i, j, k in intersectionLookUp
if i == carLane and j == cars['dest'].iloc[carID]))
else:
cars['ilane'].iloc[carID] = carLane
# check for collisions
# -*- coding: utf-8 -*-
"""
Created on Tue Nov 17 20:13:37 2015
@author: motro
"""
from sumoMethods import Sumo
configuration = 'emptyhighway'
sim = Sumo(configuration, gui=True)
sim.createVehicle('a','main_0',40)
[lane,lanex,xy] = sim.getVehicleState('a')
print 'a, 0: '+str(xy[0])
sim.createVehicle('b','main_0')
[lane,lanex,xy] = sim.getVehicleState('b')
print 'b, 0: '+str(xy[0])
sim.moveVehicleAlong('b',38)
[lane,lanex,xy] = sim.getVehicleState('a')
print 'a, 1: '+str(xy[0])
[lane,lanex,xy] = sim.getVehicleState('b')
print 'b, 1: '+str(xy[0])
sim.end()
err = 0
Sim = Sumo(configuration,gui=True)
# first gather the possible positions/angles of each intersection lane
allcars = {}
for start, end, road in intersectionLookUp:
print "at "+road
err += Sim.createVehicle(road, start, 90.)
err += Sim.moveVehicleAlong(road, 0.1, end)
thisdf = WriteFrame(['x','y','angle','length','width','lp'])
dist = 1.
status = -1
totaldist = 0
while status < 1 and totaldist < 50:
lane,lanepos,pos,angle = Sim.getVehicleState(road)
status = (lane[1]=='o')-(lane[1]=='i')
if status == 0: #add vehicle info to the dataframe
thisdf.add([[pos[0],pos[1],angle,VEHsize[0],VEHsize[1],lanepos]])
Sim.moveVehicleAlong(road, dist)
totaldist += dist
time.sleep(.05) # might guard against freeze
allcars[road] = thisdf.out()
Sim.removeVehicle(road)
Sim.end()
# now use dataframes of position+angle to find collision points
collisions = WriteFrame(['lane','lane2','begin_lp','end_lp'])
for an in range(len(intersectionLookUp)):
for bn in range(an):
