def init(self):
'''
All common initialization goes here.
'''
self.halfExtendedViewInAngle = []
self.shift = []
for lane in range(0, LANES):
self.halfExtendedViewInAngle.append(
arcAngle(LANE_RADIUS[lane],
(self.totalExtendedView / 2) * SCALE))
self.shift.append(
arcAngle(LANE_RADIUS[lane], (CAR_LENGTH / 2) * SCALE))
# Intialize Observation Space
self.initObservationSpace(self.k)
# Intialize Communication
self.isCommEnabled = False
if self.totalCommView > 0:
if not (self.totalCommView % self.regWidthInMetres == 0):
raiseValueError(
"communicable region should be completely divisible by comm-size"
)
if not (self.regWidthInMetres % self.cellSize == 0):
raiseValueError(
"comm-size should be completely divisible by cell-size")
self.isCommEnabled = True
self.initComm()
def initDrawGrid(self):
# Calculate start position and cell size in Degrees for drawing grids
self.extendedViewInDeg = []
self.cellSizeInDeg = []
for lane in range(0, constants.LANES):
self.extendedViewInDeg.append(
arcAngle(constants.LANE_RADIUS[lane],
self.extendedViewInMetre * constants.SCALE))
self.cellSizeInDeg.append(
arcAngle(constants.LANE_RADIUS[lane],
self.cellSizeInMetre * constants.SCALE))
def initCollisionAngle(self):
'''
Function : Calculates the minimum angle required between two cars for no collision.
'''
self.minCollisionAngle = []
for lane in range(0, LANES):
self.minCollisionAngle.append(
arcAngle(LANE_RADIUS[lane], CAR_LENGTH * SCALE))
def performDoNothing(self, laneMap, agentLane, agentIDX):
agentSpeed = laneMap[agentLane][agentIDX]['speed']
agentPos = laneMap[agentLane][agentIDX]['pos']
distTravelledInMetres = self.distTravelled(0, self.tPeriod, agentSpeed)
distTravelledInDeg = arcAngle(LANE_RADIUS[agentLane],
distTravelledInMetres * SCALE)
distTravelledInDeg %= 360
newAgentSpeed = agentSpeed
newAgentSpeed = np.clip(newAgentSpeed, 0, self.maxSpeed)
'''
Only agent's new pos is required to check for collision
'''
collision = False
if not self.checkValidAction(agentLane, laneMap,
agentPos + distTravelledInDeg, agentIDX):
distTravelledInDeg = 0.0
newAgentSpeed = 0.0
collision = True
return distTravelledInDeg, newAgentSpeed, collision, agentLane
def performDecelerate(self, laneMap, agentLane, agentIDX):
agentSpeed = laneMap[agentLane][agentIDX]['speed']
agentPos = laneMap[agentLane][agentIDX]['pos']
dec = -IDM_CONSTS["DECELERATION_RATE"]
if agentSpeed <= 0.0:
dec = 0.0
distTravelledInMetres = self.distTravelled(dec, self.tPeriod,
agentSpeed)
distTravelledInDeg = arcAngle(LANE_RADIUS[agentLane],
distTravelledInMetres * SCALE)
distTravelledInDeg %= 360
newAgentSpeed = self.newSpeed(dec, self.tPeriod, agentSpeed)
newAgentSpeed = np.clip(newAgentSpeed, 0, self.maxSpeed)
'''
Only agent new pos is required to check for collision
'''
collision = False
if not self.checkValidAction(agentLane, laneMap,
agentPos + distTravelledInDeg, agentIDX):
distTravelledInDeg = 0.0
newAgentSpeed = 0.0
collision = True
return distTravelledInDeg, newAgentSpeed, collision, agentLane
def initLaneChangeAngle(self):
self.laneChangeAngle = []
for lane in range(0, LANES):
self.laneChangeAngle.append(
arcAngle(LANE_RADIUS[lane], (CAR_LENGTH) * SCALE))