def __init__(self, task, train_exp_dir, ite, logdir=None):
self.task = task
self.policy = LoadPolicy('../utils/models/{}/{}'.format(task, train_exp_dir), ite)
self.env = CrossroadEnd2end(training_task=self.task, mode='testing')
self.model = EnvironmentModel(self.task, mode='selecting')
self.recorder = Recorder()
self.episode_counter = -1
self.step_counter = -1
self.obs = None
self.stg = MultiPathGenerator()
self.step_timer = TimerStat()
self.ss_timer = TimerStat()
self.logdir = logdir
if self.logdir is not None:
config = dict(task=task, train_exp_dir=train_exp_dir, ite=ite)
with open(self.logdir + '/config.json', 'w', encoding='utf-8') as f:
json.dump(config, f, ensure_ascii=False, indent=4)
self.fig = plt.figure(figsize=(8, 8))
plt.ion()
self.hist_posi = []
self.old_index = 0
self.path_list = self.stg.generate_path(self.task)
# ------------------build graph for tf.function in advance-----------------------
for i in range(3):
obs = self.env.reset()
obs = tf.convert_to_tensor(obs[np.newaxis, :], dtype=tf.float32)
self.is_safe(obs, i)
obs = self.env.reset()
obs_with_specific_shape = np.tile(obs, (3, 1))
self.policy.run_batch(obs_with_specific_shape)
self.policy.obj_value_batch(obs_with_specific_shape)
# ------------------build graph for tf.function in advance-----------------------
self.reset()
def __init__(
self, init_n_ego_dict
): # init_n_ego_dict is used to init traffic (mainly) and ego dynamics
self.TASK2MODEL = dict(
left=LoadPolicy('../utils/models/left', 100000),
straight=LoadPolicy('../utils/models/straight', 95000),
right=LoadPolicy('../utils/models/right', 145000),
)
self.n_ego_instance = {}
self.n_ego_dynamics = {}
self.n_ego_select_index = {}
for egoID, ego_dict in init_n_ego_dict.items():
self.n_ego_instance[egoID] = CrossroadEnd2end(
training_task=NAME2TASK[egoID[:2]], display=True)
self.mpp = MultiPathGenerator()
self.virtual_model = dict(left=EnvironmentModel(training_task='left',
mode='selecting'),
straight=EnvironmentModel(
training_task='straight',
mode='selecting'),
right=EnvironmentModel(training_task='right',
mode='selecting'))
self.reset(init_n_ego_dict)
def __init__(self, init_n_ego_dict): # init_n_ego_dict is used to init traffic (mainly) and ego dynamics
self.TASK2MODEL = dict(left=LoadPolicy('../utils/models/left/experiment-2021-03-15-16-39-00', 180000),
straight=LoadPolicy('../utils/models/straight/experiment-2021-03-15-19-16-13', 175000),
right=LoadPolicy('../utils/models/right/experiment-2021-03-15-21-02-51', 195000),)
self.n_ego_instance = {}
self.n_ego_dynamics = {}
self.n_ego_select_index = {}
for egoID, ego_dict in init_n_ego_dict.items():
self.n_ego_instance[egoID] = CrossroadEnd2end(training_task=NAME2TASK[egoID[:2]],
mode='testing',
multi_display=True)
self.mpp = MultiPathGenerator()
self.virtual_model = dict(left=EnvironmentModel(training_task='left', mode='selecting'),
straight=EnvironmentModel(training_task='straight', mode='selecting'),
right=EnvironmentModel(training_task='right', mode='selecting'))
# ------------------build graph for tf.function in advance-----------------------
for task in ['left', 'straight', 'right']:
env = CrossroadEnd2end(training_task=task, mode='testing', multi_display=False)
for i in range(3):
obs = env.reset()
obs = tf.convert_to_tensor(obs[np.newaxis, :], dtype=tf.float32)
self.is_safe(obs, i, task)
obs = env.reset()
obs_with_specific_shape = np.tile(obs, (3, 1))
self.TASK2MODEL[task].run_batch(obs_with_specific_shape)
self.TASK2MODEL[task].obj_value_batch(obs_with_specific_shape)
env.close()
# ------------------build graph for tf.function in advance-----------------------
self.reset(init_n_ego_dict)
def __init__(
self,
training_task, # 'left', 'straight', 'right'
num_future_data=0,
display=False,
**kwargs):
metadata = {'render.modes': ['human']}
self.dynamics = VehicleDynamics()
self.interested_vehs = None
self.training_task = training_task
self.ref_path = ReferencePath(self.training_task, **kwargs)
self.detected_vehicles = None
self.all_vehicles = None
self.ego_dynamics = None
self.num_future_data = num_future_data
self.env_model = EnvironmentModel(training_task, num_future_data)
self.init_state = {}
self.action_number = 2
self.exp_v = EXPECTED_V #TODO: temp
self.ego_l, self.ego_w = L, W
self.action_space = gym.spaces.Box(low=-1,
high=1,
shape=(self.action_number, ),
dtype=np.float32)
self.seed()
self.v_light = None
self.step_length = 100 # ms
self.step_time = self.step_length / 1000.0
self.init_state = self._reset_init_state()
self.obs = None
self.action = None
self.veh_mode_dict = VEHICLE_MODE_DICT[self.training_task]
self.veh_num = VEH_NUM[self.training_task]
self.virtual_red_light_vehicle = False
self.done_type = 'not_done_yet'
self.reward_info = None
self.ego_info_dim = None
self.per_tracking_info_dim = None
self.per_veh_info_dim = None
if not display:
self.traffic = Traffic(self.step_length,
mode='training',
init_n_ego_dict=self.init_state,
training_task=self.training_task)
self.reset()
action = self.action_space.sample()
observation, _reward, done, _info = self.step(action)
self._set_observation_space(observation)
plt.ion()
def __init__(self, task, logdir=None):
self.task = task
if self.task == 'left':
self.policy = LoadPolicy('../utils/models/left', 100000)
elif self.task == 'right':
self.policy = LoadPolicy('../utils/models/right', 145000)
elif self.task == 'straight':
self.policy = LoadPolicy('../utils/models/straight', 95000)
self.env = CrossroadEnd2end(training_task=self.task)
self.model = EnvironmentModel(self.task, mode='selecting')
self.recorder = Recorder()
self.episode_counter = -1
self.step_counter = -1
self.obs = None
self.stg = None
self.step_timer = TimerStat()
self.ss_timer = TimerStat()
self.logdir = logdir
self.fig = plt.figure(figsize=(8, 8))
plt.ion()
self.hist_posi = []
self.reset()
def __init__(self, task, train_exp_dir, ite, logdir=None):
self.task = task
self.policy = LoadPolicy(
'../utils/models/{}/{}'.format(task, train_exp_dir), ite)
self.env = CrossroadEnd2end(training_task=self.task)
self.model = EnvironmentModel(self.task, mode='selecting')
self.recorder = Recorder()
self.episode_counter = -1
self.step_counter = -1
self.obs = None
self.stg = None
self.step_timer = TimerStat()
self.ss_timer = TimerStat()
self.logdir = logdir
if self.logdir is not None:
config = dict(task=task, train_exp_dir=train_exp_dir, ite=ite)
with open(self.logdir + '/config.json', 'w',
encoding='utf-8') as f:
json.dump(config, f, ensure_ascii=False, indent=4)
self.fig = plt.figure(figsize=(8, 8))
plt.ion()
self.hist_posi = []
self.reset()
def __init__(self, task):
self.task = task
if self.task == 'left':
self.policy = LoadPolicy('G:\\env_build\\utils\\models\\left', 100000)
elif self.task == 'right':
self.policy = LoadPolicy('G:\\env_build\\utils\\models\\right', 145000)
elif self.task == 'straight':
self.policy = LoadPolicy('G:\\env_build\\utils\\models\\straight', 95000)
self.horizon = 25
self.num_future_data = 0
self.env = CrossroadEnd2end(training_task=self.task, num_future_data=self.num_future_data)
self.model = EnvironmentModel(self.task)
self.obs = self.env.reset()
self.stg = StaticTrajectoryGenerator_origin(mode='static_traj')
self.data2plot = []
self.mpc_cal_timer = TimerStat()
self.adp_cal_timer = TimerStat()
self.recorder = Recorder()
class HierarchicalDecision(object):
def __init__(self, task, train_exp_dir, ite, logdir=None):
self.task = task
self.policy = LoadPolicy('../utils/models/{}/{}'.format(task, train_exp_dir), ite)
self.env = CrossroadEnd2end(training_task=self.task, mode='testing')
self.model = EnvironmentModel(self.task, mode='selecting')
self.recorder = Recorder()
self.episode_counter = -1
self.step_counter = -1
self.obs = None
self.stg = MultiPathGenerator()
self.step_timer = TimerStat()
self.ss_timer = TimerStat()
self.logdir = logdir
if self.logdir is not None:
config = dict(task=task, train_exp_dir=train_exp_dir, ite=ite)
with open(self.logdir + '/config.json', 'w', encoding='utf-8') as f:
json.dump(config, f, ensure_ascii=False, indent=4)
self.fig = plt.figure(figsize=(8, 8))
plt.ion()
self.hist_posi = []
self.old_index = 0
self.path_list = self.stg.generate_path(self.task)
# ------------------build graph for tf.function in advance-----------------------
for i in range(3):
obs = self.env.reset()
obs = tf.convert_to_tensor(obs[np.newaxis, :], dtype=tf.float32)
self.is_safe(obs, i)
obs = self.env.reset()
obs_with_specific_shape = np.tile(obs, (3, 1))
self.policy.run_batch(obs_with_specific_shape)
self.policy.obj_value_batch(obs_with_specific_shape)
# ------------------build graph for tf.function in advance-----------------------
self.reset()
def reset(self,):
self.obs = self.env.reset()
self.recorder.reset()
self.old_index = 0
self.hist_posi = []
if self.logdir is not None:
self.episode_counter += 1
os.makedirs(self.logdir + '/episode{}/figs'.format(self.episode_counter))
self.step_counter = -1
self.recorder.save(self.logdir)
if self.episode_counter >= 1:
select_and_rename_snapshots_of_an_episode(self.logdir, self.episode_counter-1, 12)
self.recorder.plot_and_save_ith_episode_curves(self.episode_counter-1,
self.logdir + '/episode{}/figs'.format(self.episode_counter-1),
isshow=False)
return self.obs
# @tf.function
# def is_safe(self, obs, path_index):
# self.model.ref_path.set_path(path_index)
# action = self.policy.run_batch(obs)
# veh2veh4real = self.model.ss(obs, action, lam=0.1)
# return False if veh2veh4real[0] > 0 else True
@tf.function
def is_safe(self, obs, path_index):
self.model.add_traj(obs, path_index)
punish = 0.
for step in range(5):
action = self.policy.run_batch(obs)
obs, _, _, _, veh2veh4real, _ = self.model.rollout_out(action)
punish += veh2veh4real[0]
return False if punish > 0 else True
def safe_shield(self, real_obs, path_index):
action_safe_set = [[[0., -1.]]]
real_obs = tf.convert_to_tensor(real_obs[np.newaxis, :], dtype=tf.float32)
obs = real_obs
if not self.is_safe(obs, path_index):
print('SAFETY SHIELD STARTED!')
return np.array(action_safe_set[0], dtype=np.float32).squeeze(0), True
else:
return self.policy.run_batch(real_obs).numpy()[0], False
def step(self):
self.step_counter += 1
with self.step_timer:
obs_list = []
# select optimal path
for path in self.path_list:
self.env.set_traj(path)
obs_list.append(self.env._get_obs())
all_obs = tf.stack(obs_list, axis=0)
path_values = self.policy.obj_value_batch(all_obs).numpy()
old_value = path_values[self.old_index]
new_index, new_value = int(np.argmin(path_values)), min(path_values) # value is to approximate (- sum of reward)
path_index = self.old_index if old_value - new_value < 0.1 else new_index
self.old_index = path_index
self.env.set_traj(self.path_list[path_index])
self.obs_real = obs_list[path_index]
# obtain safe action
with self.ss_timer:
safe_action, is_ss = self.safe_shield(self.obs_real, path_index)
print('ALL TIME:', self.step_timer.mean, 'ss', self.ss_timer.mean)
self.render(self.path_list, path_values, path_index)
self.recorder.record(self.obs_real, safe_action, self.step_timer.mean,
path_index, path_values, self.ss_timer.mean, is_ss)
self.obs, r, done, info = self.env.step(safe_action)
return done
def render(self, traj_list, path_values, path_index):
square_length = CROSSROAD_SIZE
extension = 40
lane_width = LANE_WIDTH
light_line_width = 3
dotted_line_style = '--'
solid_line_style = '-'
plt.cla()
ax = plt.axes([-0.05, -0.05, 1.1, 1.1])
for ax in self.fig.get_axes():
ax.axis('off')
ax.axis("equal")
# ----------arrow--------------
plt.arrow(lane_width / 2, -square_length / 2 - 10, 0, 5, color='b')
plt.arrow(lane_width / 2, -square_length / 2 - 10 + 5, -0.5, 0, color='b', head_width=1)
plt.arrow(lane_width * 1.5, -square_length / 2 - 10, 0, 4, color='b', head_width=1)
plt.arrow(lane_width * 2.5, -square_length / 2 - 10, 0, 5, color='b')
plt.arrow(lane_width * 2.5, -square_length / 2 - 10 + 5, 0.5, 0, color='b', head_width=1)
# ----------horizon--------------
plt.plot([-square_length / 2 - extension, -square_length / 2], [0.3, 0.3], color='orange')
plt.plot([-square_length / 2 - extension, -square_length / 2], [-0.3, -0.3], color='orange')
plt.plot([square_length / 2 + extension, square_length / 2], [0.3, 0.3], color='orange')
plt.plot([square_length / 2 + extension, square_length / 2], [-0.3, -0.3], color='orange')
#
for i in range(1, LANE_NUMBER + 1):
linestyle = dotted_line_style if i < LANE_NUMBER else solid_line_style
linewidth = 1 if i < LANE_NUMBER else 2
plt.plot([-square_length / 2 - extension, -square_length / 2], [i * lane_width, i * lane_width],
linestyle=linestyle, color='black', linewidth=linewidth)
plt.plot([square_length / 2 + extension, square_length / 2], [i * lane_width, i * lane_width],
linestyle=linestyle, color='black', linewidth=linewidth)
plt.plot([-square_length / 2 - extension, -square_length / 2], [-i * lane_width, -i * lane_width],
linestyle=linestyle, color='black', linewidth=linewidth)
plt.plot([square_length / 2 + extension, square_length / 2], [-i * lane_width, -i * lane_width],
linestyle=linestyle, color='black', linewidth=linewidth)
# ----------vertical----------------
plt.plot([0.3, 0.3], [-square_length / 2 - extension, -square_length / 2], color='orange')
plt.plot([-0.3, -0.3], [-square_length / 2 - extension, -square_length / 2], color='orange')
plt.plot([0.3, 0.3], [square_length / 2 + extension, square_length / 2], color='orange')
plt.plot([-0.3, -0.3], [square_length / 2 + extension, square_length / 2], color='orange')
#
for i in range(1, LANE_NUMBER + 1):
linestyle = dotted_line_style if i < LANE_NUMBER else solid_line_style
linewidth = 1 if i < LANE_NUMBER else 2
plt.plot([i * lane_width, i * lane_width], [-square_length / 2 - extension, -square_length / 2],
linestyle=linestyle, color='black', linewidth=linewidth)
plt.plot([i * lane_width, i * lane_width], [square_length / 2 + extension, square_length / 2],
linestyle=linestyle, color='black', linewidth=linewidth)
plt.plot([-i * lane_width, -i * lane_width], [-square_length / 2 - extension, -square_length / 2],
linestyle=linestyle, color='black', linewidth=linewidth)
plt.plot([-i * lane_width, -i * lane_width], [square_length / 2 + extension, square_length / 2],
linestyle=linestyle, color='black', linewidth=linewidth)
v_light = self.env.v_light
if v_light == 0:
v_color, h_color = 'green', 'red'
elif v_light == 1:
v_color, h_color = 'orange', 'red'
elif v_light == 2:
v_color, h_color = 'red', 'green'
else:
v_color, h_color = 'red', 'orange'
plt.plot([0, (LANE_NUMBER - 1) * lane_width], [-square_length / 2, -square_length / 2],
color=v_color, linewidth=light_line_width)
plt.plot([(LANE_NUMBER - 1) * lane_width, LANE_NUMBER * lane_width], [-square_length / 2, -square_length / 2],
color='green', linewidth=light_line_width)
plt.plot([-LANE_NUMBER * lane_width, -(LANE_NUMBER - 1) * lane_width], [square_length / 2, square_length / 2],
color='green', linewidth=light_line_width)
plt.plot([-(LANE_NUMBER - 1) * lane_width, 0], [square_length / 2, square_length / 2],
color=v_color, linewidth=light_line_width)
plt.plot([-square_length / 2, -square_length / 2], [0, -(LANE_NUMBER - 1) * lane_width],
color=h_color, linewidth=light_line_width)
plt.plot([-square_length / 2, -square_length / 2], [-(LANE_NUMBER - 1) * lane_width, -LANE_NUMBER * lane_width],
color='green', linewidth=light_line_width)
plt.plot([square_length / 2, square_length / 2], [(LANE_NUMBER - 1) * lane_width, 0],
color=h_color, linewidth=light_line_width)
plt.plot([square_length / 2, square_length / 2], [LANE_NUMBER * lane_width, (LANE_NUMBER - 1) * lane_width],
color='green', linewidth=light_line_width)
# ----------Oblique--------------
plt.plot([LANE_NUMBER * lane_width, square_length / 2], [-square_length / 2, -LANE_NUMBER * lane_width],
color='black', linewidth=2)
plt.plot([LANE_NUMBER * lane_width, square_length / 2], [square_length / 2, LANE_NUMBER * lane_width],
color='black', linewidth=2)
plt.plot([-LANE_NUMBER * lane_width, -square_length / 2], [-square_length / 2, -LANE_NUMBER * lane_width],
color='black', linewidth=2)
plt.plot([-LANE_NUMBER * lane_width, -square_length / 2], [square_length / 2, LANE_NUMBER * lane_width],
color='black', linewidth=2)
def is_in_plot_area(x, y, tolerance=5):
if -square_length / 2 - extension + tolerance < x < square_length / 2 + extension - tolerance and \
-square_length / 2 - extension + tolerance < y < square_length / 2 + extension - tolerance:
return True
else:
return False
def draw_rotate_rec(x, y, a, l, w, c):
bottom_left_x, bottom_left_y, _ = rotate_coordination(-l / 2, w / 2, 0, -a)
ax.add_patch(plt.Rectangle((x + bottom_left_x, y + bottom_left_y), w, l, edgecolor=c,
facecolor='white', angle=-(90 - a), zorder=50))
def plot_phi_line(x, y, phi, color):
line_length = 3
x_forw, y_forw = x + line_length * cos(phi * pi / 180.), \
y + line_length * sin(phi * pi / 180.)
plt.plot([x, x_forw], [y, y_forw], color=color, linewidth=0.5)
# plot cars
for veh in self.env.all_vehicles:
veh_x = veh['x']
veh_y = veh['y']
veh_phi = veh['phi']
veh_l = veh['l']
veh_w = veh['w']
if is_in_plot_area(veh_x, veh_y):
plot_phi_line(veh_x, veh_y, veh_phi, 'black')
draw_rotate_rec(veh_x, veh_y, veh_phi, veh_l, veh_w, 'black')
# plot_interested vehs
# for mode, num in self.env.veh_mode_dict.items():
# for i in range(num):
# veh = self.env.interested_vehs[mode][i]
# veh_x = veh['x']
# veh_y = veh['y']
# veh_phi = veh['phi']
# veh_l = veh['l']
# veh_w = veh['w']
# task2color = {'left': 'b', 'straight': 'c', 'right': 'm'}
#
# if is_in_plot_area(veh_x, veh_y):
# plot_phi_line(veh_x, veh_y, veh_phi, 'black')
# task = MODE2TASK[mode]
# color = task2color[task]
# draw_rotate_rec(veh_x, veh_y, veh_phi, veh_l, veh_w, color)
ego_v_x = self.env.ego_dynamics['v_x']
ego_v_y = self.env.ego_dynamics['v_y']
ego_r = self.env.ego_dynamics['r']
ego_x = self.env.ego_dynamics['x']
ego_y = self.env.ego_dynamics['y']
ego_phi = self.env.ego_dynamics['phi']
ego_l = self.env.ego_dynamics['l']
ego_w = self.env.ego_dynamics['w']
ego_alpha_f = self.env.ego_dynamics['alpha_f']
ego_alpha_r = self.env.ego_dynamics['alpha_r']
alpha_f_bound = self.env.ego_dynamics['alpha_f_bound']
alpha_r_bound = self.env.ego_dynamics['alpha_r_bound']
r_bound = self.env.ego_dynamics['r_bound']
plot_phi_line(ego_x, ego_y, ego_phi, 'fuchsia')
draw_rotate_rec(ego_x, ego_y, ego_phi, ego_l, ego_w, 'fuchsia')
self.hist_posi.append((ego_x, ego_y))
# plot history
xs = [pos[0] for pos in self.hist_posi]
ys = [pos[1] for pos in self.hist_posi]
plt.scatter(np.array(xs), np.array(ys), color='fuchsia', alpha=0.1)
# plot future data
tracking_info = self.obs[
self.env.ego_info_dim:self.env.ego_info_dim + self.env.per_tracking_info_dim * (self.env.num_future_data + 1)]
future_path = tracking_info[self.env.per_tracking_info_dim:]
for i in range(self.env.num_future_data):
delta_x, delta_y, delta_phi = future_path[i * self.env.per_tracking_info_dim:
(i + 1) * self.env.per_tracking_info_dim]
path_x, path_y, path_phi = ego_x + delta_x, ego_y + delta_y, ego_phi - delta_phi
plt.plot(path_x, path_y, 'g.')
plot_phi_line(path_x, path_y, path_phi, 'g')
delta_, _, _ = tracking_info[:3]
indexs, points = self.env.ref_path.find_closest_point(np.array([ego_x], np.float32), np.array([ego_y], np.float32))
path_x, path_y, path_phi = points[0][0], points[1][0], points[2][0]
# plt.plot(path_x, path_y, 'g.')
delta_x, delta_y, delta_phi = ego_x - path_x, ego_y - path_y, ego_phi - path_phi
# plot real time traj
try:
color = ['blue', 'coral', 'darkcyan']
for i, item in enumerate(traj_list):
if i == path_index:
plt.plot(item.path[0], item.path[1], color=color[i])
else:
plt.plot(item.path[0], item.path[1], color=color[i], alpha=0.3)
indexs, points = item.find_closest_point(np.array([ego_x], np.float32), np.array([ego_y], np.float32))
path_x, path_y, path_phi = points[0][0], points[1][0], points[2][0]
plt.plot(path_x, path_y, color=color[i])
except Exception:
pass
# text
# text_x, text_y_start = -120, 60
# ge = iter(range(0, 1000, 4))
# plt.text(text_x, text_y_start - next(ge), 'ego_x: {:.2f}m'.format(ego_x))
# plt.text(text_x, text_y_start - next(ge), 'ego_y: {:.2f}m'.format(ego_y))
# plt.text(text_x, text_y_start - next(ge), 'path_x: {:.2f}m'.format(path_x))
# plt.text(text_x, text_y_start - next(ge), 'path_y: {:.2f}m'.format(path_y))
# plt.text(text_x, text_y_start - next(ge), 'delta_: {:.2f}m'.format(delta_))
# plt.text(text_x, text_y_start - next(ge), 'delta_x: {:.2f}m'.format(delta_x))
# plt.text(text_x, text_y_start - next(ge), 'delta_y: {:.2f}m'.format(delta_y))
# plt.text(text_x, text_y_start - next(ge), r'ego_phi: ${:.2f}\degree$'.format(ego_phi))
# plt.text(text_x, text_y_start - next(ge), r'path_phi: ${:.2f}\degree$'.format(path_phi))
# plt.text(text_x, text_y_start - next(ge), r'delta_phi: ${:.2f}\degree$'.format(delta_phi))
# plt.text(text_x, text_y_start - next(ge), 'v_x: {:.2f}m/s'.format(ego_v_x))
# plt.text(text_x, text_y_start - next(ge), 'exp_v: {:.2f}m/s'.format(self.env.exp_v))
# plt.text(text_x, text_y_start - next(ge), 'v_y: {:.2f}m/s'.format(ego_v_y))
# plt.text(text_x, text_y_start - next(ge), 'yaw_rate: {:.2f}rad/s'.format(ego_r))
# plt.text(text_x, text_y_start - next(ge), 'yaw_rate bound: [{:.2f}, {:.2f}]'.format(-r_bound, r_bound))
#
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_f$: {:.2f} rad'.format(ego_alpha_f))
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_f$ bound: [{:.2f}, {:.2f}] '.format(-alpha_f_bound,
# alpha_f_bound))
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_r$: {:.2f} rad'.format(ego_alpha_r))
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_r$ bound: [{:.2f}, {:.2f}] '.format(-alpha_r_bound,
# alpha_r_bound))
# if self.env.action is not None:
# steer, a_x = self.env.action[0], self.env.action[1]
# plt.text(text_x, text_y_start - next(ge),
# r'steer: {:.2f}rad (${:.2f}\degree$)'.format(steer, steer * 180 / np.pi))
# plt.text(text_x, text_y_start - next(ge), 'a_x: {:.2f}m/s^2'.format(a_x))
#
# text_x, text_y_start = 70, 60
# ge = iter(range(0, 1000, 4))
#
# # done info
# plt.text(text_x, text_y_start - next(ge), 'done info: {}'.format(self.env.done_type))
#
# # reward info
# if self.env.reward_info is not None:
# for key, val in self.env.reward_info.items():
# plt.text(text_x, text_y_start - next(ge), '{}: {:.4f}'.format(key, val))
#
# # indicator for trajectory selection
# text_x, text_y_start = -18, -70
# ge = iter(range(0, 1000, 6))
# if path_values is not None:
# for i, value in enumerate(path_values):
# if i == path_index:
# plt.text(text_x, text_y_start - next(ge), 'Path reward={:.4f}'.format(value[0]), fontsize=14,
# color=color[i], fontstyle='italic')
# else:
# plt.text(text_x, text_y_start - next(ge), 'Path reward={:.4f}'.format(value[0]), fontsize=12,
# color=color[i], fontstyle='italic')
plt.show()
plt.pause(0.001)
if self.logdir is not None:
plt.savefig(self.logdir + '/episode{}'.format(self.episode_counter) + '/step{:03d}.png'.format(self.step_counter))
class HierarchicalDecision(object):
def __init__(self, task, logdir=None):
self.task = task
if self.task == 'left':
self.policy = LoadPolicy('../utils/models/left', 100000)
elif self.task == 'right':
self.policy = LoadPolicy('../utils/models/right', 145000)
elif self.task == 'straight':
self.policy = LoadPolicy('../utils/models/straight', 95000)
self.env = CrossroadEnd2end(training_task=self.task)
self.model = EnvironmentModel(self.task, mode='selecting')
self.recorder = Recorder()
self.episode_counter = -1
self.step_counter = -1
self.obs = None
self.stg = None
self.step_timer = TimerStat()
self.ss_timer = TimerStat()
self.logdir = logdir
self.fig = plt.figure(figsize=(8, 8))
plt.ion()
self.hist_posi = []
self.reset()
def reset(self, ):
self.obs = self.env.reset()
self.stg = MultiPathGenerator()
self.recorder.reset()
self.hist_posi = []
if self.logdir is not None:
self.episode_counter += 1
os.makedirs(self.logdir +
'/episode{}'.format(self.episode_counter))
self.step_counter = -1
self.recorder.save(self.logdir)
return self.obs
def safe_shield(self, real_obs, traj):
action_bound = 1.0
action_safe_set = [[[0, -action_bound]]]
real_obs = tf.convert_to_tensor(real_obs[np.newaxis, :])
obs = real_obs
self.model.add_traj(obs, traj)
total_punishment = 0.0
for step in range(3):
action = self.policy.run(obs)
_, _, _, _, veh2veh4real, _ = self.model.rollout_out(action)
total_punishment += veh2veh4real
if total_punishment != 0:
print('original action will cause collision within three steps!!!')
for safe_action in action_safe_set:
obs = real_obs
total_punishment = 0
# for step in range(1):
# obs, veh2veh4real = self.model.safety_calculation(obs, safe_action)
# total_punishment += veh2veh4real
# if veh2veh4real != 0: # collide
# break
# if total_punishment == 0:
# print('found the safe action', safe_action)
# safe_action = np.array(safe_action)
# break
# else:
# print('still collide')
# safe_action = self.policy.run(real_obs).numpy().squeeze(0)
return np.array(safe_action).squeeze(0)
else:
safe_action = self.policy.run(real_obs).numpy()[0]
return safe_action
def step(self):
self.step_counter += 1
with self.step_timer:
path_list = self.stg.generate_path(self.task)
obs_list = []
# select optimal path
for path in path_list:
self.env.set_traj(path)
obs_list.append(self.env._get_obs())
all_obs = tf.stack(obs_list, axis=0)
path_values = self.policy.values(all_obs).numpy().squeeze()
path_index = int(np.argmax(path_values[:, 0]))
self.env.set_traj(path_list[path_index])
self.obs_real = obs_list[path_index]
# obtain safe action
# with self.ss_timer:
# safe_action = self.safe_shield(self.obs_real, path_list[path_index])
safe_action = self.policy.run(self.obs_real).numpy()
print('ALL TIME:', self.step_timer.mean)
# deal with red light temporally
# if self.env.v_light != 0 and -25 > self.env.ego_dynamics['y'] > -35 and self.env.training_task != 'right':
# scaled_steer = 0.
# if self.env.ego_dynamics['v_x'] == 0.0:
# scaled_a_x = 0.33
# else:
# scaled_a_x = np.random.uniform(-0.6, -0.4)
# safe_action = np.array([scaled_steer, scaled_a_x], dtype=np.float32)
self.render(path_list, path_values, path_index)
self.recorder.record(self.obs_real, safe_action, self.step_timer.mean,
path_index, path_values, self.ss_timer.mean)
self.obs, r, done, info = self.env.step(safe_action)
return done
def render(self, traj_list, path_values, path_index):
square_length = CROSSROAD_SIZE
extension = 40
lane_width = LANE_WIDTH
light_line_width = 3
dotted_line_style = '--'
solid_line_style = '-'
plt.cla()
ax = plt.axes([-0.05, -0.05, 1.1, 1.1])
for ax in self.fig.get_axes():
ax.axis('off')
ax.axis("equal")
# ----------arrow--------------
plt.arrow(lane_width / 2, -square_length / 2 - 10, 0, 5, color='b')
plt.arrow(lane_width / 2,
-square_length / 2 - 10 + 5,
-0.5,
0,
color='b',
head_width=1)
plt.arrow(lane_width * 1.5,
-square_length / 2 - 10,
0,
4,
color='b',
head_width=1)
plt.arrow(lane_width * 2.5, -square_length / 2 - 10, 0, 5, color='b')
plt.arrow(lane_width * 2.5,
-square_length / 2 - 10 + 5,
0.5,
0,
color='b',
head_width=1)
# ----------horizon--------------
plt.plot([-square_length / 2 - extension, -square_length / 2],
[0.3, 0.3],
color='orange')
plt.plot([-square_length / 2 - extension, -square_length / 2],
[-0.3, -0.3],
color='orange')
plt.plot([square_length / 2 + extension, square_length / 2],
[0.3, 0.3],
color='orange')
plt.plot([square_length / 2 + extension, square_length / 2],
[-0.3, -0.3],
color='orange')
#
for i in range(1, LANE_NUMBER + 1):
linestyle = dotted_line_style if i < LANE_NUMBER else solid_line_style
linewidth = 1 if i < LANE_NUMBER else 2
plt.plot([-square_length / 2 - extension, -square_length / 2],
[i * lane_width, i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([square_length / 2 + extension, square_length / 2],
[i * lane_width, i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([-square_length / 2 - extension, -square_length / 2],
[-i * lane_width, -i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([square_length / 2 + extension, square_length / 2],
[-i * lane_width, -i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
# ----------vertical----------------
plt.plot([0.3, 0.3],
[-square_length / 2 - extension, -square_length / 2],
color='orange')
plt.plot([-0.3, -0.3],
[-square_length / 2 - extension, -square_length / 2],
color='orange')
plt.plot([0.3, 0.3],
[square_length / 2 + extension, square_length / 2],
color='orange')
plt.plot([-0.3, -0.3],
[square_length / 2 + extension, square_length / 2],
color='orange')
#
for i in range(1, LANE_NUMBER + 1):
linestyle = dotted_line_style if i < LANE_NUMBER else solid_line_style
linewidth = 1 if i < LANE_NUMBER else 2
plt.plot([i * lane_width, i * lane_width],
[-square_length / 2 - extension, -square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([i * lane_width, i * lane_width],
[square_length / 2 + extension, square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([-i * lane_width, -i * lane_width],
[-square_length / 2 - extension, -square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([-i * lane_width, -i * lane_width],
[square_length / 2 + extension, square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
v_light = self.env.v_light
if v_light == 0:
v_color, h_color = 'green', 'red'
elif v_light == 1:
v_color, h_color = 'orange', 'red'
elif v_light == 2:
v_color, h_color = 'red', 'green'
else:
v_color, h_color = 'red', 'orange'
plt.plot([0, (LANE_NUMBER - 1) * lane_width],
[-square_length / 2, -square_length / 2],
color=v_color,
linewidth=light_line_width)
plt.plot([(LANE_NUMBER - 1) * lane_width, LANE_NUMBER * lane_width],
[-square_length / 2, -square_length / 2],
color='green',
linewidth=light_line_width)
plt.plot([-LANE_NUMBER * lane_width, -(LANE_NUMBER - 1) * lane_width],
[square_length / 2, square_length / 2],
color='green',
linewidth=light_line_width)
plt.plot([-(LANE_NUMBER - 1) * lane_width, 0],
[square_length / 2, square_length / 2],
color=v_color,
linewidth=light_line_width)
plt.plot([-square_length / 2, -square_length / 2],
[0, -(LANE_NUMBER - 1) * lane_width],
color=h_color,
linewidth=light_line_width)
plt.plot([-square_length / 2, -square_length / 2],
[-(LANE_NUMBER - 1) * lane_width, -LANE_NUMBER * lane_width],
color='green',
linewidth=light_line_width)
plt.plot([square_length / 2, square_length / 2],
[(LANE_NUMBER - 1) * lane_width, 0],
color=h_color,
linewidth=light_line_width)
plt.plot([square_length / 2, square_length / 2],
[LANE_NUMBER * lane_width, (LANE_NUMBER - 1) * lane_width],
color='green',
linewidth=light_line_width)
# ----------Oblique--------------
plt.plot([LANE_NUMBER * lane_width, square_length / 2],
[-square_length / 2, -LANE_NUMBER * lane_width],
color='black',
linewidth=2)
plt.plot([LANE_NUMBER * lane_width, square_length / 2],
[square_length / 2, LANE_NUMBER * lane_width],
color='black',
linewidth=2)
plt.plot([-LANE_NUMBER * lane_width, -square_length / 2],
[-square_length / 2, -LANE_NUMBER * lane_width],
color='black',
linewidth=2)
plt.plot([-LANE_NUMBER * lane_width, -square_length / 2],
[square_length / 2, LANE_NUMBER * lane_width],
color='black',
linewidth=2)
def is_in_plot_area(x, y, tolerance=5):
if -square_length / 2 - extension + tolerance < x < square_length / 2 + extension - tolerance and \
-square_length / 2 - extension + tolerance < y < square_length / 2 + extension - tolerance:
return True
else:
return False
def draw_rotate_rec(x, y, a, l, w, c):
bottom_left_x, bottom_left_y, _ = rotate_coordination(
-l / 2, w / 2, 0, -a)
ax.add_patch(
plt.Rectangle((x + bottom_left_x, y + bottom_left_y),
w,
l,
edgecolor=c,
facecolor='white',
angle=-(90 - a),
zorder=50))
def plot_phi_line(x, y, phi, color):
line_length = 3
x_forw, y_forw = x + line_length * cos(phi * pi / 180.), \
y + line_length * sin(phi * pi / 180.)
plt.plot([x, x_forw], [y, y_forw], color=color, linewidth=0.5)
# plot cars
for veh in self.env.all_vehicles:
veh_x = veh['x']
veh_y = veh['y']
veh_phi = veh['phi']
veh_l = veh['l']
veh_w = veh['w']
if is_in_plot_area(veh_x, veh_y):
plot_phi_line(veh_x, veh_y, veh_phi, 'black')
draw_rotate_rec(veh_x, veh_y, veh_phi, veh_l, veh_w, 'black')
# plot_interested vehs
# for mode, num in self.veh_mode_dict.items():
# for i in range(num):
# veh = self.interested_vehs[mode][i]
# veh_x = veh['x']
# veh_y = veh['y']
# veh_phi = veh['phi']
# veh_l = veh['l']
# veh_w = veh['w']
# task2color = {'left': 'b', 'straight': 'c', 'right': 'm'}
#
# if is_in_plot_area(veh_x, veh_y):
# plot_phi_line(veh_x, veh_y, veh_phi, 'black')
# task = MODE2TASK[mode]
# color = task2color[task]
# draw_rotate_rec(veh_x, veh_y, veh_phi, veh_l, veh_w, color, linestyle=':')
ego_v_x = self.env.ego_dynamics['v_x']
ego_v_y = self.env.ego_dynamics['v_y']
ego_r = self.env.ego_dynamics['r']
ego_x = self.env.ego_dynamics['x']
ego_y = self.env.ego_dynamics['y']
ego_phi = self.env.ego_dynamics['phi']
ego_l = self.env.ego_dynamics['l']
ego_w = self.env.ego_dynamics['w']
ego_alpha_f = self.env.ego_dynamics['alpha_f']
ego_alpha_r = self.env.ego_dynamics['alpha_r']
alpha_f_bound = self.env.ego_dynamics['alpha_f_bound']
alpha_r_bound = self.env.ego_dynamics['alpha_r_bound']
r_bound = self.env.ego_dynamics['r_bound']
plot_phi_line(ego_x, ego_y, ego_phi, 'fuchsia')
draw_rotate_rec(ego_x, ego_y, ego_phi, ego_l, ego_w, 'fuchsia')
self.hist_posi.append((ego_x, ego_y))
# plot history data
for hist_x, hist_y in self.hist_posi:
plt.scatter(hist_x, hist_y, color='fuchsia', alpha=0.1)
# plot future data
tracking_info = self.obs[self.env.ego_info_dim:self.env.ego_info_dim +
self.env.per_tracking_info_dim *
(self.env.num_future_data + 1)]
future_path = tracking_info[self.env.per_tracking_info_dim:]
for i in range(self.env.num_future_data):
delta_x, delta_y, delta_phi = future_path[
i * self.env.per_tracking_info_dim:(i + 1) *
self.env.per_tracking_info_dim]
path_x, path_y, path_phi = ego_x + delta_x, ego_y + delta_y, ego_phi - delta_phi
plt.plot(path_x, path_y, 'g.')
plot_phi_line(path_x, path_y, path_phi, 'g')
delta_, _, _ = tracking_info[:3]
indexs, points = self.env.ref_path.find_closest_point(
np.array([ego_x], np.float32), np.array([ego_y], np.float32))
path_x, path_y, path_phi = points[0][0], points[1][0], points[2][0]
# plt.plot(path_x, path_y, 'g.')
delta_x, delta_y, delta_phi = ego_x - path_x, ego_y - path_y, ego_phi - path_phi
# plot real time traj
try:
color = ['blue', 'coral', 'darkcyan']
for i, item in enumerate(traj_list):
if i == path_index:
plt.plot(item.path[0], item.path[1], color=color[i])
else:
plt.plot(item.path[0],
item.path[1],
color=color[i],
alpha=0.3)
indexs, points = item.find_closest_point(
np.array([ego_x], np.float32), np.array([ego_y],
np.float32))
path_x, path_y, path_phi = points[0][0], points[1][0], points[
2][0]
plt.plot(path_x, path_y, color=color[i])
except Exception:
pass
# text
# text_x, text_y_start = -120, 60
# ge = iter(range(0, 1000, 4))
# plt.text(text_x, text_y_start - next(ge), 'ego_x: {:.2f}m'.format(ego_x))
# plt.text(text_x, text_y_start - next(ge), 'ego_y: {:.2f}m'.format(ego_y))
# plt.text(text_x, text_y_start - next(ge), 'path_x: {:.2f}m'.format(path_x))
# plt.text(text_x, text_y_start - next(ge), 'path_y: {:.2f}m'.format(path_y))
# plt.text(text_x, text_y_start - next(ge), 'delta_: {:.2f}m'.format(delta_))
# plt.text(text_x, text_y_start - next(ge), 'delta_x: {:.2f}m'.format(delta_x))
# plt.text(text_x, text_y_start - next(ge), 'delta_y: {:.2f}m'.format(delta_y))
# plt.text(text_x, text_y_start - next(ge), r'ego_phi: ${:.2f}\degree$'.format(ego_phi))
# plt.text(text_x, text_y_start - next(ge), r'path_phi: ${:.2f}\degree$'.format(path_phi))
# plt.text(text_x, text_y_start - next(ge), r'delta_phi: ${:.2f}\degree$'.format(delta_phi))
# plt.text(text_x, text_y_start - next(ge), 'v_x: {:.2f}m/s'.format(ego_v_x))
# plt.text(text_x, text_y_start - next(ge), 'exp_v: {:.2f}m/s'.format(self.env.exp_v))
# plt.text(text_x, text_y_start - next(ge), 'v_y: {:.2f}m/s'.format(ego_v_y))
# plt.text(text_x, text_y_start - next(ge), 'yaw_rate: {:.2f}rad/s'.format(ego_r))
# plt.text(text_x, text_y_start - next(ge), 'yaw_rate bound: [{:.2f}, {:.2f}]'.format(-r_bound, r_bound))
#
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_f$: {:.2f} rad'.format(ego_alpha_f))
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_f$ bound: [{:.2f}, {:.2f}] '.format(-alpha_f_bound,
# alpha_f_bound))
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_r$: {:.2f} rad'.format(ego_alpha_r))
# plt.text(text_x, text_y_start - next(ge), r'$\alpha_r$ bound: [{:.2f}, {:.2f}] '.format(-alpha_r_bound,
# alpha_r_bound))
# if self.env.action is not None:
# steer, a_x = self.env.action[0], self.env.action[1]
# plt.text(text_x, text_y_start - next(ge),
# r'steer: {:.2f}rad (${:.2f}\degree$)'.format(steer, steer * 180 / np.pi))
# plt.text(text_x, text_y_start - next(ge), 'a_x: {:.2f}m/s^2'.format(a_x))
#
# text_x, text_y_start = 70, 60
# ge = iter(range(0, 1000, 4))
#
# # done info
# plt.text(text_x, text_y_start - next(ge), 'done info: {}'.format(self.env.done_type))
#
# # reward info
# if self.env.reward_info is not None:
# for key, val in self.env.reward_info.items():
# plt.text(text_x, text_y_start - next(ge), '{}: {:.4f}'.format(key, val))
#
# # indicator for trajectory selection
# text_x, text_y_start = -18, -70
# ge = iter(range(0, 1000, 6))
# if path_values is not None:
# for i, value in enumerate(path_values):
# if i == path_index:
# plt.text(text_x, text_y_start - next(ge), 'Path reward={:.4f}'.format(value[0]), fontsize=14,
# color=color[i], fontstyle='italic')
# else:
# plt.text(text_x, text_y_start - next(ge), 'Path reward={:.4f}'.format(value[0]), fontsize=12,
# color=color[i], fontstyle='italic')
plt.show()
plt.pause(0.001)
if self.logdir is not None:
plt.savefig(self.logdir +
'/episode{}'.format(self.episode_counter) +
'/step{}.pdf'.format(self.step_counter))
class CrossroadEnd2end(gym.Env):
def __init__(
self,
training_task, # 'left', 'straight', 'right'
num_future_data=0,
display=False,
**kwargs):
metadata = {'render.modes': ['human']}
self.dynamics = VehicleDynamics()
self.interested_vehs = None
self.training_task = training_task
self.ref_path = ReferencePath(self.training_task, **kwargs)
self.detected_vehicles = None
self.all_vehicles = None
self.ego_dynamics = None
self.num_future_data = num_future_data
self.env_model = EnvironmentModel(training_task, num_future_data)
self.init_state = {}
self.action_number = 2
self.exp_v = EXPECTED_V #TODO: temp
self.ego_l, self.ego_w = L, W
self.action_space = gym.spaces.Box(low=-1,
high=1,
shape=(self.action_number, ),
dtype=np.float32)
self.seed()
self.v_light = None
self.step_length = 100 # ms
self.step_time = self.step_length / 1000.0
self.init_state = self._reset_init_state()
self.obs = None
self.action = None
self.veh_mode_dict = VEHICLE_MODE_DICT[self.training_task]
self.veh_num = VEH_NUM[self.training_task]
self.virtual_red_light_vehicle = False
self.done_type = 'not_done_yet'
self.reward_info = None
self.ego_info_dim = None
self.per_tracking_info_dim = None
self.per_veh_info_dim = None
if not display:
self.traffic = Traffic(self.step_length,
mode='training',
init_n_ego_dict=self.init_state,
training_task=self.training_task)
self.reset()
action = self.action_space.sample()
observation, _reward, done, _info = self.step(action)
self._set_observation_space(observation)
plt.ion()
def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
def reset(self, **kwargs): # kwargs include three keys
self.ref_path = ReferencePath(self.training_task, **kwargs)
self.init_state = self._reset_init_state()
self.traffic.init_traffic(self.init_state)
self.traffic.sim_step()
ego_dynamics = self._get_ego_dynamics([
self.init_state['ego']['v_x'], self.init_state['ego']['v_y'],
self.init_state['ego']['r'], self.init_state['ego']['x'],
self.init_state['ego']['y'], self.init_state['ego']['phi']
], [
0, 0, self.dynamics.vehicle_params['miu'],
self.dynamics.vehicle_params['miu']
])
self._get_all_info(ego_dynamics)
self.obs = self._get_obs()
self.action = None
self.reward_info = None
self.done_type = 'not_done_yet'
if np.random.random() > 0.9:
self.virtual_red_light_vehicle = True
else:
self.virtual_red_light_vehicle = False
return self.obs
def close(self):
del self.traffic
def step(self, action):
self.action = self._action_transformation_for_end2end(action)
reward, self.reward_info = self.compute_reward(self.obs, self.action)
next_ego_state, next_ego_params = self._get_next_ego_state(self.action)
ego_dynamics = self._get_ego_dynamics(next_ego_state, next_ego_params)
self.traffic.set_own_car(dict(ego=ego_dynamics))
self.traffic.sim_step()
all_info = self._get_all_info(ego_dynamics)
self.obs = self._get_obs()
self.done_type, done = self._judge_done()
self.reward_info.update({'final_rew': reward})
all_info.update({
'reward_info': self.reward_info,
'ref_index': self.ref_path.ref_index
})
return self.obs, reward, done, all_info
def _set_observation_space(self, observation):
self.observation_space = convert_observation_to_space(observation)
return self.observation_space
def _get_ego_dynamics(self, next_ego_state, next_ego_params):
out = dict(
v_x=next_ego_state[0],
v_y=next_ego_state[1],
r=next_ego_state[2],
x=next_ego_state[3],
y=next_ego_state[4],
phi=next_ego_state[5],
l=self.ego_l,
w=self.ego_w,
alpha_f=next_ego_params[0],
alpha_r=next_ego_params[1],
miu_f=next_ego_params[2],
miu_r=next_ego_params[3],
)
miu_f, miu_r = out['miu_f'], out['miu_r']
F_zf, F_zr = self.dynamics.vehicle_params[
'F_zf'], self.dynamics.vehicle_params['F_zr']
C_f, C_r = self.dynamics.vehicle_params[
'C_f'], self.dynamics.vehicle_params['C_r']
alpha_f_bound, alpha_r_bound = 3 * miu_f * F_zf / C_f, 3 * miu_r * F_zr / C_r
r_bound = miu_r * self.dynamics.vehicle_params['g'] / (
abs(out['v_x']) + 1e-8)
l, w, x, y, phi = out['l'], out['w'], out['x'], out['y'], out['phi']
def cal_corner_point_of_ego_car():
x0, y0, a0 = rotate_and_shift_coordination(l / 2, w / 2, 0, -x, -y,
-phi)
x1, y1, a1 = rotate_and_shift_coordination(l / 2, -w / 2, 0, -x,
-y, -phi)
x2, y2, a2 = rotate_and_shift_coordination(-l / 2, w / 2, 0, -x,
-y, -phi)
x3, y3, a3 = rotate_and_shift_coordination(-l / 2, -w / 2, 0, -x,
-y, -phi)
return (x0, y0), (x1, y1), (x2, y2), (x3, y3)
Corner_point = cal_corner_point_of_ego_car()
out.update(
dict(alpha_f_bound=alpha_f_bound,
alpha_r_bound=alpha_r_bound,
r_bound=r_bound,
Corner_point=Corner_point))
return out
def _get_all_info(
self, ego_dynamics
): # used to update info, must be called every timestep before _get_obs
# to fetch info
self.all_vehicles = self.traffic.n_ego_vehicles[
'ego'] # coordination 2
self.ego_dynamics = ego_dynamics # coordination 2
self.v_light = self.traffic.v_light
# all_vehicles
# dict(x=x, y=y, v=v, phi=a, l=length,
# w=width, route=route)
all_info = dict(all_vehicles=self.all_vehicles,
ego_dynamics=self.ego_dynamics,
v_light=self.v_light)
return all_info
def _judge_done(self):
"""
:return:
1: bad done: collision
2: bad done: break_road_constrain
3: good done: task succeed
4: not done
"""
if self.traffic.collision_flag:
return 'collision', 1
if self._break_road_constrain():
return 'break_road_constrain', 1
elif self._deviate_too_much():
return 'deviate_too_much', 1
elif self._break_stability():
return 'break_stability', 1
elif self._break_red_light():
return 'break_red_light', 1
elif self._is_achieve_goal():
return 'good_done', 1
else:
return 'not_done_yet', 0
def _deviate_too_much(self):
delta_y, delta_phi, delta_v = self.obs[self.
ego_info_dim:self.ego_info_dim +
3]
return True if abs(delta_y) > 15 else False
def _break_road_constrain(self):
results = list(
map(lambda x: judge_feasible(*x, self.training_task),
self.ego_dynamics['Corner_point']))
return not all(results)
def _break_stability(self):
alpha_f, alpha_r, miu_f, miu_r = self.ego_dynamics['alpha_f'], self.ego_dynamics['alpha_r'], \
self.ego_dynamics['miu_f'], self.ego_dynamics['miu_r']
alpha_f_bound, alpha_r_bound = self.ego_dynamics[
'alpha_f_bound'], self.ego_dynamics['alpha_r_bound']
r_bound = self.ego_dynamics['r_bound']
# if -alpha_f_bound < alpha_f < alpha_f_bound \
# and -alpha_r_bound < alpha_r < alpha_r_bound and \
# -r_bound < self.ego_dynamics['r'] < r_bound:
if -r_bound < self.ego_dynamics['r'] < r_bound:
return False
else:
return True
def _break_red_light(self):
return True if self.v_light != 0 and self.ego_dynamics[
'y'] > -CROSSROAD_SIZE / 2 and self.training_task != 'right' else False
def _is_achieve_goal(self):
x = self.ego_dynamics['x']
y = self.ego_dynamics['y']
if self.training_task == 'left':
return True if x < -CROSSROAD_SIZE / 2 - 10 and 0 < y < LANE_NUMBER * LANE_WIDTH else False
elif self.training_task == 'right':
return True if x > CROSSROAD_SIZE / 2 + 10 and -LANE_NUMBER * LANE_WIDTH < y < 0 else False
else:
assert self.training_task == 'straight'
return True if y > CROSSROAD_SIZE / 2 + 10 and 0 < x < LANE_NUMBER * LANE_WIDTH else False
def _action_transformation_for_end2end(self, action): # [-1, 1]
action = np.clip(action, -1.05, 1.05)
steer_norm, a_x_norm = action[0], action[1]
scaled_steer = 0.4 * steer_norm
scaled_a_x = 2.25 * a_x_norm - 0.75 # [-3, 1.5]
scaled_action = np.array([scaled_steer, scaled_a_x], dtype=np.float32)
return scaled_action
def _get_next_ego_state(self, trans_action):
current_v_x = self.ego_dynamics['v_x']
current_v_y = self.ego_dynamics['v_y']
current_r = self.ego_dynamics['r']
current_x = self.ego_dynamics['x']
current_y = self.ego_dynamics['y']
current_phi = self.ego_dynamics['phi']
steer, a_x = trans_action
state = np.array([[
current_v_x, current_v_y, current_r, current_x, current_y,
current_phi
]],
dtype=np.float32)
action = np.array([[steer, a_x]], dtype=np.float32)
next_ego_state, next_ego_params = self.dynamics.prediction(
state, action, 10)
next_ego_state, next_ego_params = next_ego_state.numpy(
)[0], next_ego_params.numpy()[0]
next_ego_state[0] = next_ego_state[0] if next_ego_state[0] >= 0 else 0.
next_ego_state[-1] = deal_with_phi(next_ego_state[-1])
return next_ego_state, next_ego_params
def _get_obs(self, exit_='D'):
ego_x = self.ego_dynamics['x']
ego_y = self.ego_dynamics['y']
ego_phi = self.ego_dynamics['phi']
ego_v_x = self.ego_dynamics['v_x']
vehs_vector = self._construct_veh_vector_short(exit_)
ego_vector = self._construct_ego_vector_short()
tracking_error = self.ref_path.tracking_error_vector(
np.array([ego_x], dtype=np.float32),
np.array([ego_y], dtype=np.float32),
np.array([ego_phi], dtype=np.float32),
np.array([ego_v_x], dtype=np.float32),
self.num_future_data).numpy()[0]
self.per_tracking_info_dim = 3
vector = np.concatenate((ego_vector, tracking_error, vehs_vector),
axis=0)
# vector = self.convert_vehs_to_rela(vector)
return vector
# def convert_vehs_to_rela(self, obs_abso):
# ego_infos, tracking_infos, veh_infos = obs_abso[:self.ego_info_dim], \
# obs_abso[self.ego_info_dim:self.ego_info_dim + self.per_tracking_info_dim * (
# self.num_future_data + 1)], \
# obs_abso[self.ego_info_dim + self.per_tracking_info_dim * (
# self.num_future_data + 1):]
# ego_vx, ego_vy, ego_r, ego_x, ego_y, ego_phi = ego_infos
# ego = np.array([ego_x, ego_y, 0, 0]*int(len(veh_infos)/self.per_veh_info_dim), dtype=np.float32)
# vehs_rela = veh_infos - ego
# out = np.concatenate((ego_infos, tracking_infos, vehs_rela), axis=0)
# return out
#
# def convert_vehs_to_abso(self, obs_rela):
# ego_infos, tracking_infos, veh_rela = obs_rela[:self.ego_info_dim], \
# obs_rela[self.ego_info_dim:self.ego_info_dim + self.per_tracking_info_dim * (
# self.num_future_data + 1)], \
# obs_rela[self.ego_info_dim + self.per_tracking_info_dim * (
# self.num_future_data + 1):]
# ego_vx, ego_vy, ego_r, ego_x, ego_y, ego_phi = ego_infos
# ego = np.array([ego_x, ego_y, 0, 0]*int(len(veh_rela)/self.per_veh_info_dim), dtype=np.float32)
# vehs_abso = veh_rela + ego
# out = np.concatenate((ego_infos, tracking_infos, vehs_abso), axis=0)
# return out
def _construct_ego_vector_short(self):
ego_v_x = self.ego_dynamics['v_x']
ego_v_y = self.ego_dynamics['v_y']
ego_r = self.ego_dynamics['r']
ego_x = self.ego_dynamics['x']
ego_y = self.ego_dynamics['y']
ego_phi = self.ego_dynamics['phi']
ego_feature = [ego_v_x, ego_v_y, ego_r, ego_x, ego_y, ego_phi]
self.ego_info_dim = 6
return np.array(ego_feature, dtype=np.float32)
def _construct_veh_vector_short(self, exit_='D'):
ego_x = self.ego_dynamics['x']
ego_y = self.ego_dynamics['y']
v_light = self.v_light
vehs_vector = []
name_settings = dict(D=dict(do='1o',
di='1i',
ro='2o',
ri='2i',
uo='3o',
ui='3i',
lo='4o',
li='4i'),
R=dict(do='2o',
di='2i',
ro='3o',
ri='3i',
uo='4o',
ui='4i',
lo='1o',
li='1i'),
U=dict(do='3o',
di='3i',
ro='4o',
ri='4i',
uo='1o',
ui='1i',
lo='2o',
li='2i'),
L=dict(do='4o',
di='4i',
ro='1o',
ri='1i',
uo='2o',
ui='2i',
lo='3o',
li='3i'))
name_setting = name_settings[exit_]
def filter_interested_vehicles(vs, task):
dl, du, dr, rd, rl, ru, ur, ud, ul, lu, lr, ld = [], [], [], [], [], [], [], [], [], [], [], []
for v in vs:
route_list = v['route']
start = route_list[0]
end = route_list[1]
if start == name_setting['do'] and end == name_setting['li']:
dl.append(v)
elif start == name_setting['do'] and end == name_setting['ui']:
du.append(v)
elif start == name_setting['do'] and end == name_setting['ri']:
dr.append(v)
elif start == name_setting['ro'] and end == name_setting['di']:
rd.append(v)
elif start == name_setting['ro'] and end == name_setting['li']:
rl.append(v)
elif start == name_setting['ro'] and end == name_setting['ui']:
ru.append(v)
elif start == name_setting['uo'] and end == name_setting['ri']:
ur.append(v)
elif start == name_setting['uo'] and end == name_setting['di']:
ud.append(v)
elif start == name_setting['uo'] and end == name_setting['li']:
ul.append(v)
elif start == name_setting['lo'] and end == name_setting['ui']:
lu.append(v)
elif start == name_setting['lo'] and end == name_setting['ri']:
lr.append(v)
elif start == name_setting['lo'] and end == name_setting['di']:
ld.append(v)
if self.training_task != 'right':
if (v_light != 0 and ego_y < -CROSSROAD_SIZE/2) \
or (self.virtual_red_light_vehicle and ego_y < -CROSSROAD_SIZE/2):
dl.append(
dict(x=LANE_WIDTH / 2,
y=-CROSSROAD_SIZE / 2 + 2.5,
v=0.,
phi=90,
l=5,
w=2.5,
route=None))
du.append(
dict(x=LANE_WIDTH * 1.5,
y=-CROSSROAD_SIZE / 2 + 2.5,
v=0.,
phi=90,
l=5,
w=2.5,
route=None))
# fetch veh in range
dl = list(
filter(
lambda v: v['x'] > -CROSSROAD_SIZE / 2 - 10 and v['y'] >
ego_y - 2, dl)) # interest of left straight
du = list(
filter(
lambda v: ego_y - 2 < v['y'] < CROSSROAD_SIZE / 2 + 10 and
v['x'] < ego_x + 5, du)) # interest of left straight
dr = list(
filter(
lambda v: v['x'] < CROSSROAD_SIZE / 2 + 10 and v['y'] >
ego_y, dr)) # interest of right
rd = rd # not interest in case of traffic light
rl = rl # not interest in case of traffic light
ru = list(
filter(
lambda v: v['x'] < CROSSROAD_SIZE / 2 + 10 and v['y'] <
CROSSROAD_SIZE / 2 + 10, ru)) # interest of straight
if task == 'straight':
ur = list(
filter(
lambda v: v['x'] < ego_x + 7 and ego_y < v['y'] <
CROSSROAD_SIZE / 2 + 10, ur)) # interest of straight
elif task == 'right':
ur = list(
filter(
lambda v: v['x'] < CROSSROAD_SIZE / 2 + 10 and v['y'] <
CROSSROAD_SIZE / 2, ur)) # interest of right
ud = list(
filter(
lambda v: max(ego_y - 2, -CROSSROAD_SIZE / 2) < v[
'y'] < CROSSROAD_SIZE / 2 and ego_x > v['x'],
ud)) # interest of left
ul = list(
filter(
lambda v: -CROSSROAD_SIZE / 2 - 10 < v['x'] < ego_x and v[
'y'] < CROSSROAD_SIZE / 2, ul)) # interest of left
lu = lu # not interest in case of traffic light
lr = list(
filter(
lambda v: -CROSSROAD_SIZE / 2 - 10 < v['x'] <
CROSSROAD_SIZE / 2 + 10, lr)) # interest of right
ld = ld # not interest in case of traffic light
# sort
dl = sorted(dl, key=lambda v: (v['y'], -v['x']))
du = sorted(du, key=lambda v: v['y'])
dr = sorted(dr, key=lambda v: (v['y'], v['x']))
ru = sorted(ru, key=lambda v: (-v['x'], v['y']), reverse=True)
if task == 'straight':
ur = sorted(ur, key=lambda v: v['y'])
elif task == 'right':
ur = sorted(ur, key=lambda v: (-v['y'], v['x']), reverse=True)
ud = sorted(ud, key=lambda v: v['y'])
ul = sorted(ul, key=lambda v: (-v['y'], -v['x']), reverse=True)
lr = sorted(lr, key=lambda v: -v['x'])
# slice or fill to some number
def slice_or_fill(sorted_list, fill_value, num):
if len(sorted_list) >= num:
return sorted_list[:num]
else:
while len(sorted_list) < num:
sorted_list.append(fill_value)
return sorted_list
mode2fillvalue = dict(dl=dict(x=LANE_WIDTH / 2,
y=-(CROSSROAD_SIZE / 2 + 30),
v=0,
phi=90,
w=2.5,
l=5,
route=('1o', '4i')),
du=dict(x=LANE_WIDTH * 1.5,
y=-(CROSSROAD_SIZE / 2 + 30),
v=0,
phi=90,
w=2.5,
l=5,
route=('1o', '3i')),
dr=dict(x=LANE_WIDTH * (LANE_NUMBER - 0.5),
y=-(CROSSROAD_SIZE / 2 + 30),
v=0,
phi=90,
w=2.5,
l=5,
route=('1o', '2i')),
ru=dict(x=(CROSSROAD_SIZE / 2 + 15),
y=LANE_WIDTH * (LANE_NUMBER - 0.5),
v=0,
phi=180,
w=2.5,
l=5,
route=('2o', '3i')),
ur=dict(x=-LANE_WIDTH / 2,
y=(CROSSROAD_SIZE / 2 + 20),
v=0,
phi=-90,
w=2.5,
l=5,
route=('3o', '2i')),
ud=dict(x=-LANE_WIDTH * 1.5,
y=(CROSSROAD_SIZE / 2 + 20),
v=0,
phi=-90,
w=2.5,
l=5,
route=('3o', '1i')),
ul=dict(x=-LANE_WIDTH * (LANE_NUMBER - 0.5),
y=(CROSSROAD_SIZE / 2 + 20),
v=0,
phi=-90,
w=2.5,
l=5,
route=('3o', '4i')),
lr=dict(x=-(CROSSROAD_SIZE / 2 + 20),
y=-LANE_WIDTH * 1.5,
v=0,
phi=0,
w=2.5,
l=5,
route=('4o', '2i')))
tmp = OrderedDict()
for mode, num in VEHICLE_MODE_DICT[task].items():
tmp[mode] = slice_or_fill(eval(mode), mode2fillvalue[mode],
num)
return tmp
list_of_interested_veh_dict = []
self.interested_vehs = filter_interested_vehicles(
self.all_vehicles, self.training_task)
for part in list(self.interested_vehs.values()):
list_of_interested_veh_dict.extend(part)
for veh in list_of_interested_veh_dict:
veh_x, veh_y, veh_v, veh_phi = veh['x'], veh['y'], veh['v'], veh[
'phi']
vehs_vector.extend([veh_x, veh_y, veh_v, veh_phi])
self.per_veh_info_dim = 4
return np.array(vehs_vector, dtype=np.float32)
def recover_orig_position_fn(self, transformed_x, transformed_y, x, y,
d): # x, y, d are used to transform
# coordination
transformed_x, transformed_y, _ = rotate_coordination(
transformed_x, transformed_y, 0, -d)
orig_x, orig_y = shift_coordination(transformed_x, transformed_y, -x,
-y)
return orig_x, orig_y
def _reset_init_state(self):
if self.training_task == 'left':
random_index = int(np.random.random() * (900 + 500)) + 700
elif self.training_task == 'straight':
random_index = int(np.random.random() * (1200 + 500)) + 700
else:
random_index = int(np.random.random() * (420 + 500)) + 700
x, y, phi = self.ref_path.indexs2points(random_index)
# v = 7 + 6 * np.random.random()
v = EXPECTED_V * np.random.random()
if self.training_task == 'left':
routeID = 'dl'
elif self.training_task == 'straight':
routeID = 'du'
else:
assert self.training_task == 'right'
routeID = 'dr'
return dict(ego=dict(
v_x=v,
v_y=0,
r=0,
x=x.numpy(),
y=y.numpy(),
phi=phi.numpy(),
l=self.ego_l,
w=self.ego_w,
routeID=routeID,
))
def compute_reward(self, obs, action):
obses, actions = obs[np.newaxis, :], action[np.newaxis, :]
reward, _, _, _, _, reward_dict = \
self.env_model.compute_rewards(obses, actions)
for k, v in reward_dict.items():
reward_dict[k] = v.numpy()[0]
return reward.numpy()[0], reward_dict
def render(self, mode='human'):
if mode == 'human':
# plot basic map
square_length = CROSSROAD_SIZE
extension = 40
lane_width = LANE_WIDTH
light_line_width = 3
dotted_line_style = '--'
solid_line_style = '-'
plt.cla()
ax = plt.axes([-0.05, -0.05, 1.1, 1.1])
ax.axis("equal")
# ax.add_patch(plt.Rectangle((-square_length / 2 - extension, -square_length / 2 - extension),
# square_length + 2 * extension, square_length + 2 * extension, edgecolor='black',
# facecolor='none', linewidth=2))
# ----------arrow--------------
plt.arrow(lane_width / 2, -square_length / 2 - 10, 0, 5, color='b')
plt.arrow(lane_width / 2,
-square_length / 2 - 10 + 5,
-0.5,
0,
color='b',
head_width=1)
plt.arrow(lane_width * 1.5,
-square_length / 2 - 10,
0,
4,
color='b',
head_width=1)
plt.arrow(lane_width * 2.5,
-square_length / 2 - 10,
0,
5,
color='b')
plt.arrow(lane_width * 2.5,
-square_length / 2 - 10 + 5,
0.5,
0,
color='b',
head_width=1)
# ----------horizon--------------
plt.plot([-square_length / 2 - extension, -square_length / 2],
[0.3, 0.3],
color='orange')
plt.plot([-square_length / 2 - extension, -square_length / 2],
[-0.3, -0.3],
color='orange')
plt.plot([square_length / 2 + extension, square_length / 2],
[0.3, 0.3],
color='orange')
plt.plot([square_length / 2 + extension, square_length / 2],
[-0.3, -0.3],
color='orange')
#
for i in range(1, LANE_NUMBER + 1):
linestyle = dotted_line_style if i < LANE_NUMBER else solid_line_style
linewidth = 1 if i < LANE_NUMBER else 2
plt.plot([-square_length / 2 - extension, -square_length / 2],
[i * lane_width, i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([square_length / 2 + extension, square_length / 2],
[i * lane_width, i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([-square_length / 2 - extension, -square_length / 2],
[-i * lane_width, -i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([square_length / 2 + extension, square_length / 2],
[-i * lane_width, -i * lane_width],
linestyle=linestyle,
color='black',
linewidth=linewidth)
# ----------vertical----------------
plt.plot([0.3, 0.3],
[-square_length / 2 - extension, -square_length / 2],
color='orange')
plt.plot([-0.3, -0.3],
[-square_length / 2 - extension, -square_length / 2],
color='orange')
plt.plot([0.3, 0.3],
[square_length / 2 + extension, square_length / 2],
color='orange')
plt.plot([-0.3, -0.3],
[square_length / 2 + extension, square_length / 2],
color='orange')
#
for i in range(1, LANE_NUMBER + 1):
linestyle = dotted_line_style if i < LANE_NUMBER else solid_line_style
linewidth = 1 if i < LANE_NUMBER else 2
plt.plot([i * lane_width, i * lane_width],
[-square_length / 2 - extension, -square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([i * lane_width, i * lane_width],
[square_length / 2 + extension, square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([-i * lane_width, -i * lane_width],
[-square_length / 2 - extension, -square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
plt.plot([-i * lane_width, -i * lane_width],
[square_length / 2 + extension, square_length / 2],
linestyle=linestyle,
color='black',
linewidth=linewidth)
# ----------stop line--------------
# plt.plot([0, 2 * lane_width], [-square_length / 2, -square_length / 2],
# color='black')
# plt.plot([-2 * lane_width, 0], [square_length / 2, square_length / 2],
# color='black')
# plt.plot([-square_length / 2, -square_length / 2], [0, -2 * lane_width],
# color='black')
# plt.plot([square_length / 2, square_length / 2], [2 * lane_width, 0],
# color='black')
v_light = self.v_light
if v_light == 0:
v_color, h_color = 'green', 'red'
elif v_light == 1:
v_color, h_color = 'orange', 'red'
elif v_light == 2:
v_color, h_color = 'red', 'green'
else:
v_color, h_color = 'red', 'orange'
plt.plot([0, (LANE_NUMBER - 1) * lane_width],
[-square_length / 2, -square_length / 2],
color=v_color,
linewidth=light_line_width)
plt.plot(
[(LANE_NUMBER - 1) * lane_width, LANE_NUMBER * lane_width],
[-square_length / 2, -square_length / 2],
color='green',
linewidth=light_line_width)
plt.plot(
[-LANE_NUMBER * lane_width, -(LANE_NUMBER - 1) * lane_width],
[square_length / 2, square_length / 2],
color='green',
linewidth=light_line_width)
plt.plot([-(LANE_NUMBER - 1) * lane_width, 0],
[square_length / 2, square_length / 2],
color=v_color,
linewidth=light_line_width)
plt.plot([-square_length / 2, -square_length / 2],
[0, -(LANE_NUMBER - 1) * lane_width],
color=h_color,
linewidth=light_line_width)
plt.plot(
[-square_length / 2, -square_length / 2],
[-(LANE_NUMBER - 1) * lane_width, -LANE_NUMBER * lane_width],
color='green',
linewidth=light_line_width)
plt.plot([square_length / 2, square_length / 2],
[(LANE_NUMBER - 1) * lane_width, 0],
color=h_color,
linewidth=light_line_width)
plt.plot(
[square_length / 2, square_length / 2],
[LANE_NUMBER * lane_width, (LANE_NUMBER - 1) * lane_width],
color='green',
linewidth=light_line_width)
# ----------Oblique--------------
plt.plot([LANE_NUMBER * lane_width, square_length / 2],
[-square_length / 2, -LANE_NUMBER * lane_width],
color='black',
linewidth=2)
plt.plot([LANE_NUMBER * lane_width, square_length / 2],
[square_length / 2, LANE_NUMBER * lane_width],
color='black',
linewidth=2)
plt.plot([-LANE_NUMBER * lane_width, -square_length / 2],
[-square_length / 2, -LANE_NUMBER * lane_width],
color='black',
linewidth=2)
plt.plot([-LANE_NUMBER * lane_width, -square_length / 2],
[square_length / 2, LANE_NUMBER * lane_width],
color='black',
linewidth=2)
def is_in_plot_area(x, y, tolerance=5):
if -square_length / 2 - extension + tolerance < x < square_length / 2 + extension - tolerance and \
-square_length / 2 - extension + tolerance < y < square_length / 2 + extension - tolerance:
return True
else:
return False
def draw_rotate_rec(x, y, a, l, w, color, linestyle='-'):
RU_x, RU_y, _ = rotate_coordination(l / 2, w / 2, 0, -a)
RD_x, RD_y, _ = rotate_coordination(l / 2, -w / 2, 0, -a)
LU_x, LU_y, _ = rotate_coordination(-l / 2, w / 2, 0, -a)
LD_x, LD_y, _ = rotate_coordination(-l / 2, -w / 2, 0, -a)
ax.plot([RU_x + x, RD_x + x], [RU_y + y, RD_y + y],
color=color,
linestyle=linestyle)
ax.plot([RU_x + x, LU_x + x], [RU_y + y, LU_y + y],
color=color,
linestyle=linestyle)
ax.plot([LD_x + x, RD_x + x], [LD_y + y, RD_y + y],
color=color,
linestyle=linestyle)
ax.plot([LD_x + x, LU_x + x], [LD_y + y, LU_y + y],
color=color,
linestyle=linestyle)
def plot_phi_line(x, y, phi, color):
line_length = 5
x_forw, y_forw = x + line_length * cos(phi*pi/180.),\
y + line_length * sin(phi*pi/180.)
plt.plot([x, x_forw], [y, y_forw], color=color, linewidth=0.5)
# plot cars
for veh in self.all_vehicles:
veh_x = veh['x']
veh_y = veh['y']
veh_phi = veh['phi']
veh_l = veh['l']
veh_w = veh['w']
if is_in_plot_area(veh_x, veh_y):
plot_phi_line(veh_x, veh_y, veh_phi, 'black')
draw_rotate_rec(veh_x, veh_y, veh_phi, veh_l, veh_w,
'black')
# plot_interested vehs
for mode, num in self.veh_mode_dict.items():
for i in range(num):
veh = self.interested_vehs[mode][i]
veh_x = veh['x']
veh_y = veh['y']
veh_phi = veh['phi']
veh_l = veh['l']
veh_w = veh['w']
task2color = {'left': 'b', 'straight': 'c', 'right': 'm'}
if is_in_plot_area(veh_x, veh_y):
plot_phi_line(veh_x, veh_y, veh_phi, 'black')
task = MODE2TASK[mode]
color = task2color[task]
draw_rotate_rec(veh_x,
veh_y,
veh_phi,
veh_l,
veh_w,
color,
linestyle=':')
# plot own car
# dict(v_x=ego_dict['v_x'],
# v_y=ego_dict['v_y'],
# r=ego_dict['r'],
# x=ego_dict['x'],
# y=ego_dict['y'],
# phi=ego_dict['phi'],
# l=ego_dict['l'],
# w=ego_dict['w'],
# Corner_point=self.cal_corner_point_of_ego_car(ego_dict)
# alpha_f_bound=alpha_f_bound,
# alpha_r_bound=alpha_r_bound,
# r_bound=r_bound)
ego_v_x = self.ego_dynamics['v_x']
ego_v_y = self.ego_dynamics['v_y']
ego_r = self.ego_dynamics['r']
ego_x = self.ego_dynamics['x']
ego_y = self.ego_dynamics['y']
ego_phi = self.ego_dynamics['phi']
ego_l = self.ego_dynamics['l']
ego_w = self.ego_dynamics['w']
ego_alpha_f = self.ego_dynamics['alpha_f']
ego_alpha_r = self.ego_dynamics['alpha_r']
alpha_f_bound = self.ego_dynamics['alpha_f_bound']
alpha_r_bound = self.ego_dynamics['alpha_r_bound']
r_bound = self.ego_dynamics['r_bound']
plot_phi_line(ego_x, ego_y, ego_phi, 'red')
draw_rotate_rec(ego_x, ego_y, ego_phi, ego_l, ego_w, 'red')
# plot future data
tracking_info = self.obs[self.ego_info_dim:self.ego_info_dim +
self.per_tracking_info_dim *
(self.num_future_data + 1)]
future_path = tracking_info[self.per_tracking_info_dim:]
for i in range(self.num_future_data):
delta_x, delta_y, delta_phi = future_path[
i * self.per_tracking_info_dim:(i + 1) *
self.per_tracking_info_dim]
path_x, path_y, path_phi = ego_x + delta_x, ego_y + delta_y, ego_phi - delta_phi
plt.plot(path_x, path_y, 'g.')
plot_phi_line(path_x, path_y, path_phi, 'g')
delta_, _, _ = tracking_info[:3]
ax.plot(self.ref_path.path[0], self.ref_path.path[1], color='g')
indexs, points = self.ref_path.find_closest_point(
np.array([ego_x], np.float32), np.array([ego_y], np.float32))
path_x, path_y, path_phi = points[0][0], points[1][0], points[2][0]
plt.plot(path_x, path_y, 'g.')
delta_x, delta_y, delta_phi = ego_x - path_x, ego_y - path_y, ego_phi - path_phi
# plot real time traj
# try:
# color = ['b', 'lime']
# for i, item in enumerate(real_time_traj):
# if i == path_index:
# plt.plot(item.path[0], item.path[1], color=color[i], alpha=1.0)
# else:
# plt.plot(item.path[0], item.path[1], color=color[i], alpha=0.3)
# indexs, points = item.find_closest_point(np.array([ego_x], np.float32), np.array([ego_y], np.float32))
# path_x, path_y, path_phi = points[0][0], points[1][0], points[2][0]
# plt.plot(path_x, path_y, color=color[i])
# except Exception:
# pass
# for j, item_point in enumerate(self.real_path.feature_points_all):
# for k in range(len(item_point)):
# plt.scatter(item_point[k][0], item_point[k][1], c='g')
# text
text_x, text_y_start = -110, 60
ge = iter(range(0, 1000, 4))
plt.text(text_x, text_y_start - next(ge),
'ego_x: {:.2f}m'.format(ego_x))
plt.text(text_x, text_y_start - next(ge),
'ego_y: {:.2f}m'.format(ego_y))
plt.text(text_x, text_y_start - next(ge),
'path_x: {:.2f}m'.format(path_x))
plt.text(text_x, text_y_start - next(ge),
'path_y: {:.2f}m'.format(path_y))
plt.text(text_x, text_y_start - next(ge),
'delta_: {:.2f}m'.format(delta_))
plt.text(text_x, text_y_start - next(ge),
'delta_x: {:.2f}m'.format(delta_x))
plt.text(text_x, text_y_start - next(ge),
'delta_y: {:.2f}m'.format(delta_y))
plt.text(text_x, text_y_start - next(ge),
r'ego_phi: ${:.2f}\degree$'.format(ego_phi))
plt.text(text_x, text_y_start - next(ge),
r'path_phi: ${:.2f}\degree$'.format(path_phi))
plt.text(text_x, text_y_start - next(ge),
r'delta_phi: ${:.2f}\degree$'.format(delta_phi))
plt.text(text_x, text_y_start - next(ge),
'v_x: {:.2f}m/s'.format(ego_v_x))
plt.text(text_x, text_y_start - next(ge),
'exp_v: {:.2f}m/s'.format(self.exp_v))
plt.text(text_x, text_y_start - next(ge),
'v_y: {:.2f}m/s'.format(ego_v_y))
plt.text(text_x, text_y_start - next(ge),
'yaw_rate: {:.2f}rad/s'.format(ego_r))
plt.text(
text_x, text_y_start - next(ge),
'yaw_rate bound: [{:.2f}, {:.2f}]'.format(-r_bound, r_bound))
plt.text(text_x, text_y_start - next(ge),
r'$\alpha_f$: {:.2f} rad'.format(ego_alpha_f))
plt.text(
text_x, text_y_start - next(ge),
r'$\alpha_f$ bound: [{:.2f}, {:.2f}] '.format(
-alpha_f_bound, alpha_f_bound))
plt.text(text_x, text_y_start - next(ge),
r'$\alpha_r$: {:.2f} rad'.format(ego_alpha_r))
plt.text(
text_x, text_y_start - next(ge),
r'$\alpha_r$ bound: [{:.2f}, {:.2f}] '.format(
-alpha_r_bound, alpha_r_bound))
if self.action is not None:
steer, a_x = self.action[0], self.action[1]
plt.text(
text_x, text_y_start - next(ge),
r'steer: {:.2f}rad (${:.2f}\degree$)'.format(
steer, steer * 180 / np.pi))
plt.text(text_x, text_y_start - next(ge),
'a_x: {:.2f}m/s^2'.format(a_x))
text_x, text_y_start = 80, 60
ge = iter(range(0, 1000, 4))
# done info
plt.text(text_x, text_y_start - next(ge),
'done info: {}'.format(self.done_type))
# reward info
if self.reward_info is not None:
for key, val in self.reward_info.items():
plt.text(text_x, text_y_start - next(ge),
'{}: {:.4f}'.format(key, val))
# indicator for trajectory selection
# text_x, text_y_start = -25, -65
# ge = iter(range(0, 1000, 6))
# if traj_return is not None:
# for i, value in enumerate(traj_return):
# if i==path_index:
# plt.text(text_x, text_y_start-next(ge), 'track_error={:.4f}, collision_risk={:.4f}'.format(value[0], value[1]), fontsize=14, color=color[i], fontstyle='italic')
# else:
# plt.text(text_x, text_y_start-next(ge), 'track_error={:.4f}, collision_risk={:.4f}'.format(value[0], value[1]), fontsize=12, color=color[i], fontstyle='italic')
plt.show()
plt.pause(0.001)
def set_traj(self, trajectory):
"""set the real trajectory to reconstruct observation"""
self.ref_path = trajectory