def setUp(self):
vehicles = VehicleParams()
vehicles.add("rl", acceleration_controller=(RLController, {}))
vehicles.add("human", acceleration_controller=(IDMController, {}))
self.sim_params = SumoParams()
self.scenario = MergeScenario(
name="test_merge",
vehicles=vehicles,
net_params=NetParams(additional_params=MERGE_PARAMS.copy()),
)
self.env_params = EnvParams(additional_params={
"max_accel": 3,
"max_decel": 3,
"target_velocity": 25,
"num_rl": 5,
})
def dissipating_waves(render=None):
sim_params = SumoParams(sim_step=0.1, render=True, restart_instance=True)
if render is not None:
sim_params.render = render
# Setup vehicle types
vehicles = VehicleParams()
vehicles.add(veh_id="human",
acceleration_controller=(IDMController, {
"noise": 0.2
}),
car_following_params=SumoCarFollowingParams(
speed_mode="obey_safe_speed", ),
num_vehicles=5)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
car_following_params=SumoCarFollowingParams(
speed_mode="obey_safe_speed", ),
num_vehicles=0)
# Vehicles are introduced from both sides of merge, with RL vehicles entering
# from the highway portion as well
inflow = InFlows()
inflow.add(veh_type="human",
edge="inflow_highway",
vehs_per_hour=(1 - RL_PENETRATION) * FLOW_RATE,
depart_lane="free",
depart_speed=10)
inflow.add(veh_type="rl",
edge="inflow_highway",
vehs_per_hour=RL_PENETRATION * FLOW_RATE,
depart_lane="free",
depart_speed=10)
inflow.add(veh_type="human",
edge="inflow_merge",
vehs_per_hour=100,
depart_lane="free",
depart_speed=7.5)
# Set parameters for the network
additional_net_params = ADDITIONAL_NET_PARAMS.copy()
additional_net_params["pre_merge_length"] = 500
additional_net_params["post_merge_length"] = 200
additional_net_params["merge_lanes"] = 1
additional_net_params["highway_lanes"] = 1
net_params = NetParams(inflows=inflow,
additional_params=additional_net_params)
# Setup the scenario
initial_config = InitialConfig()
scenario = MergeScenario(name='testing',
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config)
# Setup the environment
env_params = EnvParams(additional_params=ADDITIONAL_ENV_PARAMS)
env = MergePOEnv(env_params, sim_params, scenario)
return Experiment(env)