def _create_vehicles(self):
"""
Create some new random vehicles of a given type, and add them on the road.
"""
self.vehicle = MDPVehicle.create_random(
self.road, 25, spacing=self.config["initial_spacing"])
self.road.vehicles.append(self.vehicle)
# create conservative cars on the road
vehicles_type1 = utils.class_from_path(
self.config["other_vehicles_type"])
vehicles_type2 = utils.class_from_path(
self.config["aggressive_vehicle_type"])
vehicles_type3 = utils.class_from_path(
self.config["aggressive_vehicle_type2"])
# add some aggressive vehicles in the road
count_aggressive = 0
for _ in range(self.config["vehicles_count"] +
self.config["num_aggressive"]):
a = np.random.randint(low=1, high=5)
if a == 1:
count_aggressive += 1
self.road.vehicles.append(
vehicles_type2.create_random(self.road))
if count_aggressive < 3:
self.road.vehicles.append(
vehicles_type3.create_random(self.road))
else:
self.road.vehicles.append(
vehicles_type1.create_random(self.road))
print("number of aggressive vehicles ", count_aggressive)
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
self.controlled_vehicles = []
for i in range(self.config["controlled_vehicles"]):
vehicle = self.action_type.vehicle_class(
self.road, [i * 20, 0], 2 * np.pi * self.np_random.rand(), 0)
self.road.vehicles.append(vehicle)
self.controlled_vehicles.append(vehicle)
self.initial_vehicle_count = []
c = 1
for i in range(1, self.config["initial_vehicle_count"]):
c = c * -1
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle_1 = other_vehicles_type(self.road, [c * i * 10, c * i * 3],
speed=.7)
# #vehicle_1 = self.action_type.vehicle_class(self.road, [c*i*10, c*i*3], 1*np.pi*self.np_random.rand(), .7)
#vehicle_1.act([.2,.3])
self.road.vehicles.append(vehicle_1)
self.initial_vehicle_count.append(vehicle_1)
for i in range(3, 10):
c = c * -1
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle_2 = other_vehicles_type(self.road, [c * i * 5, c * i * 1],
speed=0)
# self.road.vehicles.append(vehicle_2)
lane = self.np_random.choice(self.road.network.lanes_list())
self.goal = Landmark(self.road,
lane.position(lane.length / 2, 0),
heading=lane.heading)
self.road.objects.append(self.goal)
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
self.controlled_vehicles = []
for _ in range(self.config["controlled_vehicles"]):
vehicle = self.action_type.vehicle_class.create_random(
self.road, 25, spacing=self.config["initial_spacing"])
self.controlled_vehicles.append(vehicle)
self.road.vehicles.append(vehicle)
vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicles_type2 = utils.class_from_path(
"highway_env.vehicle.behavior.IDMVehicle")
for _ in range(self.config["vehicles_count"]):
self.road.vehicles.append(vehicles_type.create_random(self.road))
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
self.controlled_vehicles = []
for _ in range(self.config["controlled_vehicles"]):
vehicle = self.action_type.vehicle_class.create_random(
self.road,
speed=25,
lane_from="0",
lane_to="1",
lane_id=0,
spacing=self.config["ego_spacing"])
vehicle.SPEED_MIN = 18
self.controlled_vehicles.append(vehicle)
self.road.vehicles.append(vehicle)
vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
for _ in range(self.config["vehicles_count"]):
lanes = np.arange(self.config["lanes_count"])
lane_id = self.road.np_random.choice(lanes,
size=1,
p=lanes /
lanes.sum()).astype(int)[0]
lane = self.road.network.get_lane(("0", "1", lane_id))
vehicle = vehicles_type.create_random(
self.road,
lane_from="0",
lane_to="1",
lane_id=lane_id,
speed=lane.speed_limit,
spacing=1 / self.config["vehicles_density"],
).plan_route_to("3")
vehicle.enable_lane_change = False
self.road.vehicles.append(vehicle)
def _create_vehicles(self, parked_probability: float = 0.75) -> None:
"""
Create some new random vehicles of a given type, and add them on the road.
:param parked_probability: probability that a spot is occupied
"""
self.vehicle = self.action_type.vehicle_class(self.road,
self.vehicle_starting,
2 * np.pi * self.np_random.rand(), 0)
self.road.vehicles.append(self.vehicle)
goal_position = [self.np_random.choice([-2 * self.spots - 10, 2 * self.spots + 10]), 0]
self.goal = Landmark(self.road, goal_position, heading=0)
self.road.objects.append(self.goal)
vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
for i in range(self.config["vehicles_count"]):
is_parked = self.np_random.rand() <= parked_probability
if not is_parked:
# Just an effort to spread the vehicles out
idx = self.np_random.randint(0, self.num_middle_lanes)
longitudinal = (i * 5) - (self.x_range / 8) * self.np_random.randint(-1, 1)
self.road.vehicles.append(
vehicles_type.make_on_lane(self.road, ("d", "e", idx), longitudinal, speed=2))
else:
lane = ("a", "b", i) if self.np_random.rand() >= 0.5 else ("b", "c", i)
self.road.vehicles.append(Vehicle.make_on_lane(self.road, lane, 4, speed=0))
for v in self.road.vehicles: # Prevent early collisions
if v is not self.vehicle and np.linalg.norm(v.position - self.vehicle.position) < 20:
self.road.vehicles.remove(v)
def _spawn_vehicle_intersection(self,
longitudinal: float = 0,
position_deviation: float = 1.,
speed_deviation: float = 1.,
spawn_probability: float = 1,
go_straight: bool = False) -> None:
if self.np_random.rand() > spawn_probability:
return
route = self.np_random.choice(range(4), size=2, replace=False)
route[1] = (route[0] + 2) % 4 if go_straight else route[1]
baseline_vehicle = utils.class_from_path(
self.scenario.baseline_vehicle["vehicles_type"])
vehicle_type = baseline_vehicle
vehicle = vehicle_type.make_on_lane(
self.road, ("o" + str(route[0]), "ir" + str(route[0]), 0),
longitudinal=longitudinal + 5 +
self.np_random.randn() * position_deviation,
speed=8 + self.np_random.randn() * speed_deviation)
for v in self.road.vehicles:
if np.linalg.norm(v.position - vehicle.position) < 25:
return
vehicle.plan_route_to("o" + str(route[1]))
# vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
return vehicle
def _make_vehicles(self):
"""
Populate a road with several vehicles on the road
:return: the ego-vehicle
"""
road = self.road
ego_vehicle = MDPVehicle(road, road.network.get_lane(("a", "b", 1)).position(30, 0), velocity=30)
road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
for i in range(3):
self.road.vehicles.append(
vehicles_type(road,
position=road.network.get_lane(("a", "b", 1))
.position(70+40*i + 10*self.np_random.randn(), 0),
heading=road.network.get_lane(("a", "b", 1)).heading_at(70+40*i),
velocity=24 + 2*self.np_random.randn(),
enable_lane_change=False)
)
for i in range(2):
v = vehicles_type(road,
position=road.network.get_lane(("b", "a", 0))
.position(200+100*i + 10*self.np_random.randn(), 0),
heading=road.network.get_lane(("b", "a", 0)).heading_at(200+100*i),
velocity=20 + 5*self.np_random.randn(),
enable_lane_change=False)
v.target_lane_index = ("b", "a", 0)
self.road.vehicles.append(v)
def make_vehicles(self):
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:return: the ego-vehicle
"""
# Ego-vehicle
ego_lane = self.road.network.get_lane(("ser", "ses", 0))
ego_vehicle = MDPVehicle(self.road,
ego_lane.position(130, 0),
velocity=15,
heading=ego_lane.heading_at(130)).plan_route_to("nxs")
MDPVehicle.SPEED_MIN = 5
MDPVehicle.SPEED_MAX = 15
MDPVehicle.SPEED_COUNT = 3
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
# Other vehicles
other_vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
self.road.vehicles.append(
other_vehicles_type(
self.road,
self.road.network.get_lane(("we", "sx", 0)).position(0, 0),
velocity=16,
heading=self.road.network.get_lane(("we", "sx", 0)).heading_at(0)).plan_route_to("exs"))
for i in list(range(2, 3)) + list(range(-1, 0)):
self.road.vehicles.append(
other_vehicles_type(
self.road,
self.road.network.get_lane(("we", "sx", 0)).position(20*i, 0),
velocity=16,
heading=self.road.network.get_lane(("we", "sx", 0)).heading_at(20*i)))
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
other_per_controlled = near_split(
self.config["vehicles_count"],
num_bins=self.config["controlled_vehicles"])
self.controlled_vehicles = []
for others in other_per_controlled:
vehicle = Vehicle.create_random(
self.road,
speed=25,
lane_id=self.config["initial_lane_id"],
spacing=self.config["ego_spacing"])
vehicle = self.action_type.vehicle_class(self.road,
vehicle.position,
vehicle.heading,
vehicle.speed)
self.controlled_vehicles.append(vehicle)
self.road.vehicles.append(vehicle)
for _ in range(others):
vehicle = other_vehicles_type.create_random(
self.road, spacing=1 / self.config["vehicles_density"])
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
def _make_vehicles(self):
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:return: the ego-vehicle
"""
for _ in range(6):
self._spawn_vehicles()
[(self.road.act(), self.road.step(0.1)) for _ in range(15)]
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
other_vehicles_type.DISTANCE_WANTED = 2 # Low jam distance
other_vehicles_type.COMFORT_ACC_MAX = 6
other_vehicles_type.COMFORT_ACC_MIN = -3
vehicle = other_vehicles_type.make_on_lane(self.road, ("o1", "ir1", 0),
longitudinal=0,
velocity=None)
vehicle.plan_route_to("o3")
self.road.vehicles.append(vehicle)
# Ego-vehicle
ego_lane = self.road.network.get_lane(("o0", "ir0", 0))
ego_vehicle = MDPVehicle(self.road,
ego_lane.position(0, 0),
velocity=ego_lane.speed_limit,
heading=ego_lane.heading_at(0)).plan_route_to(
"o" + str(self.np_random.randint(4)))
MDPVehicle.SPEED_MIN = 0
MDPVehicle.SPEED_MAX = 9
MDPVehicle.SPEED_COUNT = 3
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
def _make_vehicles(self) -> None:
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:return: the ego-vehicle
"""
position_deviation = 2
speed_deviation = 2
# Ego-vehicle
ego_lane = self.road.network.get_lane(("ser", "ses", 0))
ego_vehicle = self.action_type.vehicle_class(
self.road,
ego_lane.position(125, 0),
speed=8,
heading=ego_lane.heading_at(140))
try:
ego_vehicle.plan_route_to("nxs")
except AttributeError:
pass
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
# Incoming vehicle
destinations = ["exr", "sxr", "nxr"]
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle = other_vehicles_type.make_on_lane(
self.road, ("we", "sx", 1),
longitudinal=5 + self.np_random.randn() * position_deviation,
speed=16 + self.np_random.randn() * speed_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[
self.config["incoming_vehicle_destination"]]
else:
destination = self.np_random.choice(destinations)
vehicle.plan_route_to(destination)
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
# Other vehicles
for i in list(range(1, 2)) + list(range(-1, 0)):
vehicle = other_vehicles_type.make_on_lane(
self.road, ("we", "sx", 0),
longitudinal=20 * i +
self.np_random.randn() * position_deviation,
speed=16 + self.np_random.randn() * speed_deviation)
vehicle.plan_route_to(self.np_random.choice(destinations))
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
# Entering vehicle
vehicle = other_vehicles_type.make_on_lane(
self.road, ("eer", "ees", 0),
longitudinal=50 + self.np_random.randn() * position_deviation,
speed=16 + self.np_random.randn() * speed_deviation)
vehicle.plan_route_to(self.np_random.choice(destinations))
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
def _spawn_vehicle(self,
longitudinal=0,
position_deviation=1.,
velocity_deviation=1.,
spawn_probability=0.6,
go_straight=False):
if self.np_random.rand() > spawn_probability:
return
route = self.np_random.choice(range(4), size=2, replace=False)
route[1] = (route[0] + 2) % 4 if go_straight else route[1]
vehicle_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle = vehicle_type.make_on_lane(
self.road, ("o" + str(route[0]), "ir" + str(route[0]), 0),
longitudinal=longitudinal + 5 +
self.np_random.randn() * position_deviation,
velocity=8 + self.np_random.randn() * velocity_deviation)
for v in self.road.vehicles:
if np.linalg.norm(v.position - vehicle.position) < 15:
return
vehicle.plan_route_to("o" + str(route[1]))
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
return vehicle
def _make_vehicles(self, n_vehicles: int = 10) -> None:
"""
Populate a road with several vehicles on the highway and on the merging lane
:return: the ego-vehicle
"""
# Configure vehicles
vehicle_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle_type.DISTANCE_WANTED = 7 # Low jam distance
vehicle_type.COMFORT_ACC_MAX = 6
vehicle_type.COMFORT_ACC_MIN = -3
# Random vehicles
simulation_steps = 3
for t in range(n_vehicles - 1):
self._spawn_vehicle(np.linspace(0, 80, n_vehicles)[t])
for _ in range(simulation_steps):
[(self.road.act(),
self.road.step(1 / self.config["simulation_frequency"]))
for _ in range(self.config["simulation_frequency"])]
# Challenger vehicle
self._spawn_vehicle(60,
spawn_probability=1,
go_straight=True,
position_deviation=0.1,
speed_deviation=0)
# Controlled vehicles
self.controlled_vehicles = []
for ego_id in range(0, self.config["controlled_vehicles"]):
ego_lane = self.road.network.get_lane(
("o{}".format(ego_id % 4), "ir{}".format(ego_id % 4), 0))
destination = self.config["destination"] or "o" + str(
self.np_random.randint(1, 4))
ego_vehicle = self.action_type.vehicle_class(
self.road,
ego_lane.position(60 + 5 * self.np_random.randn(1), 0),
speed=ego_lane.speed_limit,
heading=ego_lane.heading_at(60))
try:
ego_vehicle.plan_route_to(destination)
ego_vehicle.SPEED_MIN = 0
ego_vehicle.SPEED_MAX = self.config["reward_speed_range"][1]
ego_vehicle.SPEED_COUNT = 3
ego_vehicle.speed_index = ego_vehicle.speed_to_index(
ego_lane.speed_limit)
ego_vehicle.target_speed = ego_vehicle.index_to_speed(
ego_vehicle.speed_index)
except AttributeError:
pass
self.road.vehicles.append(ego_vehicle)
self.controlled_vehicles.append(ego_vehicle)
for v in self.road.vehicles: # Prevent early collisions
if v is not ego_vehicle and np.linalg.norm(
v.position - ego_vehicle.position) < 20:
self.road.vehicles.remove(v)
def make_vehicles(self):
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:return: the ego-vehicle
"""
road = self.road
ego_vehicle = MDPVehicle(road,
road.network.get_lane(
("a", "b", 1)).position(30, 0),
velocity=30)
road.vehicles.append(ego_vehicle)
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
road.vehicles.append(
other_vehicles_type(road,
road.network.get_lane(
("a", "b", 0)).position(90, 0),
velocity=29))
if 0:
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
road.vehicles.append(
other_vehicles_type(road,
road.network.get_lane(
("a", "b", 0)).position(90, 0),
velocity=29))
road.vehicles.append(
other_vehicles_type(road,
road.network.get_lane(
("a", "b", 1)).position(70, 0),
velocity=31))
road.vehicles.append(
other_vehicles_type(road,
road.network.get_lane(
("a", "b", 0)).position(5, 0),
velocity=31.5))
merging_v = other_vehicles_type(road,
road.network.get_lane(
("j", "k",
0)).position(110, 0),
velocity=20)
merging_v.target_velocity = 30
road.vehicles.append(merging_v)
self.vehicle = ego_vehicle
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
self.vehicle = self.action_type.vehicle_class.create_random(self.road, 25, spacing=self.config["initial_spacing"])
self.road.vehicles.append(self.vehicle)
vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
for _ in range(self.config["vehicles_count"]):
self.road.vehicles.append(vehicles_type.create_random(self.road))
def _make_vehicles(self):
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:return: the ego-vehicle
"""
position_deviation = 2
velocity_deviation = 2
# Ego-vehicle
ego_lane = self.road.network.get_lane(("ser", "ses", 0))
ego_vehicle = MDPVehicle(
self.road,
ego_lane.position(140, 0),
velocity=5,
heading=ego_lane.heading_at(140)).plan_route_to("nxs")
MDPVehicle.SPEED_MIN = 0
MDPVehicle.SPEED_MAX = 15
MDPVehicle.SPEED_COUNT = 4
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
# Incoming vehicle
destinations = ["exr", "sxr", "nxr"]
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle = other_vehicles_type.make_on_lane(
self.road, ("we", "sx", 1),
longitudinal=5 + self.np_random.randn() * position_deviation,
velocity=16 + self.np_random.randn() * velocity_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[
self.config["incoming_vehicle_destination"]]
else:
destination = self.np_random.choice(destinations)
vehicle.plan_route_to(destination)
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
# Other vehicles
for i in list(range(1, 2)) + list(range(-1, 0)):
vehicle = other_vehicles_type.make_on_lane(
self.road, ("we", "sx", 0),
longitudinal=20 * i +
self.np_random.randn() * position_deviation,
velocity=16 + self.np_random.randn() * velocity_deviation)
vehicle.plan_route_to(self.np_random.choice(destinations))
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
# Entering vehicle
vehicle = other_vehicles_type.make_on_lane(
self.road, ("eer", "ees", 0),
longitudinal=50 + self.np_random.randn() * position_deviation,
velocity=16 + self.np_random.randn() * velocity_deviation)
vehicle.plan_route_to(self.np_random.choice(destinations))
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
def create_random(cls, road, velocity=None, spacing=1):
"""
Create a random vehicle on the road.
The lane and /or velocity are chosen randomly, while longitudinal position is chosen behind the last
vehicle in the road with density based on the number of lanes.
:param road: the road where the vehicle is driving
:param velocity: initial velocity in [m/s]. If None, will be chosen randomly
:param spacing: ratio of spacing to the front vehicle, 1 being the default
:return: A vehicle with random position and/or velocity
"""
if velocity is None:
aggressiveVehicle = utils.class_from_path(
"highway_env.vehicle.behavior.AggressiveCar")
aggressiveVehicle2 = utils.class_from_path(
"highway_env.vehicle.behavior.VeryAggressiveCar")
if (cls == aggressiveVehicle):
Vehicle.DEFAULT_VELOCITIES = [30, 35]
Vehicle.MAX_VELOCITY = 50
elif (cls == aggressiveVehicle2):
Vehicle.DEFAULT_VELOCITIES = [25, 30]
Vehicle.MAX_VELOCITY = 40
else:
Vehicle.DEFAULT_VELOCITIES = [23, 25]
Vehicle.MAX_VELOCITY = 30
velocity = road.np_random.uniform(Vehicle.DEFAULT_VELOCITIES[0],
Vehicle.DEFAULT_VELOCITIES[1])
default_spacing = 1.0 * velocity
_from = road.np_random.choice(list(road.network.graph.keys()))
_to = road.np_random.choice(list(road.network.graph[_from].keys()))
_id = road.np_random.choice(len(road.network.graph[_from][_to]))
offset = spacing * default_spacing * np.exp(
-5 / 30 * len(road.network.graph[_from][_to]))
x0 = np.max([v.position[0] for v in road.vehicles]) if len(
road.vehicles) else 3 * offset
x0 += offset * road.np_random.uniform(0.9, 1.1)
v = cls(road,
road.network.get_lane((_from, _to, _id)).position(x0, 0),
road.network.get_lane((_from, _to, _id)).heading_at(x0),
velocity)
return v
def fake_step(self):
"""
:return:
"""
for k in range(int(self.SIMULATION_FREQUENCY //
self.POLICY_FREQUENCY)):
self.road.act()
self.road.step(1 / self.SIMULATION_FREQUENCY)
# Automatically render intermediate simulation steps if a viewer has been launched
self._automatic_rendering()
# Stop at terminal states
if self.done or self._is_terminal():
break
self.enable_auto_render = False
self.steps += 1
from highway_env.extractors import Extractor
extractor = Extractor()
extractor_features = extractor.FeatureExtractor(
self.road.vehicles, 0, 1)
for i in range(1):
birth_place = [("s1", "inter1", 0), ("s1", "inter1", 1),
("s2", "inter1", 0), ("s2", "inter1", 1)]
destinations = ["e1", "e2"]
position_deviation = 5
velocity_deviation = 1.5
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
birth = birth_place[np.random.randint(0, 4)]
lane = self.road.network.get_lane(birth)
car = other_vehicles_type.make_on_lane(
self.road,
birth,
longitudinal=0 + np.random.randint(1, 5) * position_deviation,
velocity=5 + np.random.randint(1, 10) * velocity_deviation)
if self.config["incoming_vehicle_destination"] is not None:
destination = destinations[
self.config["incoming_vehicle_destination"]]
else:
destination = destinations[np.random.randint(0, 2)]
car.plan_route_to(destination)
car.randomize_behavior()
self.road.vehicles.append(car)
lane.vehicles.append(car)
# obs = self._observation()
# reward = self._reward(action)
terminal = self._is_terminal()
info = {}
return terminal, extractor_features
def _create_vehicles(self):
"""
Create some new random vehicles of a given type, and add them on the road.
"""
self.vehicle = MDPVehicle.create_random(self.road, 0.6)
self.road.vehicles.append(self.vehicle)
vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
for _ in range(self.config["vehicles_count"]):
self.road.vehicles.append(
vehicles_type.create_random(self.road, 0.6))
def _make_vehicles(self) -> None:
road = self.road
ego_vehicle = self.action_type.vehicle_class(road,
road.network.get_lane(("a", "b", 0)).position(10, 0), speed=13)
road.vehicles.append(ego_vehicle)
#try:
# ego_vehicle.plan_route_to("d")
#except AttributeError:
# pass
self.vehicle = ego_vehicle
other_vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
spead=self.np_random.randn()
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
self.controlled_vehicles = []
for _ in range(self.config["controlled_vehicles"]):
vehicle = self.action_type.vehicle_class.create_random(self.road,
speed=25,
lane_id=self.config["initial_lane_id"],
spacing=self.config["ego_spacing"])
self.controlled_vehicles.append(vehicle)
self.road.vehicles.append(vehicle)
vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
for _ in range(self.config["vehicles_count"]):
self.road.vehicles.append(vehicles_type.create_random(self.road, spacing=1 / self.config["vehicles_density"]))
def _make_vehicles(self, n_vehicles: int = 10) -> None:
"""
Populate a road with several vehicles on the highway and on the merging lane
:return: the ego-vehicle
"""
# Configure vehicles
vehicle_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle_type.DISTANCE_WANTED = 7 # Low jam distance
vehicle_type.COMFORT_ACC_MAX = 6
vehicle_type.COMFORT_ACC_MIN = -3
# Random vehicles
simulation_steps = 3
for t in range(n_vehicles - 1):
self._spawn_vehicle(np.linspace(0, 80, n_vehicles)[t])
for _ in range(simulation_steps):
[(self.road.act(),
self.road.step(1 / self.config["simulation_frequency"]))
for _ in range(self.config["simulation_frequency"])]
# Challenger vehicle
self._spawn_vehicle(60,
spawn_probability=1,
go_straight=True,
position_deviation=0.1,
speed_deviation=0)
# Ego-vehicle
MDPVehicle.SPEED_MIN = 0
MDPVehicle.SPEED_MAX = 9
MDPVehicle.SPEED_COUNT = 3
# MDPVehicle.TAU_A = 1.0
ego_lane = self.road.network.get_lane(("o0", "ir0", 0))
destination = self.config["destination"] or "o" + str(
self.np_random.randint(1, 4))
ego_vehicle = self.action_type.vehicle_class(
self.road,
ego_lane.position(60, 0),
speed=ego_lane.speed_limit,
heading=ego_lane.heading_at(50)) \
.plan_route_to(destination)
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
for v in self.road.vehicles: # Prevent early collisions
if v is not ego_vehicle and np.linalg.norm(
v.position - ego_vehicle.position) < 20:
self.road.vehicles.remove(v)
def _make_vehicles(self, n_vehicles=10):
"""
Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
:return: the ego-vehicle
"""
# Configure vehicles
vehicle_type = utils.class_from_path(self.config["other_vehicles_type"])
vehicle_type.DISTANCE_WANTED = 2 # Low jam distance
vehicle_type.COMFORT_ACC_MAX = 6
vehicle_type.COMFORT_ACC_MIN = -3
# Random vehicles
simulation_steps = 3
for t in range(n_vehicles - 1):
self._spawn_vehicle(np.linspace(0, 80, n_vehicles)[t])
for _ in range(simulation_steps):
[(self.road.act(), self.road.step(1 / self.SIMULATION_FREQUENCY)) for _ in range(self.SIMULATION_FREQUENCY)]
# Challenger vehicle
route = self.config['route']
if self.config['route'] is None:
route_to = self.np_random.choice([0,2,3], size=1, replace=False)
route = [1, route_to[0]]
for i in range(self.config["challenge_vel"]):
self._spawn_vehicle(97 - 20*i, spawn_probability=1, go_straight=True,
position_deviation=0, velocity_deviation=0,
route=route, velocity_init=8)
# Ego-vehicle
MDPVehicle.SPEED_MIN = 0
MDPVehicle.SPEED_MAX = 9
MDPVehicle.SPEED_COUNT = 3
# MDPVehicle.TAU_A = 1.0
ego_lane = self.road.network.get_lane(("o0", "ir0", 0))
destination = self.config["destination"] or "o" + str(self.np_random.randint(1, 4))
# ego_vehicle = Vehicle(self.road, ego_lane.position(100, 0),
# velocity=ego_lane.speed_limit*0.0,
# heading=ego_lane.heading_at(50))
ego_vehicle = ControlledLowLevelVehicle(self.road,
ego_lane.position(100, 0),
velocity=ego_lane.speed_limit,
heading=ego_lane.heading_at(50)).plan_route_to(destination)
self.road.vehicles.append(ego_vehicle)
self.vehicle = ego_vehicle
for v in self.road.vehicles: # Prevent early collisions
if v is not ego_vehicle and np.linalg.norm(v.position - ego_vehicle.position) < 20:
self.road.vehicles.remove(v)
def change_vehicles(self, vehicle_class_path):
"""
Change the type of all vehicles on the road
:param vehicle_class_path: The path of the class of behavior for other vehicles
Example: "highway_env.vehicle.behavior.IDMVehicle"
:return: a new environment with modified behavior model for other vehicles
"""
vehicle_class = utils.class_from_path(vehicle_class_path)
env_copy = copy.deepcopy(self)
vehicles = env_copy.road.vehicles
for i, v in enumerate(vehicles):
if v is not env_copy.vehicle and not isinstance(v, Obstacle):
vehicles[i] = vehicle_class.create_from(v)
return env_copy
def _create_road(self):
road = Road.create_random_road(
lanes_count=self.config["lanes_count"],
vehicles_count=self.config["vehicles_count"],
vehicles_type=utils.class_from_path(
self.config["other_vehicles_type"]),
np_random=self.np_random)
vehicle = MDPVehicle.create_random(
road,
25,
spacing=self.config["initial_spacing"],
prepend=True,
np_random=self.np_random)
road.vehicles.append(vehicle)
return road, vehicle
def _spawn_vehicles(self):
if self.np_random.rand() < 1 - 0.6:
return
position_deviation = 1
velocity_deviation = 1
route = self.np_random.choice(range(4), size=2, replace=False)
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
vehicle = other_vehicles_type.make_on_lane(
self.road, ("o" + str(route[0]), "ir" + str(route[0]), 0),
longitudinal=5 + self.np_random.randn() * position_deviation,
velocity=8 + self.np_random.randn() * velocity_deviation)
for v in self.road.vehicles:
if np.linalg.norm(v.position - vehicle.position) < 15:
return
vehicle.plan_route_to("o" + str(route[1]))
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
def _create_vehicles(self):
"""
Create some new random vehicles of a given type, and add them on the road.
"""
# target AV
self.target_vehicle = MDPVehicle.create_random(
self.road, 25, spacing=self.config["initial_spacing"])
self.target_vehicle.color = (200, 0, 150) # purple
self.road.vehicles.append(self.target_vehicle)
# attacker: training agent
self.vehicle = MDPVehicle.create_random(
self.road, 25, spacing=self.config["initial_spacing"])
self.road.vehicles.append(self.vehicle)
vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
for _ in range(self.config["vehicles_count"]):
self.road.vehicles.append(vehicles_type.create_random(self.road))
def _make_vehicles(self) -> None:
road = self.road
#add random ego vechicle
random_es = 4.5 * np.random.randint(-1, 1) + 6
ego_vehicle = self.action_type.vehicle_class(road,
road.network.get_lane(
("m", "n",
0)).position(60, 0),
speed=random_es)
road.vehicles.append(ego_vehicle)
#try:
# ego_vehicle.plan_route_to("d")
#except AttributeError:
# pass
self.vehicle = ego_vehicle
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
spead = np.random.randint(-1, 1)
other_vehicle1 = other_vehicles_type(road,
road.network.get_lane(
("a", "b",
0)).position(70, 0),
speed=6 + (4 * spead))
other_vehicle2 = other_vehicles_type(road,
road.network.get_lane(
("a", "b",
0)).position(55, 0),
speed=5 + (3 * spead))
other_vehicle3 = other_vehicles_type(road,
road.network.get_lane(
("a", "b",
0)).position(35, 0),
speed=5 + (3 * spead))
#other_vehicle3 = other_vehicles_type(road, road.network.get_lane(("b", "d", 0)).position(0, 0),speed=4 + (3 * spead))
road.vehicles.append(other_vehicle1)
road.vehicles.append(other_vehicle2)
road.vehicles.append(other_vehicle3)
other_vehicle1.plan_route_to("e")
other_vehicle2.plan_route_to("e")
other_vehicle3.plan_route_to("e")
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
path = "highway_env.vehicle.derby.DerbyCar"
vehicle_class = utils.class_from_path(path)
self.controlled_vehicles = []
for i in range(self.config["controlled_vehicles"]):
XPos = self.np_random.rand() * self.config[
"derby_radius"] * 1.5 - self.config["derby_radius"] * .75
YPos = self.np_random.rand() * self.config[
"derby_radius"] * 1.5 - self.config["derby_radius"] * .75
Heading = 2 * np.pi * self.np_random.rand()
Speed = 0.
vehicle = self.action_type.vehicle_class(road=self.road,
position=np.array(
[XPos, YPos]),
heading=Heading,
speed=Speed)
vehicle = vehicle_class.create_from(vehicle)
self.road.vehicles.append(vehicle)
self.controlled_vehicles.append(vehicle)
def _create_vehicles(self) -> None:
"""Create some new random vehicles of a given type, and add them on the road."""
other_vehicles_type = utils.class_from_path(
self.config["other_vehicles_type"])
other_per_controlled = near_split(
self.config["vehicles_count"],
num_bins=self.config["controlled_vehicles"])
self.controlled_vehicles = []
t = 0
l = 1
for others in other_per_controlled:
# controlled_vehicle = self.action_type.vehicle_class.create_random(
# self.road,
# amir=False,
# speed=np.random.randint(23,29),
# lane_id=1,
# spacing=self.config["ego_spacing"]
# )
flags = [False, True] + [False for i in range(others - 1)]
# array=[t,None,np.random.randint(23,25)]
for i in range(others + 1):
if i == t:
controlled_vehicle = self.action_type.vehicle_class.create_random(
self.road,
amir=False,
speed=np.random.randint(23, 29),
lane_id=1,
spacing=self.config["ego_spacing"])
self.controlled_vehicles.append(controlled_vehicle)
self.road.vehicles.append(controlled_vehicle)
else:
back = False
speed = np.random.randint(23, 29)
self.road.vehicles.append(
other_vehicles_type.create_random(
self.road,
amir=flags[i],
speed=speed,
spacing=1 / self.config["vehicles_density"]))
