def main():
env = gym.make('highway-v0')
road = Road.create_random_road(lanes_count=2,
lane_width=4.0,
vehicles_count=0,
vehicles_type=IDMVehicle)
vehicle = MDPVehicle.create_random(road)
road.vehicles.append(vehicle)
env.road = road
env.vehicle = vehicle
agent = MCTSAgent(env, iterations=100, temperature=20 *
5) # compare step by subtree and step by prior
sim = Simulation(env, agent)
t = 0
while not sim.done:
sim.step()
t += 1
if t == 10:
print('Added obstacle')
env.road.vehicles.append(
Obstacle(
road,
[env.vehicle.position[0] + 50., env.vehicle.position[1]]))
sim.close()
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):
"""
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 _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)
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 _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
