def act(self, action: Union[dict, str] = None):
"""
Execute an action.
For now, no action is supported because the vehicle takes all decisions
of acceleration and lane changes on its own, based on the IDM and MOBIL models.
:param action: the action
"""
if self.crashed:
return
action = {}
front_vehicle, rear_vehicle = self.road.neighbour_vehicles(self)
# Lateral: MOBIL
self.follow_road()
if self.enable_lane_change:
self.change_lane_policy()
action['steering'] = self.steering_control(self.target_lane_index)
action['steering'] = np.clip(action['steering'],
-self.MAX_STEERING_ANGLE,
self.MAX_STEERING_ANGLE)
# Longitudinal: IDM
action['acceleration'] = self.acceleration(ego_vehicle=self,
front_vehicle=front_vehicle,
rear_vehicle=rear_vehicle)
# action['acceleration'] = self.recover_from_stop(action['acceleration'])
action['acceleration'] = np.clip(action['acceleration'], -self.ACC_MAX,
self.ACC_MAX)
Vehicle.act(
self, action
) # Skip ControlledVehicle.act(), or the command will be overriden.
def dynamics_event(cls, vehicle: Vehicle,
event: pygame.event.EventType) -> None:
"""
Map the pygame keyboard events to dynamics actuation
:param vehicle: the vehicle receiving the event
:param event: the pygame event
"""
action = vehicle.action.copy()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_RIGHT:
action['steering'] = 45 * np.pi / 180
if event.key == pygame.K_LEFT:
action['steering'] = -45 * np.pi / 180
if event.key == pygame.K_DOWN:
action['acceleration'] = -6
if event.key == pygame.K_UP:
action['acceleration'] = 5
elif event.type == pygame.KEYUP:
if event.key == pygame.K_RIGHT:
action['steering'] = 0
if event.key == pygame.K_LEFT:
action['steering'] = 0
if event.key == pygame.K_DOWN:
action['acceleration'] = 0
if event.key == pygame.K_UP:
action['acceleration'] = 0
if action != vehicle.action:
vehicle.act(action)
def test_brake():
v = Vehicle(road=None, position=[0, 0], velocity=20, heading=0)
for _ in range(10 * FPS):
v.act({
'acceleration': min(max(-1 * v.velocity, -6), 6),
'steering': 0
})
v.step(dt=1 / FPS)
assert v.velocity == pytest.approx(0, abs=0.01)
def test_act():
v = Vehicle(road=None, position=[0, 0], speed=20, heading=0)
v.act({'acceleration': 1, 'steering': 0})
for _ in range(1 * FPS):
v.step(dt=1 / FPS)
assert v.speed == pytest.approx(21)
v.act({'acceleration': 0, 'steering': 0.5})
for _ in range(1 * FPS):
v.step(dt=1 / FPS)
assert v.speed == pytest.approx(21)
assert v.position[1] > 0
def act(self, action: Union[dict, str] = None):
"""
Execute an action.
For now, no action is supported because the vehicle takes all decisions
of acceleration and lane changes on its own, based on the IDM and MOBIL models.
:param action: the action
"""
if self.crashed:
return
action = {}
# Lateral: MOBIL
self.follow_road()
if self.enable_lane_change:
self.change_lane_policy()
action['steering'] = self.steering_control(self.target_lane_index)
action['steering'] = np.clip(action['steering'],
-self.MAX_STEERING_ANGLE,
self.MAX_STEERING_ANGLE)
action['steering'] = 0
# if self.sadism:
# if np.abs(self.position[0]-self.road.vehicles[0].position[0])<5:
# if self.road.vehicles[0].position[1]-self.position[1]<0:
# action['steering']=-0.01
# elif self.road.vehicles[0].position[1]-self.position[1]>0:
# action['steering']=0.01
# Longitudinal: IDM
front_vehicle, rear_vehicle = self.road.neighbour_vehicles(
self, self.lane_index)
action['acceleration'] = self.acceleration(ego_vehicle=self,
front_vehicle=front_vehicle,
rear_vehicle=rear_vehicle)
# When changing lane, check both current and target lanes
if self.lane_index != self.target_lane_index:
front_vehicle, rear_vehicle = self.road.neighbour_vehicles(
self, self.target_lane_index)
target_idm_acceleration = self.acceleration(
ego_vehicle=self,
front_vehicle=front_vehicle,
rear_vehicle=rear_vehicle)
action['acceleration'] = min(action['acceleration'],
target_idm_acceleration)
# action['acceleration'] = self.recover_from_stop(action['acceleration'])
action['acceleration'] = 0
# else:
# action['acceleration'] = np.clip(action['acceleration'], -self.ACC_MAX, self.ACC_MAX)
Vehicle.act(
self, action
) # Skip ControlledVehicle.act(), or the command will be overriden.
def control_event(cls, vehicle: Vehicle,
event: pygame.event.EventType) -> None:
"""
Map the pygame keyboard events to control decisions
:param vehicle: the vehicle receiving the event
:param event: the pygame event
"""
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_RIGHT:
vehicle.act("FASTER")
if event.key == pygame.K_LEFT:
vehicle.act("SLOWER")
if event.key == pygame.K_DOWN:
vehicle.act("LANE_RIGHT")
if event.key == pygame.K_UP:
vehicle.act("LANE_LEFT")
