Cleanup fixes for producing human traffic jams

python/agent_types.py

@@ -5,7 +5,7 @@
 import config as defaults
 
 # changeFasterLane = changeFasterLaneBuilder()
-changeFasterLane = changeFasterLaneBuilder(likelihood_mult=0.5, speedThreshold=2)
+changeFasterLane = changeFasterLaneBuilder(likelihood_mult=0.5, speedThreshold=2, bias=1)
 basicHumanParams = {
     "name"        : "human",
     "shape"       : "passenger",
@@ -20,6 +20,7 @@
     "speedDev"    : 0.5,
     "sigma"       : 0.75,
     "tau"         : 3, # http://www.croberts.com/respon.htm
+    # "carFollowModel"   : "Wiedemann", # "PWagner2009",
     # "laneChangeModel": 'LC2013',
 }
 

python/carfns.py

@@ -12,7 +12,7 @@ def randomChangeLaneFn((idx, car), sim, step):
 
 def changeFasterLaneBuilder(speedThreshold = 5, likelihood_mult = 0.5, 
                             dxBack = 0, dxForward = 60, 
-                            gapBack = 10, gapForward = 5):
+                            gapBack = 10, gapForward = 5, bias=0):
     """
     Intelligent lane changer
     :param speedThreshold: minimum speed increase required
@@ -21,6 +21,7 @@ def changeFasterLaneBuilder(speedThreshold = 5, likelihood_mult = 0.5,
     :param dxForward: Farthest distance forward car can see
     :param gapBack: Minimum required clearance behind car 
     :param gapForward: Minimum required clearance in front car 
+    :param bias: additive speed bias term (m/s)
     :return: carFn to input to a carParams
     """
     def carFn((idx, car), sim, step):
@@ -32,7 +33,7 @@ def carFn((idx, car), sim, step):
                 continue
             cars = sim.getCars(idx, dxBack=dxBack, dxForward=dxForward, lane=lane)
             if len(cars) > 0:
-                v[lane] = mean([c["v"] for c in cars])
+                v[lane] = mean([c["v"] for c in cars]) + bias
             else:
                 v[lane] = traci.vehicle.getMaxSpeed(car["id"])
         maxv = max(v)

python/icra.py

@@ -1,4 +1,5 @@
 import random
+import copy
 
 import config as defaults
 from loopsim import LoopSim
@@ -10,27 +11,41 @@
 
 
 if __name__ == "__main__":
-    vTypeParams = humanParams
-    vTypeParams["laneSpread"] = 0
-    vTypeParams["tau"] = 0.5
-    vTypeParams["speedDev"] = 0.1
-    vTypeParams["speedFactor"] = 1
+    globalLaneSpread = 0
+
+    hParams = humanParams
+    hParams["laneSpread"] = globalLaneSpread
+    hParams["tau"] = 2
+    hParams["speedDev"] = 0.2
+    hParams["speedFactor"] = 1.1
+    hParams["minGap"] = 1
+
+    hParams1 = copy.copy(humanParams)
+    hParams1["name"] = "human1"
+    hParams1["laneSpread"] = 1
+    hParams1["tau"] = 2
+    hParams1["speedDev"] = 0.4
+    hParams1["speedFactor"] = 1.2
+    hParams1["count"] = 0
 
     mParams = midpointParams
-    mParams["laneSpread"] = 0
+    mParams["laneSpread"] = globalLaneSpread
+    # mParams["tau"] = 0.1
 
     gParams = fillGapMidpointParams
-    gParams["laneSpread"] = 0
+    gParams["laneSpread"] = globalLaneSpread
+    # gParams["tau"] = 0.1
 
     aParams = ACCParams
-    aParams["laneSpread"] = 0
+    aParams["laneSpread"] = globalLaneSpread
+    # aParams["tau"] = 0.1
 
     ###############
     # Option ranges
     ###############
 
-    numLanes = 2
-    totVehicles = 22
+    numLanes = 1
+    totVehicles = 11
 
     '''
     sigmaValues = [0.5, 0.9]
@@ -39,12 +54,14 @@
     robotTypes = (mParams, gParams, aParams)
     '''
 
-    sigmaValues = [0.9]
+    sigmaValues = [0.5]
     numRobotsValues = [0, 1]
     numRuns = 1
     robotTypes = [gParams]
 
-    fps = 24
+    # WARNING SUMO can't really handle more than 2 fps, probably due to limitations of underlying car following models
+    # TODO(cathywu) develop our own high resolution car following models?
+    fps = 2
     simStepLength = 1./fps
     simTime = 100
     simSteps = int(simTime/simStepLength)
@@ -53,17 +70,17 @@
     for sigma in sigmaValues:
         for numRobots in numRobotsValues:
             for rParams in robotTypes:
-                vTypeParams["sigma"] = sigma
-                vTypeParams["count"] = (totVehicles-numRobots) 
-                rParams["count"] = numRobots 
+                hParams["sigma"] = sigma
+                hParams["count"] = (totVehicles-numRobots)
+                rParams["count"] = numRobots
 
                 if defaults.RANDOM_SEED:
                     print ">>> Setting random seed to ", defaults.RANDOM_SEED
                     random.seed(defaults.RANDOM_SEED)
 
                 for run in range(numRuns):
                     opts = {
-                        "paramsList" : [vTypeParams, rParams],
+                        "paramsList" : [hParams, hParams1, rParams],
                         "simSteps"   : simSteps,
                         "tag"        : "Sugiyama-sigma=%03f-run=%d" % (sigma, run),
                     }
@@ -72,8 +89,9 @@
                     print "sigma =", sigma, "numRobots = ", numRobots, 
                     print "robot type =", rParams["name"], "run = ", run
                     print "***"
-                    speedRange = (0,30)
-                    sim.simulate(opts, sumo='sumo-gui', speedRange=speedRange, sublane=False)
+                    speedRange = (0, 30)
+                    sim.simulate(opts, sumo='sumo', speedRange=speedRange, sublane=False)
+                    # sim.simulate(opts, sumo='sumo-gui', speedRange=speedRange, sublane=False)
                     sim.plot(show=False, save=True, speedRange=speedRange).close("all")
                 if numRobots == 0:
                     break

python/loopsim.py

@@ -129,24 +129,44 @@ def _addCars(self, paramsList):
         cars = {}
         self.numCars = 0
 
+        # Tabulate total number of cars per lane
+        num_cars_per_lane = [0] * self.numLanes
+
         # Create car list
         for param in paramsList:
             self.numCars += param["count"]
             for i in range(param["count"]):
                 vtype = param["name"]
                 laneSpread = param.get("laneSpread", True)
+                if laneSpread is not True:
+                    num_cars_per_lane[laneSpread] += 1
                 carname = "%s-%03d" % (vtype, i)
                 cars[carname] = (vtype, laneSpread)
 
-        lane = 0
+        lane = -1
         carsitems = cars.items()
+
         # Add all cars to simulation ...
-        random.shuffle(carsitems) # randomly
-        for i, (carname, (vtype, laneSpread)) in enumerate(carsitems):
-            x = self.length * i / self.numCars
-            self._createCar(carname, x, vtype, 
-                    lane if laneSpread is True else laneSpread)
-            lane = (lane + 1) % self.numLanes
+        random.shuffle(carsitems)  # randomly
+
+        # Counters of cars added so far (per lane)
+        cars_added_per_lane = [0] * self.numLanes
+        # For lanespead = True, set the default cars per lane
+        default_cars_per_lane = np.ceil(float(self.numCars) / self.numLanes)
+
+        for carname, (vtype, laneSpread) in carsitems:
+            if laneSpread is True:
+                # If lanespread = True, then uniformly set the car positions
+                lane = (lane + 1) % self.numLanes
+                lane_total = default_cars_per_lane
+            else:
+                # Otherwise, space the cars out evenly per lane
+                lane = laneSpread
+                lane_total = num_cars_per_lane[laneSpread]
+
+            x = self.length * cars_added_per_lane[lane] / lane_total
+            cars_added_per_lane[lane] += 1
+            self._createCar(carname, x, vtype, lane)
 
         self.carNames = cars.keys()
 

python/sugiyama_jam.py

@@ -12,8 +12,11 @@
 
 if __name__ == "__main__":
     numLanes = 1
+    simStepLength = 0.5
+    simTime = 500
+    simSteps = int(simTime/simStepLength)
 
-    sim = LoopSim("loopsim", length=230, numLanes=numLanes, simStepLength=0.5)
+    sim = LoopSim("loopsim", length=230, numLanes=numLanes, simStepLength=simStepLength)
 
     vTypeParams = humanParams
     vTypeParams["laneSpread"] = True
@@ -29,7 +32,7 @@
 
         opts = {
             "paramsList" : [vTypeParams],
-            "simSteps"   : 500,
+            "simSteps"   : simSteps,
             "tag"        : "Sugiyama",
         }