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Driving on a Mobius Strip

AutomotiveDrivingModels is templated to efficiently run different types of simulations. Entities are parameterized by their:

  • S state, which changes over time
  • D defintion, which does not change over time
  • I id, typically an Int, which uniquely identifies that entity.

In addition to these types, the actions, environment and the driver models can also be parameterized.

This notebook demonstrates a longitudinal driving simulation where cars drive on a single straight lane that loops back on itself. The types are:

  • S - State1D, containing the position and speed
  • D - VehicleDef, containing length, width, and class
  • I - Int

We use a StraightRoadway as our environment and LaneFollowingDrivers that produce LaneFollowingAccels.





In [1]:



    


using AutomotiveDrivingModels
using AutoViz



    


















    






┌ Info: Recompiling stale cache file C:\Users\Maxime\.julia\compiled\v1.1\AutomotiveDrivingModels\ZEfHM.ji for AutomotiveDrivingModels [99497e54-f3d6-53d3-a3a9-fa9315a7f1ba]
└ @ Base loading.jl:1184
┌ Warning: The call to compilecache failed to create a usable precompiled cache file for AutomotiveDrivingModels [99497e54-f3d6-53d3-a3a9-fa9315a7f1ba]
│   exception = ErrorException("Required dependency Distributions [31c24e10-a181-5473-b8eb-7969acd0382f] failed to load from a cache file.")
└ @ Base loading.jl:969
┌ Info: Recompiling stale cache file C:\Users\Maxime\.julia\compiled\v1.1\AutoViz\w0rHu.ji for AutoViz [82aa6e0c-a491-5edf-8d4b-c16b98e4ea17]
└ @ Base loading.jl:1184
┌ Warning: Module AutomotiveDrivingModels with build ID 614701268831930 is missing from the cache.
│ This may mean AutomotiveDrivingModels [99497e54-f3d6-53d3-a3a9-fa9315a7f1ba] does not support precompilation but is imported by a module that does.
└ @ Base loading.jl:947
┌ Info: Recompiling stale cache file C:\Users\Maxime\.julia\compiled\v1.1\Cairo\l6vnT.ji for Cairo [159f3aea-2a34-519c-b102-8c37f9878175]
└ @ Base loading.jl:1184

















In [2]:



    


road_length = 200.0 # [meters]
roadway = StraightRoadway(road_length)

scene = Scene1D()
push!(scene, Entity(State1D(10.0,  8.0), VehicleDef(), 1))
push!(scene, Entity(State1D(50.0, 12.5), VehicleDef(), 2))
push!(scene, Entity(State1D(150.0, 6.0), VehicleDef(), 3))

cam = StaticCamera(VecE2(100.0,0.0), 4.75)
render(scene, roadway, cam=cam, canvas_height=100)



    


















    
Out[2]:

We can add an overlay that displays the car id for convenience:





In [3]:



    


overlays = [TextOverlay(text=["$(veh.id)"], incameraframe=true, pos=VecE2(veh.state.s-0.7, 3)) for veh in scene]
render(scene, roadway, overlays, cam=cam, canvas_height=100)



    


















    
Out[3]:

Or we can create a new SceneOverlay which does this for us:





In [4]:



    


using Parameters
@with_kw struct CarIDOverlay <: SceneOverlay
    textparams::TextParams=TextParams()
end
function AutoViz.render!(rendermodel::RenderModel, overlay::CarIDOverlay, scene::Scene1D, roadway::StraightRoadway)
    for veh in scene
        x = veh.state.s - 0.7
        y = 3.0
        text = string(veh.id)
        add_instruction!(rendermodel, render_text, (text, x, y, overlay.textparams.size, overlay.textparams.color), incameraframe=true)
    end
    return rendermodel
end

render(scene, roadway, [CarIDOverlay()], cam=cam, canvas_height=100)



    


















    
Out[4]:

To run a simulation we need driving models that produce actions. For this we will use LaneFollowingDrivers that produce LaneFollowingAccels. We will give each car a different model, as a demonstration.





In [5]:



    


models = Dict{Int, LaneFollowingDriver}()
models[1] = StaticLaneFollowingDriver(0.0) # always produce zero acceleration
models[2] = IntelligentDriverModel(v_des=12.0) # default IDM with a desired speed of 12 m/s
models[3] = PrincetonDriver(v_des = 10.0) # default Princeton driver with a desired speed of 10m/s

nticks = 100
timestep = 0.1
rec = QueueRecord(Vehicle1D, nticks+1, timestep)
simulate!(LaneFollowingAccel, rec, scene, roadway, models, nticks)
render(rec[0], roadway, [CarIDOverlay()], cam=cam, canvas_height=100)



    


















    
Out[5]:

We can use Interact to inspect the simulation.





In [6]:



    


using Interact
@manipulate for frame_index in 1 : nframes(rec)
    render(rec[frame_index-nframes(rec)], roadway, [CarIDOverlay()], cam=cam, canvas_height=100)
end



    


















    






┌ Info: Recompiling stale cache file C:\Users\Maxime\.julia\compiled\v1.1\Interact\XmYW4.ji for Interact [c601a237-2ae4-5e1e-952c-7a85b0c7eef1]
└ @ Base loading.jl:1184
┌ Warning: The call to compilecache failed to create a usable precompiled cache file for CSSUtil [70588ee8-6100-5070-97c1-3cb50ed05fe8]
│   exception = Required dependency WebIO [0f1e0344-ec1d-5b48-a673-e5cf874b6c29] failed to load from a cache file.
└ @ Base loading.jl:969
┌ Warning: Module WebIO with build ID 614782226586775 is missing from the cache.
│ This may mean WebIO [0f1e0344-ec1d-5b48-a673-e5cf874b6c29] does not support precompilation but is imported by a module that does.
└ @ Base loading.jl:947
┌ Warning: Module WebIO with build ID 614782226586775 is missing from the cache.
│ This may mean WebIO [0f1e0344-ec1d-5b48-a673-e5cf874b6c29] does not support precompilation but is imported by a module that does.
└ @ Base loading.jl:947
┌ Warning: The call to compilecache failed to create a usable precompiled cache file for InteractBase [d3863d7c-f0c8-5437-a7b4-3ae773c01009]
│   exception = Required dependency WebIO [0f1e0344-ec1d-5b48-a673-e5cf874b6c29] failed to load from a cache file.
└ @ Base loading.jl:969










    






    










    
















    
















    






  










    
Out[6]:








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In [ ]:

Content source: tawheeler/CarEM.jl

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