Driving in Circles

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 2D driving simulation where cars drive in a multi-lane stadium. The types are:

S - VehicleState, containing both the global and lane-relative position, and speed
D - VehicleDef, containing length, width, and class
I - Int

We use a Roadway as our environment. The Roadway type is based on the RNDF format.



In [1]:

    
using AutomotiveDrivingModels
using AutoViz
using Distributions









    



┌ Info: Precompiling AutomotiveDrivingModels [99497e54-f3d6-53d3-a3a9-fa9315a7f1ba]
└ @ Base loading.jl:1186
┌ Warning: The call to compilecache failed to create a usable precompiled cache file for AutomotiveDrivingModels [99497e54-f3d6-53d3-a3a9-fa9315a7f1ba]
│   exception = ArgumentError("Invalid header in cache file C:\\Users\\Maxime\\.julia\\compiled\\v1.1\\AutomotiveDrivingModels\\ZEfHM.ji.")
└ @ Base loading.jl:969
┌ Info: Precompiling AutoViz [82aa6e0c-a491-5edf-8d4b-c16b98e4ea17]
└ @ Base loading.jl:1186
┌ Warning: Module AutomotiveDrivingModels with build ID 614702750231424 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: Precompiling Cairo [159f3aea-2a34-519c-b102-8c37f9878175]
└ @ Base loading.jl:1186

We generate a 3-lane stadium roadway:



In [2]:

    
roadway = gen_stadium_roadway(3)









    Out[2]:

Let's populate a scene.



In [3]:

    
scene = Scene()
push!(scene,Vehicle(VehicleState(VecSE2(10.0,-DEFAULT_LANE_WIDTH,0.0), roadway, 29.0), VehicleDef(), 1))
push!(scene,Vehicle(VehicleState(VecSE2(40.0,0.0,0.0), roadway, 22.0), VehicleDef(), 2))
push!(scene,Vehicle(VehicleState(VecSE2(70.0,-DEFAULT_LANE_WIDTH,0.0), roadway, 27.0), VehicleDef(), 3))

car_colors = get_pastel_car_colors(scene)
cam = FitToContentCamera()
render(scene, roadway, cam=cam, car_colors=car_colors)









    Out[3]:

Let's assign driver models.



In [4]:

    
timestep = 0.1

models = Dict{Int, DriverModel}()
models[1] = LatLonSeparableDriver( # produces LatLonAccels
        ProportionalLaneTracker(), # lateral model
        IntelligentDriverModel(), # longitudinal model
)
models[2] = Tim2DDriver(timestep,
        mlane = MOBIL(timestep),
    )
models[3] = StaticDriver{AccelTurnrate, MvNormal}(MvNormal([0.0,0.0], [1.0,0.1]))

set_desired_speed!(models[1], 12.0)
set_desired_speed!(models[2], 10.0)
set_desired_speed!(models[3],  8.0)

nticks = 100
rec = SceneRecord(nticks+1, timestep)
simulate!(rec, scene, roadway, models, nticks)
render(rec[0], roadway, cam=cam, car_colors=car_colors)









    Out[4]:

We can use interact to inspect the simulation record. Note that the static driver just drives off the road.



In [5]:

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









    



┌ Info: Precompiling Interact [c601a237-2ae4-5e1e-952c-7a85b0c7eef1]
└ @ Base loading.jl:1186
┌ Warning: The call to compilecache failed to create a usable precompiled cache file for InteractBase [d3863d7c-f0c8-5437-a7b4-3ae773c01009]
│   exception = Required dependency Knockout [bcebb21b-c2e3-54f8-a781-646b90f6d2cc] failed to load from a cache file.
└ @ Base loading.jl:969






    




    







    











    











    




  







    Out[5]:





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We can save the run to a text file. We achieve this by first converting the the Trajdata type and then exporting that.



In [6]:

    
listrec = convert(Trajdata, rec)
open("2Dstadium_listrec.txt", "w") do io
    write(io, MIME"text/plain"(), listrec)
end

The file can be loaded in a similar way.



In [7]:

    
listrec2 = open("2Dstadium_listrec.txt", "r") do io
    read(io, MIME"text/plain"(), Trajdata)
end









    Out[7]:





Trajdata(101 frames)



In [ ]: