from typing import Dict, Tuple, Text
import numpy as np
from highway_env import utils
from highway_env.envs.common.abstract import AbstractEnv, MultiAgentWrapper
from highway_env.road.lane import LineType, StraightLane, CircularLane, AbstractLane
from highway_env.road.regulation import RegulatedRoad
from highway_env.road.road import RoadNetwork
from highway_env.vehicle.kinematics import Vehicle
from highway_env.vehicle.controller import ControlledVehicle
[docs]class IntersectionEnv(AbstractEnv):
ACTIONS: Dict[int, str] = {
0: 'SLOWER',
1: 'IDLE',
2: 'FASTER'
}
ACTIONS_INDEXES = {v: k for k, v in ACTIONS.items()}
[docs] @classmethod
def default_config(cls) -> dict:
config = super().default_config()
config.update({
"observation": {
"type": "Kinematics",
"vehicles_count": 15,
"features": ["presence", "x", "y", "vx", "vy", "cos_h", "sin_h"],
"features_range": {
"x": [-100, 100],
"y": [-100, 100],
"vx": [-20, 20],
"vy": [-20, 20],
},
"absolute": True,
"flatten": False,
"observe_intentions": False
},
"action": {
"type": "DiscreteMetaAction",
"longitudinal": True,
"lateral": False,
"target_speeds": [0, 4.5, 9]
},
"duration": 13, # [s]
"destination": "o1",
"controlled_vehicles": 1,
"initial_vehicle_count": 10,
"spawn_probability": 0.6,
"screen_width": 600,
"screen_height": 600,
"centering_position": [0.5, 0.6],
"scaling": 5.5 * 1.3,
"collision_reward": -5,
"high_speed_reward": 1,
"arrived_reward": 1,
"reward_speed_range": [7.0, 9.0],
"normalize_reward": False,
"offroad_terminal": False
})
return config
def _reward(self, action: int) -> float:
"""Aggregated reward, for cooperative agents."""
return sum(self._agent_reward(action, vehicle) for vehicle in self.controlled_vehicles
) / len(self.controlled_vehicles)
def _rewards(self, action: int) -> Dict[Text, float]:
"""Multi-objective rewards, for cooperative agents."""
agents_rewards = [self._agent_rewards(action, vehicle) for vehicle in self.controlled_vehicles]
return {
name: sum(agent_rewards[name] for agent_rewards in agents_rewards) / len(agents_rewards)
for name in agents_rewards[0].keys()
}
def _agent_reward(self, action: int, vehicle: Vehicle) -> float:
"""Per-agent reward signal."""
rewards = self._agent_rewards(action, vehicle)
reward = sum(self.config.get(name, 0) * reward for name, reward in rewards.items())
reward = self.config["arrived_reward"] if rewards["arrived_reward"] else reward
reward *= rewards["on_road_reward"]
if self.config["normalize_reward"]:
reward = utils.lmap(reward, [self.config["collision_reward"], self.config["arrived_reward"]], [0, 1])
return reward
def _agent_rewards(self, action: int, vehicle: Vehicle) -> Dict[Text, float]:
"""Per-agent per-objective reward signal."""
scaled_speed = utils.lmap(vehicle.speed, self.config["reward_speed_range"], [0, 1])
return {
"collision_reward": vehicle.crashed,
"high_speed_reward": np.clip(scaled_speed, 0, 1),
"arrived_reward": self.has_arrived(vehicle),
"on_road_reward": vehicle.on_road
}
def _is_terminated(self) -> bool:
return any(vehicle.crashed for vehicle in self.controlled_vehicles) \
or all(self.has_arrived(vehicle) for vehicle in self.controlled_vehicles) \
or (self.config["offroad_terminal"] and not self.vehicle.on_road)
def _agent_is_terminal(self, vehicle: Vehicle) -> bool:
"""The episode is over when a collision occurs or when the access ramp has been passed."""
return (vehicle.crashed or
self.has_arrived(vehicle))
def _is_truncated(self) -> bool:
"""The episode is truncated if the time limit is reached."""
return self.time >= self.config["duration"]
def _info(self, obs: np.ndarray, action: int) -> dict:
info = super()._info(obs, action)
info["agents_rewards"] = tuple(self._agent_reward(action, vehicle) for vehicle in self.controlled_vehicles)
info["agents_dones"] = tuple(self._agent_is_terminal(vehicle) for vehicle in self.controlled_vehicles)
return info
def _reset(self) -> None:
self._make_road()
self._make_vehicles(self.config["initial_vehicle_count"])
[docs] def step(self, action: int) -> Tuple[np.ndarray, float, bool, bool, dict]:
obs, reward, terminated, truncated, info = super().step(action)
self._clear_vehicles()
self._spawn_vehicle(spawn_probability=self.config["spawn_probability"])
return obs, reward, terminated, truncated, info
def _make_road(self) -> None:
"""
Make an 4-way intersection.
The horizontal road has the right of way. More precisely, the levels of priority are:
- 3 for horizontal straight lanes and right-turns
- 1 for vertical straight lanes and right-turns
- 2 for horizontal left-turns
- 0 for vertical left-turns
The code for nodes in the road network is:
(o:outer | i:inner + [r:right, l:left]) + (0:south | 1:west | 2:north | 3:east)
:return: the intersection road
"""
lane_width = AbstractLane.DEFAULT_WIDTH
right_turn_radius = lane_width + 5 # [m}
left_turn_radius = right_turn_radius + lane_width # [m}
outer_distance = right_turn_radius + lane_width / 2
access_length = 50 + 50 # [m]
net = RoadNetwork()
n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
for corner in range(4):
angle = np.radians(90 * corner)
is_horizontal = corner % 2
priority = 3 if is_horizontal else 1
rotation = np.array([[np.cos(angle), -np.sin(angle)], [np.sin(angle), np.cos(angle)]])
# Incoming
start = rotation @ np.array([lane_width / 2, access_length + outer_distance])
end = rotation @ np.array([lane_width / 2, outer_distance])
net.add_lane("o" + str(corner), "ir" + str(corner),
StraightLane(start, end, line_types=[s, c], priority=priority, speed_limit=10))
# Right turn
r_center = rotation @ (np.array([outer_distance, outer_distance]))
net.add_lane("ir" + str(corner), "il" + str((corner - 1) % 4),
CircularLane(r_center, right_turn_radius, angle + np.radians(180), angle + np.radians(270),
line_types=[n, c], priority=priority, speed_limit=10))
# Left turn
l_center = rotation @ (np.array([-left_turn_radius + lane_width / 2, left_turn_radius - lane_width / 2]))
net.add_lane("ir" + str(corner), "il" + str((corner + 1) % 4),
CircularLane(l_center, left_turn_radius, angle + np.radians(0), angle + np.radians(-90),
clockwise=False, line_types=[n, n], priority=priority - 1, speed_limit=10))
# Straight
start = rotation @ np.array([lane_width / 2, outer_distance])
end = rotation @ np.array([lane_width / 2, -outer_distance])
net.add_lane("ir" + str(corner), "il" + str((corner + 2) % 4),
StraightLane(start, end, line_types=[s, n], priority=priority, speed_limit=10))
# Exit
start = rotation @ np.flip([lane_width / 2, access_length + outer_distance], axis=0)
end = rotation @ np.flip([lane_width / 2, outer_distance], axis=0)
net.add_lane("il" + str((corner - 1) % 4), "o" + str((corner - 1) % 4),
StraightLane(end, start, line_types=[n, c], priority=priority, speed_limit=10))
road = RegulatedRoad(network=net, np_random=self.np_random, record_history=self.config["show_trajectories"])
self.road = road
def _make_vehicles(self, n_vehicles: int = 10) -> None:
"""
Populate a road with several vehicles on the highway and on the merging lane
:return: the ego-vehicle
"""
# Configure vehicles
vehicle_type = utils.class_from_path(self.config["other_vehicles_type"])
vehicle_type.DISTANCE_WANTED = 7 # Low jam distance
vehicle_type.COMFORT_ACC_MAX = 6
vehicle_type.COMFORT_ACC_MIN = -3
# Random vehicles
simulation_steps = 3
for t in range(n_vehicles - 1):
self._spawn_vehicle(np.linspace(0, 80, n_vehicles)[t])
for _ in range(simulation_steps):
[(self.road.act(), self.road.step(1 / self.config["simulation_frequency"])) for _ in range(self.config["simulation_frequency"])]
# Challenger vehicle
self._spawn_vehicle(60, spawn_probability=1, go_straight=True, position_deviation=0.1, speed_deviation=0)
# Controlled vehicles
self.controlled_vehicles = []
for ego_id in range(0, self.config["controlled_vehicles"]):
ego_lane = self.road.network.get_lane(("o{}".format(ego_id % 4), "ir{}".format(ego_id % 4), 0))
destination = self.config["destination"] or "o" + str(self.np_random.randint(1, 4))
ego_vehicle = self.action_type.vehicle_class(
self.road,
ego_lane.position(60 + 5*self.np_random.normal(1), 0),
speed=ego_lane.speed_limit,
heading=ego_lane.heading_at(60))
try:
ego_vehicle.plan_route_to(destination)
ego_vehicle.speed_index = ego_vehicle.speed_to_index(ego_lane.speed_limit)
ego_vehicle.target_speed = ego_vehicle.index_to_speed(ego_vehicle.speed_index)
except AttributeError:
pass
self.road.vehicles.append(ego_vehicle)
self.controlled_vehicles.append(ego_vehicle)
for v in self.road.vehicles: # Prevent early collisions
if v is not ego_vehicle and np.linalg.norm(v.position - ego_vehicle.position) < 20:
self.road.vehicles.remove(v)
def _spawn_vehicle(self,
longitudinal: float = 0,
position_deviation: float = 1.,
speed_deviation: float = 1.,
spawn_probability: float = 0.6,
go_straight: bool = False) -> None:
if self.np_random.uniform() > spawn_probability:
return
route = self.np_random.choice(range(4), size=2, replace=False)
route[1] = (route[0] + 2) % 4 if go_straight else route[1]
vehicle_type = utils.class_from_path(self.config["other_vehicles_type"])
vehicle = vehicle_type.make_on_lane(self.road, ("o" + str(route[0]), "ir" + str(route[0]), 0),
longitudinal=(longitudinal + 5
+ self.np_random.normal() * position_deviation),
speed=8 + self.np_random.normal() * speed_deviation)
for v in self.road.vehicles:
if np.linalg.norm(v.position - vehicle.position) < 15:
return
vehicle.plan_route_to("o" + str(route[1]))
vehicle.randomize_behavior()
self.road.vehicles.append(vehicle)
return vehicle
def _clear_vehicles(self) -> None:
is_leaving = lambda vehicle: "il" in vehicle.lane_index[0] and "o" in vehicle.lane_index[1] \
and vehicle.lane.local_coordinates(vehicle.position)[0] \
>= vehicle.lane.length - 4 * vehicle.LENGTH
self.road.vehicles = [vehicle for vehicle in self.road.vehicles if
vehicle in self.controlled_vehicles or not (is_leaving(vehicle) or vehicle.route is None)]
def has_arrived(self, vehicle: Vehicle, exit_distance: float = 25) -> bool:
return "il" in vehicle.lane_index[0] \
and "o" in vehicle.lane_index[1] \
and vehicle.lane.local_coordinates(vehicle.position)[0] >= exit_distance
class MultiAgentIntersectionEnv(IntersectionEnv):
@classmethod
def default_config(cls) -> dict:
config = super().default_config()
config.update({
"action": {
"type": "MultiAgentAction",
"action_config": {
"type": "DiscreteMetaAction",
"lateral": False,
"longitudinal": True
}
},
"observation": {
"type": "MultiAgentObservation",
"observation_config": {
"type": "Kinematics"
}
},
"controlled_vehicles": 2
})
return config
class ContinuousIntersectionEnv(IntersectionEnv):
@classmethod
def default_config(cls) -> dict:
config = super().default_config()
config.update({
"observation": {
"type": "Kinematics",
"vehicles_count": 5,
"features": ["presence", "x", "y", "vx", "vy", "long_off", "lat_off", "ang_off"],
},
"action": {
"type": "ContinuousAction",
"steering_range": [-np.pi / 3, np.pi / 3],
"longitudinal": True,
"lateral": True,
"dynamical": True
},
})
return config
TupleMultiAgentIntersectionEnv = MultiAgentWrapper(MultiAgentIntersectionEnv)
