Merge

In this task, the ego-vehicle starts on a main highway but soon approaches a road junction with incoming vehicles on the access ramp. The agent’s objective is now to maintain a high speed while making room for the vehicles so that they can safely merge in the traffic.

Usage

env = gym.make("merge-v0")

Default configuration

{
    "observation": {
        "type": "TimeToCollision"
    },
    "action": {
        "type": "DiscreteMetaAction"
    },
    "simulation_frequency": 15,  # [Hz]
    "policy_frequency": 1,  # [Hz]
    "other_vehicles_type": "highway_env.vehicle.behavior.IDMVehicle",
    "screen_width": 600,  # [px]
    "screen_height": 150,  # [px]
    "centering_position": [0.3, 0.5],
    "scaling": 5.5,
    "show_trajectories": False,
    "render_agent": True,
    "offscreen_rendering": False
}

More specifically, it is defined in:

classmethod MergeEnv.default_config() → dict

Default environment configuration.

Can be overloaded in environment implementations, or by calling configure(). :return: a configuration dict

API

class highway_env.envs.merge_env.MergeEnv(config: dict | None = None, render_mode: str | None = None)

A highway merge negotiation environment.

The ego-vehicle is driving on a highway and approached a merge, with some vehicles incoming on the access ramp. It is rewarded for maintaining a high speed and avoiding collisions, but also making room for merging vehicles.

classmethod default_config() → dict

Default environment configuration.

Can be overloaded in environment implementations, or by calling configure(). :return: a configuration dict