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[traffic] Re-enable the safety check when crossing intersections
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simtools.gaml.extensions.traffic/models/Driving Skill/models/Simple Intersection.gaml
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| /** | ||
| * Name: Mix Drive City | ||
| * Description: Vehicles driving in a road graph | ||
| * Author: Duc Pham and Patrick Taillandier | ||
| * Tags: gis, shapefile, graph, agent_movement, skill, transport | ||
| */ | ||
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| model simple_intersection | ||
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| global { | ||
| float size_environment <- 1#km; | ||
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| geometry shape <- envelope(size_environment); | ||
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| //the typical step for the advanced driving skill | ||
| float step <- 0.5 #s; | ||
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| //use only for display purpose | ||
| float lane_width <- 2.0; | ||
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| //number of cars | ||
| int num_cars <- 300; | ||
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| float proba_block_node_car <- 1.0; | ||
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| //graph used for the shortest path computation | ||
| graph road_network; | ||
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| init { | ||
| create intersection with: (location: {10,size_environment/2}); | ||
| create intersection with: (location: {size_environment/2,size_environment/2}); | ||
| create intersection with: (location: {size_environment / 2 + 30,size_environment/2}, is_traffic_signal: true); | ||
| create intersection with: (location: {size_environment - 10,size_environment/2}); | ||
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| create intersection with: (location: {size_environment/2, 10}); | ||
| create intersection with: (location: {size_environment/2,size_environment - 10}); | ||
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| create road with:(num_lanes:1, maxspeed: 50#km/#h, shape:line([intersection[0],intersection[1]])); | ||
| create road with:(num_lanes:1, maxspeed: 50#km/#h, shape:line([intersection[1],intersection[2]])); | ||
| create road with:(num_lanes:1, maxspeed: 50#km/#h, shape:line([intersection[2],intersection[3]])); | ||
| create road with:(num_lanes:1, maxspeed: 50#km/#h, shape:line([intersection[4],intersection[1]])); | ||
| create road with:(num_lanes:1, maxspeed: 50#km/#h, shape:line([intersection[1],intersection[5]])); | ||
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| //build the graph from the roads and intersections | ||
| road_network <- as_driving_graph(road,intersection); | ||
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| //for traffic light, initialize their counter value (synchronization of traffic lights) | ||
| ask intersection where each.is_traffic_signal { | ||
| do initialize; | ||
| } | ||
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| } | ||
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| reflex add_car { | ||
| create car with: (location: intersection[0].location, target: intersection[3]); | ||
| create car with: (location: intersection[4].location, target: intersection[5]); | ||
| } | ||
| } | ||
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| //road species | ||
| species road skills: [skill_road]{ | ||
| string type; | ||
| string oneway; | ||
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| aspect base_ligne { | ||
| draw shape color: #white end_arrow:5; | ||
| } | ||
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| } | ||
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| //intersection species | ||
| species intersection skills: [skill_road_node] { | ||
| bool is_traffic_signal; | ||
| float time_to_change <- 60#s ; | ||
| float counter <- rnd(time_to_change); | ||
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| //take into consideration the roads coming from both direction (for traffic light) | ||
| list<road> ways1; | ||
| list<road> ways2; | ||
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| //if the traffic light is green | ||
| bool is_green; | ||
| rgb color <- #yellow; | ||
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| //initialize the traffic light | ||
| action initialize { | ||
| do compute_crossing; | ||
| stop << []; | ||
| if (flip(0.5)) { | ||
| do to_green; | ||
| } else { | ||
| do to_red; | ||
| } | ||
| } | ||
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| action compute_crossing { | ||
| if (length(roads_in) >= 2) { | ||
| road rd0 <- road(roads_in[0]); | ||
| list<point> pts <- rd0.shape.points; | ||
| float ref_angle <- last(pts) direction_to rd0.location; | ||
| loop rd over: roads_in { | ||
| list<point> pts2 <- road(rd).shape.points; | ||
| float angle_dest <- last(pts2) direction_to rd.location; | ||
| float ang <- abs(angle_dest - ref_angle); | ||
| if (ang > 45 and ang < 135) or (ang > 225 and ang < 315) { | ||
| ways2 << road(rd); | ||
| } | ||
| } | ||
| } | ||
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| loop rd over: roads_in { | ||
| if not (rd in ways2) { | ||
| ways1 << road(rd); | ||
| } | ||
| } | ||
| } | ||
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| //shift the traffic light to green | ||
| action to_green { | ||
| stop[0] <- ways2; | ||
| color <- #green; | ||
| is_green <- true; | ||
| } | ||
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| //shift the traffic light to red | ||
| action to_red { | ||
| stop[0] <- ways1; | ||
| color <- #red; | ||
| is_green <- false; | ||
| } | ||
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| //update the state of the traffic light | ||
| reflex dynamic_node when: is_traffic_signal { | ||
| counter <- counter + step; | ||
| if (counter >= time_to_change) { | ||
| counter <- 0.0; | ||
| if is_green { | ||
| do to_red; | ||
| } else { | ||
| do to_green; | ||
| } | ||
| } | ||
| } | ||
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| aspect base { | ||
| draw circle(1) color: color; | ||
| } | ||
| } | ||
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| species car skills: [advanced_driving] { | ||
| rgb color <- rnd_color(255); | ||
| intersection target; | ||
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| init { | ||
| vehicle_length <- 3.8 #m; | ||
| //car occupies 2 lanes | ||
| num_lanes_occupied <-1; | ||
| max_speed <-150 #km / #h; | ||
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| proba_block_node <- proba_block_node_car; | ||
| proba_respect_priorities <- 1.0; | ||
| proba_respect_stops <- [1.0]; | ||
| proba_use_linked_road <- 0.0; | ||
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| lane_change_limit <- 2; | ||
| linked_lane_limit <- 0; | ||
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| } | ||
| //choose a random target and compute the path to it | ||
| reflex choose_path when: final_target = nil { | ||
| do compute_path graph: road_network target: target; | ||
| } | ||
| reflex move when: final_target != nil { | ||
| do drive; | ||
| //if arrived at target, kill it and create a new car | ||
| if (final_target = nil) { | ||
| do unregister; | ||
| do die; | ||
| } | ||
| } | ||
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| // Just use for display purpose | ||
| // Shifts the position of the vehicle perpendicularly to the road, | ||
| // in order to visualize different lanes | ||
| point compute_position { | ||
| if (current_road != nil) { | ||
| float dist <- (road(current_road).num_lanes - current_lane - | ||
| mean(range(num_lanes_occupied - 1)) - 0.5) * lane_width; | ||
| if violating_oneway { | ||
| dist <- -dist; | ||
| } | ||
| point shift_pt <- {cos(heading + 90) * dist, sin(heading + 90) * dist}; | ||
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| return location + shift_pt; | ||
| } else { | ||
| return {0, 0}; | ||
| } | ||
| } | ||
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| aspect default { | ||
| if (current_road != nil) { | ||
| point pos <- compute_position(); | ||
| draw rectangle(vehicle_length, lane_width * num_lanes_occupied) | ||
| at: pos color: color rotate: heading border: #black; | ||
| draw triangle(lane_width * num_lanes_occupied) | ||
| at: pos color: #white rotate: heading + 90 ; | ||
| } | ||
| } | ||
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| } | ||
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| experiment simple_intersection type: gui { | ||
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| output { | ||
| display city type: opengl background: #black synchronized: true draw_env: false{ | ||
| species road aspect: base_ligne; | ||
| species intersection aspect: base; | ||
| species car ; | ||
| } | ||
| } | ||
| } |
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