prep for Turing

scripts/experiments.jl

@@ -235,12 +235,14 @@ StatsPlots.savefig(d,"media/speed_hist/density_567.svg")
 # Make videos from scenelists
 #******************************
 f = FilteringEnvironment()
-num = 3;
 prefix = "upper";
 ext = "mp4";
-filename = "media/$(prefix)_$(num).jld";
-scenelist_pf = scenelist_from_jld_pf(f,filename=filename);
-scenelist2video(f,scenelist_pf,filename="media/turing/$(prefix)_$(num)_pf.$(ext)");
+
+for num in 1:1
+        filename = "media/$(prefix)_$(num).jld";
+        scenelist_pf = scenelist_from_jld_pf(f,filename=filename);
+        scenelist2video(f,scenelist_pf,filename="media/turing/$(prefix)_$(num)_pf_new2.$(ext)");
+end
 
 id_list,ts,te = JLD.load(filename,"veh_id_list","ts","te");
 scenelist = replay_scenelist(f,id_list=id_list,ts=ts,te=te);
@@ -253,11 +255,43 @@ function speed_dist_moments(v_array,v_array_idm,v_array_cidm,v_array_lmidm,v_arr
         mu_cidm,sig_cidm = StatsBase.mean_and_std(v_array_cidm)
         mu_lmidm,sig_lmidm = StatsBase.mean_and_std(v_array_lmidm)
         mu_pf,sig_pf = StatsBase.mean_and_std(v_array_pf)
-
-    end
+end
 
-#********************Train upper test lower******************
-# We need to show a variability in the generated scenarios
-# So we need to combine the particle sets of different vehicles together
-# And then for the same set of vehicles in the lower merge i.e. test domain
-# We show significantly different driving behavior by sampling from the particle set
+#********************Cooperation params for Turing test******************
+models,id_list,ts,te = JLD.load("media/upper_1.jld","m","veh_id_list","ts","te");
+models[19].c = 0.9
+models[6].c = 0.8
+#models[19].idm.d_max=6.0
+#models[29].idm.d_max=4.0
+te=te+20
+scenelist_pf = scenelist_from_jld_pf_debug(f,models,id_list,ts,te);
+scenelist2video(f,scenelist_pf,filename="media/turing/upper_1_pf_turing.mp4");
+
+models,id_list,ts,te = JLD.load("media/upper_5.jld","m","veh_id_list","ts","te");
+models[194].c = 0.7
+models[193].idm.d_max=2.5
+te=te+30
+scenelist_pf = scenelist_from_jld_pf_debug(f,models,id_list,ts,te);
+scenelist2video(f,scenelist_pf,filename="media/turing/upper_5_pf_turing.mp4");
+
+models,id_list,ts,te = JLD.load("media/upper_6.jld","m","veh_id_list","ts","te");
+models[211].idm.d_max=6.0
+models[215].idm.d_max=6.0
+models[217].idm.d_max=2.0
+te = te+20
+scenelist_pf = scenelist_from_jld_pf_debug(f,models,id_list,ts,te);
+scenelist2video(f,scenelist_pf,filename="media/turing/upper_6_pf_turing.mp4");
+
+models,id_list,ts,te = JLD.load("media/upper_7.jld","m","veh_id_list","ts","te");
+models[249].c=0.2
+models[250].c=0.75
+models[250].idm.d_max=6.0
+models[249].idm.d_max=2.0
+scenelist_pf = scenelist_from_jld_pf_debug(f,models,id_list,ts,te);
+scenelist2video(f,scenelist_pf,filename="media/turing/upper_7_pf_turing.mp4");
+
+models,id_list,ts,te = JLD.load("media/upper_8.jld","m","veh_id_list","ts","te");
+#models[275].idm.d_max=7.0
+models[275].c = 0.4
+scenelist_pf = scenelist_from_jld_pf_debug(f,models,id_list,ts,te);
+scenelist2video(f,scenelist_pf,filename="media/turing/upper_8_pf_turing.mp4");

scripts/helpers.jl

@@ -15,6 +15,29 @@ using JLD # to save models
 using AutomotiveInteraction
 using DelimitedFiles # to write to txt file that will be read in by python
 
+"""
+
+# Example
+```julia
+models,id_list,ts,te = JLD.load("media/upper_1.jld","m","veh_id_list","ts","te");
+models[19].c = 0.9
+models[6].c = 0.8
+te=te+20
+scenelist_pf = scenelist_from_jld_pf_debug(f,models,id_list,ts,te);
+scenelist2video(f,scenelist_pf,filename="media/turing/upper_1_pf_new.mp4");
+```
+"""
+function scenelist_from_jld_pf_debug(f::FilteringEnvironment,models,id_list,ts,te)
+    #print("Metrics extraction from jld file $(filename) \n")
+
+    scene_real = deepcopy(f.traj[ts])
+    if !isempty(id_list) keep_vehicle_subset!(scene_real,id_list) end
+
+    nticks = te-ts+1
+    scene_list = simulate(scene_real,f.roadway,models,nticks,f.timestep)
+    return scene_list
+end
+
 """
 - Make scatter plot of the lmidm parameters and final particle for a scenario
 with each scatter point corresponding to a different car

src/Driving/cooperative_IDM.jl

@@ -69,18 +69,18 @@ function AutomotiveSimulator.observe!(model::CooperativeIDM, scene::Scene, roadw
     model.a_idm = a_idm
 
     if ego.state.posG.x < 1070
-        if egoid==60 print("Beyond merge point so stop worrying\n") end
+        if egoid==194 print("Beyond merge point so stop worrying\n") end
         model.a = model.a_idm
         return model
     end
 
     veh = find_merge_vehicle(model.env, scene,ego)
 
     if veh == nothing
-        #if egoid == 60 println("obs:No merge vehicle\n") end
+        #if egoid == 194 print("obs:No merge vehicle\n") end
         model.a = model.a_idm
     else
-        #if egoid==60 print("obs:merge veh id = $(veh.id)\n") end
+        #if egoid==194 print("obs:merge veh id = $(veh.id)\n") end
         model.other_acc = 0.0
         model.a = 0.0
 
@@ -89,31 +89,38 @@ function AutomotiveSimulator.observe!(model::CooperativeIDM, scene::Scene, roadw
         model.ego_ttm = ego_ttm
         model.veh_ttm = veh_ttm
         if ( ego_ttm < 0.0 || ego_ttm < veh_ttm || veh_ttm == Inf)
-            #if egoid == 60 print("obs:Ego TTM < Merge TTM, ignoring\n") end
+            #if egoid == 194 print("obs:Ego TTM < Merge TTM, ignoring\n") end
             ego_ttm < veh_ttm
             model.a = model.a_idm
             model.consider_merge = false
             model.front_car = false
         else
             model.consider_merge = true
-            #if(egoid==60) print("obs:Ego TTM>Merge TTM, can't ignore \n") end
-            if veh_ttm < model.c*ego_ttm 
+            #if(egoid==194) print("obs:Ego TTM>Merge TTM, can't ignore \n") end
+            #if(egoid==249) print("obs:c = $(model.c)\n") end
+            #model.c = 0.1 # For upper_4
+            #model.c = 0.1 # For upper 2
+            if veh_ttm < model.c*ego_ttm
+                if(egoid==194) print("obs: Cannot ignore as less than c times\n") end
                 model.front_car = true
                 headway = distance_projection(model.env, veh) - distance_projection(model.env, ego)
-                headway -= veh.def.length 
+                #headway -= veh.def.length
+                if egoid==194 print("obs: headway = $headway \n") end
                 v_oth = veh.state.v
                 v_ego = ego.state.v
-                # @show "tracking front car"
+                if egoid==194 print("obs: v_ego = $v_ego\n") end
+                if egoid==194 print("obs: v_oth = $v_oth\n") end
                 track_longitudinal!(model.idm, v_ego, v_oth, headway)
                 model.a_merge = model.idm.a
                 model.a = min(model.a_merge, model.a_idm)
-            else 
+            else
+                if(egoid==194) print("obs:Ignore as not less than c times\n") end
                 model.a = model.a_idm 
                 model.front_car = false
             end
         end
     end
-    #print("cidm observe says: I'm done observing\n")
+    if egoid==194 print("model.a = $(model.a)\n") end
     return model
 end
 
@@ -125,7 +132,7 @@ function find_merge_vehicle(env,scene::Scene,ego_veh)
     ego_lane = get_lane(env.roadway,ego_veh)
     ego_lane_tag = ego_lane.tag # Let's use tag as I think it'll be faster to compare equality than entire lane
     ego_ttm = time_to_merge(env,ego_veh,0.)
-    if egoid==60 print("fmv:ego_ttm = $(ego_ttm)\n") end
+    #if egoid==60 print("fmv:ego_ttm = $(ego_ttm)\n") end
 
     # Based on upper vs lower environment, decide the specific lanes to use
     merge_lane_tag = LaneTag(0,0)
@@ -146,7 +153,7 @@ function find_merge_vehicle(env,scene::Scene,ego_veh)
 
             veh_ttm = time_to_merge(env,veh,0.)
 
-            #if egoid==60 print("fmv: oth_veh_id=$(veh.id),veh_ttm=$(veh_ttm)\n") end
+            #if egoid==249 print("fmv: oth_veh_id=$(veh.id),veh_ttm=$(veh_ttm)\n") end
             diff_ttm_temp = abs(veh_ttm-ego_ttm)
 
             if diff_ttm_temp < diff_ttm
@@ -170,10 +177,10 @@ function time_to_merge(env, veh::Entity, a::Float64 = 0.0)
     t = Inf
     if isapprox(a, 0)
         if v>0.1
-             if egoid==60 print("ttm::d=$d,v=$v\n") end
+            #if egoid==249 print("ttm::d=$d,v=$v\n") end
              t =  d/v
         else
-             if egoid==60 print("ttm::d=$d,v=$v\n") end
+             #if egoid==249 print("ttm::d=$d,v=$v\n") end
              t = d/0.1
         end
     else
@@ -202,7 +209,8 @@ end
 
 """
     distance_projection(env::MergingEnvironment, veh::Vehicle)
-Performs a projection of `veh` onto the main lane. It returns the longitudinal position of the projection of `veh` on the main lane. 
+Performs a projection of `veh` onto the main lane. 
+It returns the longitudinal position of the projection of `veh` on the main lane. 
 The projection is computing by conserving the distance to the merge point.
 """
 function distance_projection(env, veh::Entity)