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generative_mdp.jl
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generative_mdp.jl
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## Generative Merging MDP model
const HARD_BRAKE = 1
const RELEASE = 7
const WRAP_AROUND_TOL = 2.0 # when vehicles reach the end of the main lane - WRAP_AROUND_TOL they are spawned at the beginning
"""
AugScene
Driving scene augmented with information about the ego vehicle
"""
struct AugScene
scene::Scene
ego_info::NamedTuple{(:acc,), Tuple{Float64}}
end
# Dummy type since the action is given by the policy
mutable struct EgoDriver{A} <: DriverModel{A}
a::A
end
Base.rand(model::EgoDriver) = model.a
AutomotiveDrivingModels.observe!(m::EgoDriver, s::EntityFrame{S,D,I}, roadway::R, egoid::Int64) where {S,D,I,R} = m
"""
GenerativeMergingMDP
A simulation environment for a highway merging scenario. Implemented using POMDPs.jl
# Parameters
- `env::MergingEnvironment = MergingEnvironment(main_lane_angle = 0.0, merge_lane_angle = pi/7)`
- `n_cars_main::Int64 = 1`
- `n_cars_merge::Int64 = 1`
- `n_agents::Int64 = n_cars_main + n_cars_merge`
- `max_cars::Int64 = 16`
- `min_cars::Int64 = 0`
- `car_def::VehicleDef = VehicleDef()`
- `dt::Float64 = 0.5 # time step`
- `jerk_levels::SVector{5, Float64} = SVector(-1, -0.5, 0, 0.5, 1.0)`
- `accel_levels::SVector{6, Float64} = SVector(-4.0, -2.0, -1.0, 0.0, 1.0, 2.0)`
- `max_deceleration::Float64 = -4.0`
- `max_acceleration::Float64 = 3.5`
- `comfortable_acceleration::Float64 = 2.0`
- `discount_factor::Float64 = 0.95`
- `ego_idm::IntelligentDriverModel = IntelligentDriverModel(σ=0.0, v_des=env.main_lane_vmax)`
- `default_driver_model::DriverModel{LaneFollowingAccel} = IntelligentDriverModel(v_des=env.main_lane_vmax)`
- `observe_cooperation::Bool = false`
- `observe_speed::Bool = true`
- `traffic_speed::Symbol = :mixed`
- `random_n_cars::Bool = false`
- `driver_type::Symbol = :random`
- `max_burn_in::Int64 = 20`
- `min_burn_in::Int64 = 10`
- `initial_ego_velocity::Float64 = 10.0`
- `initial_velocity::Float64 = 5.0`
- `initial_velocity_std::Float64 = 1.0`
- `main_lane_slots::LinRange{Float64} = LinRange(0.0, env.main_lane_length + env.after_merge_length, max_cars)`
- `collision_cost::Float64 = -1.0`
- `goal_reward::Float64 = 1.0`
- `hard_brake_cost::Float64 = 0.0`
"""
@with_kw mutable struct GenerativeMergingMDP <: MDP{AugScene, Int64}
env::MergingEnvironment = MergingEnvironment(main_lane_angle = 0.0, merge_lane_angle = pi/7)
n_cars_main::Int64 = 1
n_cars_merge::Int64 = 1
n_agents::Int64 = n_cars_main + n_cars_merge
max_cars::Int64 = 16
min_cars::Int64 = 0
car_def::VehicleDef = VehicleDef()
dt::Float64 = 0.5 # time step
jerk_levels::SVector{5, Float64} = SVector(-1, -0.5, 0, 0.5, 1.0)
accel_levels::SVector{6, Float64} = SVector(-4.0, -2.0, -1.0, 0.0, 1.0, 2.0)
max_deceleration::Float64 = -4.0
max_acceleration::Float64 = 3.5
comfortable_acceleration::Float64 = 2.0
discount_factor::Float64 = 0.95
ego_idm::IntelligentDriverModel = IntelligentDriverModel(σ=0.0, v_des=env.main_lane_vmax)
default_driver_model::DriverModel{LaneFollowingAccel} = IntelligentDriverModel(v_des=env.main_lane_vmax)
observe_cooperation::Bool = false
observe_speed::Bool = true
# initial state params
traffic_speed::Symbol = :mixed
random_n_cars::Bool = false
driver_type::Symbol = :random
max_burn_in::Int64 = 20
min_burn_in::Int64 = 10
initial_ego_velocity::Float64 = 10.0
initial_velocity::Float64 = 5.0
initial_velocity_std::Float64 = 1.0
main_lane_slots::LinRange{Float64} = LinRange(0.0,
env.main_lane_length + env.after_merge_length,
max_cars)
# reward params
collision_cost::Float64 = -1.0
goal_reward::Float64 = 1.0
hard_brake_cost::Float64 = 0.0
# internal states
driver_models::Dict{Int64, DriverModel} = Dict{Int64, DriverModel}(EGO_ID=>EgoDriver(LaneFollowingAccel(0.0)))
end
POMDPs.discount(mdp::GenerativeMergingMDP) = mdp.discount_factor
POMDPs.actions(mdp::GenerativeMergingMDP) = 1:7
POMDPs.n_actions(mdp::GenerativeMergingMDP) = 7
POMDPs.actionindex(mdp::GenerativeMergingMDP, a::Int64) = a
function POMDPs.initialstate(mdp::GenerativeMergingMDP, rng::AbstractRNG)
s0 = Scene()
if mdp.random_n_cars
mdp.n_cars_main = rand(rng, mdp.min_cars:mdp.max_cars)
end
mdp.driver_models = Dict{Int64, DriverModel}(EGO_ID=>EgoDriver(LaneFollowingAccel(0.0)))
start_positions = sample(rng, mdp.main_lane_slots, mdp.n_cars_main, replace=false)
start_velocities = mdp.initial_velocity .+ mdp.initial_velocity_std*randn(rng, mdp.n_cars_main)
ego = initial_merge_car_state(mdp, rng, EGO_ID)
ego_acc_0 = 0.0
scene = s0
for i=EGO_ID+1:EGO_ID+mdp.n_cars_main
veh_state = vehicle_state(start_positions[i - EGO_ID], main_lane(mdp.env),
start_velocities[i - EGO_ID], mdp.env.roadway)
veh = Vehicle(veh_state, mdp.car_def, i)
push!(s0, veh)
mdp.driver_models[i] = CooperativeIDM()
if mdp.traffic_speed == :mixed
v_des = sample(rng, [4.0, 5., 6.0], Weights([0.2, 0.3, 0.5]))
elseif mdp.traffic_speed == :fast
v_des = 15.0
end
set_desired_speed!(mdp.driver_models[i], v_des)
if mdp.driver_type == :random
mdp.driver_models[i].c = rand(rng, [0,1]) # change cooperativity
elseif mdp.driver_type == :aggressive
mdp.driver_models[i].c = 0.0
elseif mdp.driver_type == :cooperative
mdp.driver_models[i].c = 1.0
end
end
# burn in
acts = Vector{LaneFollowingAccel}(undef, length(scene))
burn_in =rand(rng, mdp.min_burn_in:mdp.max_burn_in)
scene = s0
for t=1:burn_in
get_actions!(acts, scene, mdp.env.roadway, mdp.driver_models)
tick!(scene, mdp.env.roadway, acts, mdp.dt, true)
for (i, veh) in enumerate(scene)
scene[i] = wrap_around(mdp.env, scene[i])
end
end
s = Scene()
push!(s, ego)
for veh in scene
push!(s, veh)
end
return AugScene(s, (acc=ego_acc_0,))
end
function POMDPs.reward(mdp::GenerativeMergingMDP, s::AugScene, a::Int64, sp::AugScene)
egop = get_by_id(sp.scene, EGO_ID)
r = 0.0
if reachgoal(mdp, egop)
r += mdp.goal_reward
elseif collision_checker(sp.scene, EGO_ID)
r += mdp.collision_cost
end
if caused_hard_brake(mdp, sp.scene)
r += mdp.hard_brake_cost
end
return r
end
function POMDPs.reward(pomdp::FullyObservablePOMDP{AugScene,Int64}, s::AugScene, a::Int64, sp::AugScene)
return reward(pomdp.mdp, s, a, sp)
end
function POMDPs.isterminal(mdp::GenerativeMergingMDP, s::AugScene)
return collision_checker(s.scene, EGO_ID) || reachgoal(mdp, get_by_id(s.scene, EGO_ID))
end
function POMDPs.gen(mdp::GenerativeMergingMDP, s::AugScene, a::Int64, rng::AbstractRNG)
scene = deepcopy(s.scene)
mdp.driver_models[EGO_ID].a = action_map(mdp, s.ego_info.acc, a)
ego_acc = mdp.driver_models[EGO_ID].a.a
acts = Vector{LaneFollowingAccel}(undef, length(scene))
# call driver models
for i=EGO_ID+1:EGO_ID+mdp.n_cars_main
mdp.driver_models[i].other_acc = s.ego_info.acc
end
get_actions!(acts, scene, mdp.env.roadway, mdp.driver_models)
# update scene
tick!(scene, mdp.env.roadway, acts, mdp.dt, true)
# clamp speed
for (i, veh) in enumerate(scene)
# scene[i] = clamp_speed(mdp.env, veh)
scene[i] = wrap_around(mdp.env, scene[i])
end
return (sp=AugScene(scene, (acc=ego_acc,)), )
end
"""
extract_features(mdp::GenerativeMergingMDP, s::AugScene)
extract a feature vector from AugScene
"""
function extract_features(mdp::GenerativeMergingMDP, s::AugScene)
# @show keys(mdp.driver_models)
scene = s.scene
env = mdp.env
features = -3*ones(15)
ego_ind = findfirst(EGO_ID, scene)
ego = scene[ego_ind]
# distance to merge point
s_ego = dist_to_merge(env, ego)
v_ego = ego.state.v
features[1] = s_ego
features[2] = v_ego
features[3] = s.ego_info.acc
# get neighbors
fore, merge, fore_main, rear_main = get_neighbors(env, scene, EGO_ID)
# front neighbor
features[6] = 0.0
if fore.ind != nothing
fore_id = scene[fore.ind].id
v_oth = scene[fore.ind].state.v
headway = fore.Δs
features[4] = headway
if mdp.observe_speed
features[5] = v_oth
else
features[5] = 0.0
end
if mdp.observe_cooperation
features[6] = mdp.driver_models[fore_id].c
else
features[6] = 0.
end
end
# two closest cars in main lane
features[9] = 0.0
if fore_main.ind != nothing
fore_main_id = scene[fore_main.ind].id
v_oth_main_fore = scene[fore_main.ind].state.v
headway_main_fore = fore_main.Δs
features[7] = headway_main_fore
if mdp.observe_speed
features[8] = v_oth_main_fore
else
features[8] = 0.0
end
if mdp.observe_cooperation
features[9] = mdp.driver_models[fore_main_id].c
else
features[9] = 0.
end
end
features[12] = 0.0
if rear_main.ind != nothing
rear_main_id = scene[rear_main.ind].id
v_oth_main_rear = scene[rear_main.ind].state.v
headway_main_rear = rear_main.Δs
features[10] = headway_main_rear
if mdp.observe_speed
features[11] = v_oth_main_rear
else
features[11] = 0.0
end
if mdp.observe_cooperation
features[12] = mdp.driver_models[rear_main_id].c
else
features[12] = 0.
end
end
# rear car to the merge point
features[15] = 0.0
if merge.ind != nothing
merge_id = scene[merge.ind].id
v_oth = scene[merge.ind].state.v
headway = merge.Δs
features[13] = headway
if mdp.observe_speed
features[14] = v_oth
else
features[14] = 0.0
end
if mdp.observe_cooperation
features[15] = mdp.driver_models[merge_id].c
else
features[15] = 0.
end
end
return features
end
"""
normalize_features!(mdp::GenerativeMergingMDP, features::Vector{Float64})
normalize a feature vector extracted from a scene
"""
function normalize_features!(mdp::GenerativeMergingMDP, features::Vector{Float64})
features[1] /= mdp.env.main_lane_length
features[2] /= mdp.env.main_lane_vmax
features[3] /= mdp.max_deceleration
features[4] /= mdp.env.main_lane_length
features[5] /= mdp.env.main_lane_vmax
features[6] /= 1.
features[7] /= mdp.env.main_lane_length
features[8] /= mdp.env.main_lane_vmax
features[9] /= 1.
features[10] /= mdp.env.main_lane_length
features[11] /= mdp.env.main_lane_vmax
features[12] /= 1.
features[13] /= mdp.env.main_lane_length
features[14] /= mdp.env.main_lane_vmax
features[15] /= 1.
return features
end
"""
unnormalize_features!(mdp::GenerativeMergingMDP, features::Vector{Float64})
rescale feature vector
"""
function unnormalize_features!(mdp::GenerativeMergingMDP, features::Vector{Float64})
features[1] *= mdp.env.main_lane_length
features[2] *= mdp.env.main_lane_vmax
features[3] *= mdp.max_deceleration
features[4] *= mdp.env.main_lane_length
features[5] *= mdp.env.main_lane_vmax
features[6] *= 1.
features[7] *= mdp.env.main_lane_length
features[8] *= mdp.env.main_lane_vmax
features[9] *= 1.
features[10] *= mdp.env.main_lane_length
features[11] *= mdp.env.main_lane_vmax
features[12] *= 1.
features[13] *= mdp.env.main_lane_length
features[14] *= mdp.env.main_lane_vmax
features[15] *= 1.
return features
end
function POMDPs.convert_s(::Type{V}, s::AugScene, mdp::GenerativeMergingMDP) where V<:AbstractArray
feature_vec = extract_features(mdp, s)
return normalize_features!(mdp, feature_vec)
end
function POMDPs.convert_s(::Type{AugScene}, o::V, mdp::GenerativeMergingMDP) where V<:AbstractArray
feature_vec = deepcopy(o)
unnormalize_features!(mdp, feature_vec)
s_ego, v_ego, s_front, v_front, s_fm, v_fm, s_rm, v_rm, s_m, v_m, a_ego = feature_vec[1:11]
# reconstruct the scene
scene = Scene()
if s_ego < 0.0
lane_ego = merge_lane(mdp.env)
s_ego = get_end(lane_ego) + s_ego
else
lane_ego = main_lane(mdp.env)
s_ego = mdp.env.roadway[mdp.env.merge_index].s + s_ego
end
ego = Vehicle(vehicle_state(s_ego, lane_ego, v_ego, mdp.env.roadway), VehicleDef(), EGO_ID)
push!(scene, ego)
# front neighbor
if lane_ego == main_lane(mdp.env)
s_front = ego.state.posF.s + s_front
else
s_front = mdp.env.main_lane_length + s_front
end
front = Vehicle(vehicle_state(s_front, main_lane(mdp.env), v_front, mdp.env.roadway), VehicleDef(), EGO_ID+1)
push!(scene, front)
# front neighbor to projection
proj_lane = main_lane(mdp.env)
main_lane_proj = proj(ego.state.posG, proj_lane, mdp.env.roadway)
s_main = proj_lane[main_lane_proj.curveproj.ind, mdp.env.roadway].s
s_fm = s_main + s_fm
frontmain = Vehicle(vehicle_state(s_fm, main_lane(mdp.env), v_fm, mdp.env.roadway), VehicleDef(), EGO_ID+2)
push!(scene, frontmain)
s_rm = s_main - s_rm
rearmain = Vehicle(vehicle_state(s_rm, main_lane(mdp.env), v_rm, mdp.env.roadway), VehicleDef(), EGO_ID+3)
push!(scene, rearmain)
if lane_ego == main_lane(mdp.env)
s_m = ego.state.posF.s - s_m
else
s_m = mdp.env.main_lane_length - s_m
end
merge = Vehicle(vehicle_state(s_m, main_lane(mdp.env), v_m, mdp.env.roadway), VehicleDef(), EGO_ID+4)
push!(scene, merge)
return AugScene(scene, (acc=a_ego,))
end
## helpers
"""
initial_merge_car_state(mdp::GenerativeMergingMDP, rng::AbstractRNG, id::Int64)
returns a Vehicle, at the initial state of the merging car.
"""
function initial_merge_car_state(mdp::GenerativeMergingMDP, rng::AbstractRNG, id::Int64)
v0 = mdp.initial_velocity + mdp.initial_velocity_std*randn(rng)
v0 = mdp.initial_ego_velocity
veh_state = vehicle_state(0.0, merge_lane(mdp.env), v0, mdp.env.roadway)
return Vehicle(veh_state, mdp.car_def, id)
end
"""
reset_main_car_state(mdp::GenerativeMergingMDP, veh::Vehicle)
initialize a car at the beginning of the main lane
"""
function reset_main_car_state(mdp::GenerativeMergingMDP, veh::Vehicle)
v0 = mdp.initial_velocity + mdp.initial_velocity_std*randn(rng)
veh_state = vehicle_state(0.0, main_lane(mdp.env), v0, mdp.env.roadway)
return Vehicle(veh_state, mdp.car_def, veh.id)
end
"""
reachgoal(mdp::GenerativeMergingMDP, ego::Vehicle)
return true if `ego` reached the goal position
"""
function reachgoal(mdp::GenerativeMergingMDP, ego::Vehicle)
lane = get_lane(mdp.env.roadway, ego)
s = ego.state.posF.s
return lane.tag == main_lane(mdp.env).tag && s >= get_end(lane)
end
"""
caused_hard_brake(mdp::GenerativeMergingMDP, scene::Scene)
returns true if the ego vehicle caused its rear neighbor to hard brake
"""
function caused_hard_brake(mdp::GenerativeMergingMDP, scene::Scene)
ego_ind = findfirst(EGO_ID, scene)
fore_res = get_neighbor_rear_along_lane(scene, ego_ind, mdp.env.roadway)
if fore_res.ind == nothing
return false
else
return mdp.driver_models[fore_res.ind].a <= mdp.driver_models[fore_res.ind].idm.d_max
end
end
"""
action_map(mdp::GenerativeMergingMDP, acc::Float64, a::Int64)
maps integer to a LaneFollowingAccel
"""
function action_map(mdp::GenerativeMergingMDP, acc::Float64, a::Int64)
if a == HARD_BRAKE
return LaneFollowingAccel(mdp.max_deceleration)
elseif a == RELEASE
return LaneFollowingAccel(0.0)
else
return LaneFollowingAccel(clamp(acc + mdp.jerk_levels[a-1], mdp.max_deceleration, mdp.max_acceleration))
end
end
"""
vehicle_state(s::Float64, lane::Lane, v::Float64, roadway::Roadway)
convenient constructor for VehicleState
"""
function vehicle_state(s::Float64, lane::Lane, v::Float64, roadway::Roadway)
posF = Frenet(lane, s)
return VehicleState(posF, roadway, v)
end
"""
wrap_around(env::MergingEnvironment, veh::Vehicle)
respawn vehicle at the beginning of the main lane
"""
function wrap_around(env::MergingEnvironment, veh::Vehicle)
lane = get_lane(env.roadway, veh)
s_end = get_end(lane)
s = veh.state.posF.s
if s >= s_end - WRAP_AROUND_TOL && lane == main_lane(env) && veh.id != EGO_ID
veh_state = vehicle_state(0.0, main_lane(env), veh.state.v, env.roadway)
return Vehicle(veh_state,veh.def, veh.id)
end
return veh
end
"""
clamp_speed(env::MergingEnvironment, veh::Vehicle)
clamp the speed of `veh` between 0. and main lane vmax
"""
function clamp_speed(env::MergingEnvironment, veh::Vehicle)
v = clamp(veh.state.v, 0.0, env.main_lane_vmax)
vehstate = VehicleState(veh.state.posG, veh.state.posF, v)
return Vehicle(vehstate, veh.def, veh.id)
end
"""
spread_out_initialization(mdp::GenerativeMergingMDP, rng::AbstractRNG)
spread out vehicles on the main lane
"""
function spread_out_initialization(mdp::GenerativeMergingMDP, rng::AbstractRNG)
start_positions = zeros(mdp.n_cars_main)
start_positions[1] = rand(rng, mdp.main_lane_slots)
gap_length = div(mdp.env.main_lane_length + mdp.env.after_merge_length, mdp.n_cars_main)
main_roadway = StraightRoadway(mdp.env.main_lane_length + mdp.env.after_merge_length)
for i=2:mdp.n_cars_main
start_positions[i] = mod_position_to_roadway(start_positions[i-1] + gap_length, main_roadway)
end
return start_positions
end
"""
global_features(mdp::GenerativeMergingMDP, s::AugScene)
extract a vector with the states of all the vehicles in AugScene
"""
function global_features(mdp::GenerativeMergingMDP, s::AugScene)
n_features = 2*mdp.n_cars_main + 3 + mdp.n_cars_main
features = zeros(n_features)
ego = get_by_id(s.scene, EGO_ID)
features[1] = dist_to_merge(mdp.env, ego)
features[2] = ego.state.v
features[3] = s.ego_info.acc
@assert s.scene[1].id == EGO_ID
for i=2:length(s.scene)
veh = s.scene[i]
features[3*i-2] = veh.state.posF.s
features[3*i-1] = veh.state.v
obs_c = 0.5
if mdp.observe_cooperation
obs_c = mdp.driver_models[i].c
end
features[3*i] = obs_c
end
return features
end
function normalize_global_features!(mdp::GenerativeMergingMDP, features::Vector{Float64})
features[1] /= mdp.env.main_lane_length
features[2] /= mdp.env.main_lane_vmax
features[3] /= mdp.max_deceleration
for i=2:mdp.n_cars_main+1
features[3*i - 2] /= mdp.env.main_lane_length
features[3*i - 1] /= mdp.env.main_lane_vmax
end
return features
end
function unnormalize_global_features!(mdp::GenerativeMergingMDP, features::Vector{Float64})
features[1] *= mdp.env.main_lane_length
features[2] *= mdp.env.main_lane_vmax
features[3] *= mdp.max_deceleration
for i=2:mdp.n_cars_main+1
features[3*i-2] *= mdp.env.main_lane_length
features[3*i-1] *= mdp.env.main_lane_vmax
end
return features
end