sisl/multilane.jl

Simulation and control of an autonomous car on a multilane highway in a (PO)MDP framework

Multilane

Simulation and control of an autonomous car on a multilane highway in a (PO)MDP framework (implemented using POMDPs.jl).

The most recent set of experiments can be found in the thesis directory.

multilane.jl's Issues

single_behavior.jl not commited

plz do

adding randomness can cause weird behavior

• generated cars can be going too fast to no hit cars in front
• normal noise on accelerations can also cause similar things

weird lanechange dithering issue

I think it has to do with the consistency checking code

get_adj_cars efficiency

So after doing the pruning on is_crash, the next fattest function is get_adj_cars(::Array{CarState,1}). The main reason I can think of for it being bad is that its a very naive approach. I'm fairly certain there's some smart dynamic programming style way to get the adjacent cars for all of the cars in one shot instead of the O(n^2) way that it's operating at now.

actions() doesn't work right at all

Need to develop some tests for this

when s is returned by initial_state(), length(s.env_cars) should be the number of valid cars

commit bugfixes from today

thx

Assertion error when running profile.jl

Getting

ERROR: LoadError: AssertionError: yp >= 1.0 && yp <= pp.nb_lanes

idk why

Cars are not being encountered

They just disappear what's happening omg.

cars stop in between lanes

Cars stop in between lanes and cause the simulator to crash. I think the consistency checking logic or the is_dangerous logic is being dumb.

crashing is dumb

they're psychic crashing or something.

hard brake action results in absurd accelerations

Got something like -20.45 m/s2 >> the physical limit of ~ -10m/s2

actions not allowing some lane changes

using Multilane
using POMDPs

mdp = Multilane.MLMDP{Multilane.MLState,Multilane.MLAction,Multilane.NoCrashIDMMOBILModel,Multilane.NoCrashRewardModel}(Multilane.NoCrashIDMMOBILModel(10,Multilane.PhysicalParam(0.75,2.0,4.0,31.0,4.0,4.0,35.0,27.0,31.0,35.0,27.0,20.0,4,100.0),Multilane.BehaviorModel[Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.0,1.0,2.0,27.5,4.0,4.0),Multilane.MOBILParam(0.5,4.0,0.2),1.0,1),Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,27.5,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,2),Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,27.5,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,3),Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.0,1.0,2.0,31.0,4.0,4.0),Multilane.MOBILParam(0.5,4.0,0.2),1.0,4),Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,31.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,5),Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,31.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,6),Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.0,1.0,2.0,35.0,4.0,4.0),Multilane.MOBILParam(0.5,4.0,0.2),1.0,7),Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,35.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,8),Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,35.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,9)],StatsBase.WeightVec{Float64,Array{Float64,1}}([1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0],9.0),1.0,1.3333333333333333,0.5,20.0,0.5,[1.0,1.0,1.0,1.0],2.0),Multilane.NoCrashRewardModel(100.0,10.0,5.0,4),1.0)

s = MLState(false, CarState[CarState(50.0,3.0,31.22970781020354,0.0,Nullable{BehaviorModel}(),1),CarState(99.24797069990433,4.0,27.167643727404155,0.0,Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,27.5,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,3),2)])

as = actions(mdp, s, actions(mdp))

Should allow the car to change into lane 4, but it does not

lane snap back commented out

Hey Chris, I noticed that you had the code that stops the car when it gets to the middle of a lane commented out. Was it not working or producing some sort of bad side effect?

idmmobil cars lane change into ego car

Example:

nb_lanes = 4
pp = PhysicalParam(nb_lanes,lane_length=100.) #2.=>col_length=8
_discount = 1.
nb_cars=10

rmodel = NoCrashRewardModel()

dmodel = NoCrashIDMMOBILModel(nb_cars, pp)

mdp = NoCrashMDP(dmodel, rmodel, _discount);

s = Multilane.MLState(false,[Multilane.CarState(50.0,4.0,28.125,0.0,Nullable{Multilane.BehaviorModel}()),Multilane.CarState(45.63831155736089,3.0,29.959029299309613,0.6666666666666666,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.0,1.0,2.0,31.0,4.0,4.0),Multilane.MOBILParam(0.5,4.0,0.2),1.0,4))),Multilane.CarState(7.169470572976412,1.0,30.675116224204793,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,35.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,8))),Multilane.CarState(98.01576224720353,4.0,27.245023469032592,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,27.5,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,2))),Multilane.CarState(0.42803785502447056,3.0,27.924225639837424,0.6666666666666666,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,31.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,5))),Multilane.CarState(100.0,2.0,28.125,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,27.5,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,2)))])

Do you update this code for Julia 0.6?

Dear authors,
Thanks for your work and codes. It's helpful for me.
However, it cannot work on both Julia 0.5 and 0.6 now.
Have you updated it? If yes, could you share it on the github?
Thanks so much!

Run femtocleaner

ego car does not check if there is someone next to it before changing lanes

this check should be in actions(mdp, s)

lane_change in lanes/second or meters per second

I always thought this was lanes per second, but it appears that it is meters per second some places in the code

cars lane changing into one another

case:

nb_lanes = 4
pp = PhysicalParam(nb_lanes,lane_length=100.) #2.=>col_length=8
_discount = 1.
nb_cars=10

rmodel = NoCrashRewardModel()

dmodel = NoCrashIDMMOBILModel(nb_cars, pp)

mdp = NoCrashMDP(dmodel, rmodel, _discount);

rng = MersenneTwister(5)

s = Multilane.MLState(false,[Multilane.CarState(50.0,2.5,30.75,0.0,Nullable{Multilane.BehaviorModel}(),1),Multilane.CarState(99.56731292388635,3.0,34.36785842369873,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,35.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,9)),4),Multilane.CarState(88.9857138446193,4.0,29.878676022074934,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,31.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,5)),12),Multilane.CarState(83.55003341854245,1.0,27.45737686175689,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,27.5,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,2)),13),Multilane.CarState(5.833404602969644,1.5,31.164522812071382,0.6666666666666666,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,35.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,9)),14),Multilane.CarState(6.364105400258811,3.0,30.995876598243825,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,31.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,6)),15),Multilane.CarState(95.2814275010719,2.0,27.0,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,31.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,5)),17),Multilane.CarState(98.12572985780923,2.0,29.049513872117117,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.0,1.0,2.0,27.5,4.0,4.0),Multilane.MOBILParam(0.5,4.0,0.2),1.0,1)),18),Multilane.CarState(0.0,4.0,31.09003055824878,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,27.5,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,2)),19)])

car 5 and car 6 are moving into one another

commit test_actions.jl

plz do

Car runs into ego

The cars seem to be not giving the ego vehicle enough room. Sometimes they are running into the ego, or causing him to slam on the brakes

v0.7.3 for StatsPlots.jl; Draft installGuide

• We need to use v0.7.3 for StatsPlots.jl
• Probably also should confirm that the correct version of POMDPs is installed by build.jl

Here is a draft install guide

Pkg.clone("https://github.com/sisl/Multilane.jl")

# Assuming we fixed the above in build.jl, the next step
# should be enough
Pkg.build("Multilane")

# Test
using Multilane