mynkpl1998 / upgraded-octo-lamp Goto Github PK

It has been observed that, for densities > 0.4, significant number of lane changes leads to collision, which might be a reason for agent not to select lane change action. May be we can try sampling low density episodes more often high density to mitigate this problem.

Examples to include

1. Local View
2. With Comm
3. With Comm with different size of regions

• If user doesn't provide any control input then agent action comes from trained policy else policy action is overwritten by user input.

• Add option to enable disable traffic light and manually controlling traffic lights from external input.

• Implement MOBIL model
• https://mtreiber.de/publications/MOBIL_TRB.pdf

Add a function which penalises for querying a region.
Create an independent function.

main() -> reward func() -> commPenalty() -> main()

Configuration to reproduce the result.

Script : test.py

Sim Config

config:
  # Simulation Parameters
  t-period: 0.1 # in secs
  
 # IDM settings
   max-speed: 10 # in m/s
   local-view: 20 # in metres (one side)
   cextended-view: 20 # in metres (one side)
   reg-size: 5 # in metres
   cell-size: 1 # in metres

  # Reward Function
  collision-penalty: -10

  # UI settings
  render: true
  fps: 5

  # Set Mode
  mode: 'test'

  # Frame Skip
  frame-skip-value: 1

With speed based reward function, average length of the episode is low for higher density because the cars gets too close to each other and using a stochastic policy leads to selection of action which results in collision.

Solution : Penalise the agent if bumper to bumper distance becomes smaller than a threshold distance. (like 2m)

As discussed in the meeting, the ego vehicle should not travel faster than the what is allowed by the local view size. However this is not current the case as we are not simulating the mixed traffic correctly. Therefore, Add a light at a the junction for the same.

This will allow to easily debug the simulator.

According to lane change behaviour which is

1. If lane change is valid move to next lane, but no change is position and speed.

This causes wrong policies like when tf lights are enabled and both lanes are blocked agent uses lane change action to prevent agent to move forward.

Revert back to correct lane change behaviour which is in addition to 1 includes doing a do-nothing action.