From ee257c39be3c0645bacd183f289c4465d19666e2 Mon Sep 17 00:00:00 2001
From: Jaeyoung Lee <jaeyoung.lee@uwaterloo.ca>
Date: Thu, 31 Jan 2019 17:55:50 -0500
Subject: [PATCH] Further improve Follow and make KeepLane default (available
any time).
---
options/simple_intersection/maneuvers.py | 32 +++++++++++++-----------
1 file changed, 18 insertions(+), 14 deletions(-)
diff --git a/options/simple_intersection/maneuvers.py b/options/simple_intersection/maneuvers.py
index cda94f8..3a99a45 100644
--- a/options/simple_intersection/maneuvers.py
+++ b/options/simple_intersection/maneuvers.py
@@ -52,6 +52,16 @@ class KeepLane(ManeuverBase):
def _features_dim_reduction(features_tuple):
return extract_ego_features(features_tuple, 'v', 'v_ref', 'e_y', 'psi', 'v tan(psi/L)', 'theta', 'lane', 'acc', 'psi_dot')
+ @property
+ def initiation_condition(self):
+ """a virtual function (property) from ManeuverBase.
+ As KeepLane is a default maneuver, it has to be activated to be chosen at any time, state, and condition
+ (refer to initiation_condition of ManeuverBase for the usual case.
+ :returns True.
+ """
+
+ return True
+
@property
def extra_termination_condition(self):
if self._enable_low_level_training_properties: # activated only for the low-level training.
@@ -383,6 +393,7 @@ class ChangeLane(ManeuverBase):
'psi_dot')
+# TODO: In the low-level training of Follow, sometime the initial state doesn't satisfy its initiation condition.
class Follow(ManeuverBase):
_reward_in_goal = None
@@ -422,7 +433,6 @@ class Follow(ManeuverBase):
self.env._terminate_in_goal = False
self._penalty_for_out_of_range = 200
self._penalty_for_change_lane = 200
- self._reward_in_goal = 200
self._enable_low_level_training_properties = True
self._extra_action_weights_flag = True
@@ -436,7 +446,6 @@ class Follow(ManeuverBase):
self._set_v_ref()
def _set_v_ref(self):
- #if self._enable_low_level_training_properties:
self._target_veh_i, _ = self.env.get_V2V_distance()
if self._target_veh_i is not None:
@@ -460,23 +469,18 @@ class Follow(ManeuverBase):
@property
def extra_termination_condition(self):
- # APs = self.env.ego.APs
-
if self._target_veh_i is None:
return False
if self._enable_low_level_training_properties: # activated only for the low-level training.
- if self.env.ego.APs['has_stopped_in_stop_region'] and \
- self.env.ego.APs['in_stop_region']:
- self._extra_r_terminal = None
- return True
-
- elif (rd.speed_limit / 5 < self._v_ref) and \
+ APs = self.env.ego.APs
+ if (rd.speed_limit / 5 < self._v_ref) and \
(self.env.ego.v < self._v_ref / 2) and \
self.env.ego.acc < 0 and \
- not self.env.ego.APs['veh_ahead_stopped_now']:
- self._extra_r_terminal = -100
- return True
+ not APs['veh_ahead_stopped_now'] and \
+ not APs['in_stop_region']:
+ self._extra_r_terminal = -100
+ return True
else:
self._extra_r_terminal = None
@@ -493,4 +497,4 @@ class Follow(ManeuverBase):
return ego_features + extract_other_veh_features(
features_tuple, self._target_veh_i, 'rel_x', 'rel_y', 'v', 'acc')
else:
- return ego_features + (0.0, 0.0, 0.0, 0.0)
\ No newline at end of file
+ return ego_features + (0.0, 0.0, 0.0, 0.0)
--
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