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Generate-Traffic-Flow-MAS-RL.gaml
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Generate-Traffic-Flow-MAS-RL.gaml
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/***
* Name: GenerateTrafficFlowMixedinput
* Author: Zjj
* Description:
* Tags: Tag1, Tag2, TagN
***/
model GenerateTrafficFlowMASRL
global {
file shape_file_roads <- file("../includes/intersection/easy/simple_network.shp") ;
file shape_file_nodes <- file("../includes/intersection/easy/simple_nodes.shp");//simple_nodes2
geometry shape <- envelope(shape_file_roads);
int nb_people <-0; //10
int nb_bus_agent <- 20;
int nb_bus_npc <- 10; //3
int NPC_speed <-16;
int time_to_set_offset <- 1;
int episode <- 0;
int total_episode <- 10000;
int start_R <- 0;
int done; //終わり-1
node_agt starting_point; //agent species
graph road_network;
graph kagayaki_network;
graph pana_east_network;
graph kasayama_network;
map kagayaki_route;
map kasayama_route;
map general_speed_map;
path kagayaki_path;
path kasayama_path;
path pana_east_path;
point t1;//スタート地点
point t2;//ゴール地点
file icon_bus_agent <- file('../includes/icons/vehicles/taxi_red.png');
file bus_shape_kagayaki <- file('../includes/icons/vehicles/bus_blue.png');
file bus_shape_kasayama <- file('../includes/icons/vehicles/bus_green.png');
file car_shape_empty <- file('../includes/icons/vehicles/normal_red.png');
init {
create road from: shape_file_roads with:[id::int(read("id")),nblanes::int(read("lanes")),maxspeed::int(read("maxspeed")),highway::string(read("highway")),
kasayama::int(read("kasayama")),kagayaki::int(read("kagayaki")),pana_east::int(read("pana-east"))] {
//lanes <- 1;
maxspeed <- 60 + (rnd(20)-10)°m/°s;// (lanes = 1 ? 30.0 : (lanes = 2 ? 50.0 : 70.0)) °km/°h;
if(kagayaki!=1){
kagayaki <- 500;//重みを極端にする
}
if(kasayama!=1){
kasayama <- 500;
}
if(pana_east!=1){
pana_east <- 500;
}
switch oneway {
match "no" {
create road {
lanes <- max([1, int (myself.lanes / 2.0)]);
shape <- polyline(reverse(myself.shape.points));
maxspeed <- myself.maxspeed;
geom_display <- myself.geom_display;
linked_road <- myself;
self.kagayaki <- myself.kagayaki;
myself.linked_road <- self;
if(myself.kagayaki!=1){
self.kagayaki <- 500;//重みを極端にする
}
if(myself.kasayama!=1){
self.kasayama <- 500;
}
if(myself.pana_east!=1){
self.pana_east <- 500;
}
}
//lanes <- int(lanes /2.0 + 0.5);
}
match "yes" {
create road {
lanes <- max([1, int (myself.lanes / 2.0)]);
shape <- polyline(reverse(myself.shape.points));
maxspeed <- myself.maxspeed;
geom_display <- myself.geom_display;
linked_road <- myself;
myself.linked_road <- self;
self.kagayaki <- myself.kagayaki;
if(myself.kagayaki!=1){
self.kagayaki <- 500;//重みを極端にする
}
if(myself.kasayama!=1){
self.kasayama <- 500;
}
if(myself.pana_east!=1){
self.pana_east <- 500;
}
}
//lanes <- int(lanes /2.0 + 0.5);
}
match "-1" {
lanes <- 1;
self.linked_road <- self;
shape <- polyline(reverse(shape.points));
}
}
geom_display <- shape+ (2.5 * lanes);
maxspeed <- 60 + (rnd(20)-10)°m/°s;//maxspeed <- (lanes = 1 ? 30.0 : (lanes = 2 ? 50.0 : 70.0)) °km/°h;
}
create node_agt from: shape_file_nodes with:[is_traffic_signal::(string(read("type")) = "traffic_signals"),type::(string(read("type")))];
starting_point <- one_of(node_agt where each.is_traffic_signal);
general_speed_map <- road as_map (each::(each.shape.perimeter / (each.maxspeed)));
/*以下数行を書き換える */
kagayaki_route <- road as_map(each::(each.kagayaki));//重みを
kasayama_route <- road as_map(each::(each.kasayama));
road_network <- (as_driving_graph(road, node_agt))with_weights general_speed_map;
t1 <- (node_agt(5)).location; //スタート地点 //5 list 4 ?
t2 <- (node_agt(12)).location; //ゴール地点 //12
create people number: nb_people {
speed <- 30 #km /#h ;
vehicle_length <- 3.0 #m;
right_side_driving <- true;
proba_lane_change_up <- 0.1 + (rnd(500) / 500);
proba_lane_change_down <- 0.5+ (rnd(500) / 500);
location <- one_of(node_agt).location;
security_distance_coeff <- 4.0;//(1.5 - rnd(1000) / 1000);
proba_respect_priorities <- 1.0 - rnd(200/1000);
proba_respect_stops <- [0.1];
proba_block_node <- 0.0;
proba_use_linked_road <- 0.0;
max_acceleration <- 0.5 + rnd(500) / 1000;
speed_coeff <- 1.2 - (rnd(400) / 1000);
}
create bus_agent number: nb_bus_agent { //Agent
time_target<- 12+ rnd(13);
max_speed <- 330°m/°s;
real_speed <- 0 °m/°s;
target_speed<-9 + rnd(3)°m/°s; //30
vehicle_length <- 3.0 #m;
location <- t1;
time_pass <- 0;
done <- 0;
over <- 0;
//max_acceleration <- 0.0 ;
min_safety_distance <- 0.01; // set up
min_security_distance <- 0.01;
safety_distance_coeff <- 1.0; //speed - security_distance =max(min_security_distance, security_distance_coeff * min(self.real_speed, other.real_speed)
security_distance_coeff <- 1.0; //speed = security_distance_coeff * min(self.real_speed, other.real_speed)
proba_respect_priorities <-0.0;
proba_block_node <- 0.0;
proba_use_linked_road <- 0.99; //使用相反道路
right_side_driving <- false; //for collision
}
create bus number: nb_bus_npc { //NPC
time_target<- 12+ rnd(13);
max_speed <- 20°m/°s;
real_speed <- 0 °m/°s;
vehicle_length <- 3.0 #m;
location <- t1;
time_pass <- 0;
proba_use_linked_road <- 0.0;
max_acceleration <- 0.0 ;
min_safety_distance <- 0.01;
min_security_distance <- 0.01;
safety_distance_coeff <- 1.0;
security_distance_coeff <- 1.0;
proba_use_linked_road <- 0.99;
}
}
reflex stop_simulation when: episode = total_episode {
do pause ;
}
}
//RL-agent
species bus_agent skills: [advanced_driving,RSkill] {
rgb color <- rgb(255,0,0); //rnd_
bool green_light_checked <-false;
node_agt target;
node_agt true_target;
node_agt bus_start;
int n <-1;
int m <- rnd(n);//乱数でバスのルートを決定
// 自作
int time_pass;
int time_target;
int first_time <- 1;
int over;
int check_receive <- 0;
int random_node;
int a_flag_checked_pass_light <- nil;
int on_linked_road_int <- 0;
int collision<-0; //衝突
int jam <-0; //渋滞生成
int time_after_waite <-0;
unknown read_python;
unknown pause;
unknown clear;
float reward <- 0.0;
float acceleration<-0.0;
float target_speed;
float Instantaneous_speed<-0.0;
float real_real_speed<-0.0;
float elapsed_time_ratio;
float elapsed_dis_ratio<-0.0;
float distance_all;
float distance_passed <-0.0;
float distance_left <-0.0;
float distance_front_car <-100.0;
float distance_behind_car <-100.0;
float distance_front_car_before <-100.0;
float distance_behind_car_before <-100.0;
point pre_point;point initial_point; point location_1;point location_2;
file Rcode_pause<-text_file("D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_R/R_pause.txt"); //file Rcode_clear<-text_file("D:/Software/GamaWorkspace/Python/R_clear.txt");
file Rcode_read<-text_file("D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_R/R_read.txt");
list<bus_agent>cars_front_behind;
list<point>cars_closest_front_1;list<point>cars_closest_front_2;list<point>cars_closest_front_3;
list<point>cars_closest_behind_1;list<point>cars_closest_behind_2;list<point>cars_closest_behind_3;
list<point>cars_closest_10_1;list<point>cars_closest_10_2;list<point>cars_closest_10_3;
list<point>route;
list state_1;list state_2;list state_3;
action road_weight{
if(m=0){
road_network <- road_network with_weights kagayaki_route;//重みを地図に適応
current_path <- compute_path(graph: road_network,target: target);
}
if(m=1){
road_network <- road_network with_weights kasayama_route;//重みを地図に適応
current_path <- compute_path(graph: road_network,target: target);
}
int length_nodes <- length(targets);
int sum_nodes <- 0;
loop while: (sum_nodes+1 < length_nodes) {
distance_all <- distance_all + (targets at sum_nodes)distance_to(targets at (sum_nodes+1));
sum_nodes <- sum_nodes+1;
}
distance_left <- distance_all;
distance_left<-max (distance_left,distance_to_goal);
if(distance_left>100){
time_target <- int(distance_left/100)*15+ rnd(3); //key distance_left/16*10 +15+ rnd(3);//
}
else{
time_target <- rnd(2) + 9;
}
}
action distance_cal{
distance_passed<- distance_passed + (location distance_to pre_point);
pre_point <- location;
distance_left <- distance_all - distance_passed;
distance_left<-max (distance_left,distance_to_goal);
}
action reward_calculate{
if(time_pass != 0){
float punishment <- collision*0.1 + jam*0.0006 ;
if(distance_front_car_before < 30 or time_after_waite>0){punishment <- collision*0.1 ;}//+ jam*0.0001
if(Instantaneous_speed<=target_speed and Instantaneous_speed != 0){
if(distance_front_car_before < 30 or time_after_waite>0){ //前面有车 或前面车离开不到3回合 或 出生or current_target = targets at 0
reward <- 0.001*(Instantaneous_speed/target_speed);
}
else{reward <- 0.001 - 0.005*((target_speed-Instantaneous_speed)/target_speed);}////+ (time_pass > time_target ? -0.00013 : 0.00005);
}
else if(Instantaneous_speed = 0){
if(distance_front_car_before < 30 or time_after_waite>0 ){ //前面有车
reward <- 0;
}
else{reward <- -0.001 ;}
}
if(Instantaneous_speed>=target_speed){ //超速
//if(distance_behind_car_before < 20){reward <-0.001 - 0.03*((real_speed-target_speed)/target_speed);} //后面有车
//else{reward <- 0.001 - 0.0008*(real_speed/target_speed);} ////+ (time_pass > time_target ? -0.0001 : 0.00005); //36 sigmiod
reward <- 0.001 - 0.008*((Instantaneous_speed-target_speed)/target_speed);
}
reward <- reward - punishment + (collision = 1 ? 0 : done*0.01) - (time_pass <= time_target ? 0 : done*0.008); //
}//初期
else{reward<-0.0;}
}
action queue_set{
if time_pass = 0{
cars_closest_front_1<-cars_closest_front_3;cars_closest_front_2<-cars_closest_front_3;
cars_closest_behind_1<-cars_closest_behind_3;cars_closest_behind_2<-cars_closest_behind_3;
cars_closest_10_1<-cars_closest_10_3;cars_closest_10_2<-cars_closest_10_3;
state_1<-state_3;state_2<-state_3;
location_1<-location;location_2<-location;
}
}
action queue_change{
cars_closest_front_1<-cars_closest_front_2; cars_closest_front_2<-cars_closest_front_3;
cars_closest_behind_1<-cars_closest_behind_2; cars_closest_behind_2<-cars_closest_behind_3;
cars_closest_10_1<-cars_closest_10_2; cars_closest_10_2<-cars_closest_10_3;
state_1<-state_2; state_2<-state_3;
location_1<-location_2; location_2<-location;
}
action Python { //D:/Software/PythonWork\GAMA_python\Generate_Traffic_Flow_MAS_RL
//do reward_calculate;
do distance_cal;
elapsed_time_ratio <- time_pass/time_target;
elapsed_dis_ratio<- distance_passed/(distance_left+distance_passed);
on_linked_road_int <- on_linked_road = true?1:0;
over <- (episode < total_episode ? 0 : 1);
state_3 <- [real_speed/10, target_speed/10, elapsed_time_ratio, elapsed_dis_ratio,distance_front_car/10,distance_behind_car/10,0,done,over];//reward
do queue_set;
//
save [initial_point,route] to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/route.csv" type: "csv" header: false;
//
save cars_closest_front_1 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_front_1.csv" type: "csv" header: false;
save cars_closest_front_2 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_front_2.csv" type: "csv" header: false;
save cars_closest_front_3 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_front_3.csv" type: "csv" header: false;
//
save cars_closest_behind_1 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_behind_1.csv" type: "csv" header: false;
save cars_closest_behind_2 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_behind_2.csv" type: "csv" header: false;
save cars_closest_behind_3 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_behind_3.csv" type: "csv" header: false;
//
save cars_closest_10_1 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_1.csv" type: "csv" header: false;
save cars_closest_10_2 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_2.csv" type: "csv" header: false;
save cars_closest_10_3 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_NPC_3.csv" type: "csv" header: false;
//
save location_1 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_self_1.csv" type: "csv" header: false;
save location_2 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_self_2.csv" type: "csv" header: false;
save location to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_img/save_self_3.csv" type: "csv" header: false;
//
save state_1 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_R/GAMA_intersection_data_1.csv" type: "csv" header: false;
save state_2 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_R/GAMA_intersection_data_2.csv" type: "csv" header: false;
save state_3 to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_R/GAMA_intersection_data_3.csv" type: "csv" header: false;
//write "read";
loop s over:Rcode_read.contents{read_python<- R_eval(s);}
check_receive <- read_python at 0;
//waiting for python
loop while: check_receive = 0 {
loop s over:Rcode_pause.contents{pause<- R_eval(s);}
loop s over:Rcode_read.contents{read_python<- R_eval(s);}
check_receive <- read_python at 0;
}
//wait over. caculate
acceleration <- read_python at 1; //write"check_receive acceleration: "+acceleration;
save [0] to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_R/python_AC_1.csv" type: "csv" header: false;
save [0] to: "D:/Software/PythonWork/GAMA_python/Generate_Traffic_Flow_MAS_RL/GAMA_R/python_AC_2.csv" type: "csv" header: false;
jam<-0;
do queue_change;
}
reflex collision_detection when :cycle>=0 and first_time !=1{
//找出 bus_closest; bus bus_2nd_closest;
distance_front_car<-100.0;distance_behind_car<-100.0;
cars_closest_front_3 <- [];cars_closest_behind_3 <- [];cars_closest_10_3<-[];
list<bus_agent> buses <- agents_inside(bus_agent)+agents_inside(bus);
cars_front_behind <- buses closest_to(self, 10) ;//write "cars_front_behind:"+cars_front_behind;
//先算出应有距离
loop bus_decided over: cars_front_behind{
float Euclidean_distance <- location distance_to bus_decided;
if(empty(self.targets) = false and empty(bus_decided.targets) = false){
//同一条路上,同向,右行
if(current_target = bus_decided.current_target and current_road = bus_decided.current_road){ //=bus_decided.right_side_driving//and right_side_driving
// agent 在后面，判断追尾 //s=v0t + 1/2at^2
if((self.location distance_to current_target) > (bus_decided.location distance_to bus_decided.current_target)){
if(distance_front_car=100){distance_front_car<-Euclidean_distance;}
else{distance_front_car<-Euclidean_distance>distance_front_car ? distance_front_car:Euclidean_distance;}
cars_closest_front_3<-cars_closest_front_3+bus_decided.location;
}
//agent 在前面，判断堵车
else{
if(distance_behind_car=100){distance_behind_car<-Euclidean_distance;}
else{distance_behind_car<-Euclidean_distance>distance_behind_car ? distance_behind_car:Euclidean_distance;}
cars_closest_behind_3<-cars_closest_behind_3+bus_decided.location;
}
}
//不同路，同一个目标,下一个目标也一样
if(current_road != bus_decided.current_road and current_target = bus_decided.current_target ){
int remain_self <- length (targets)-targets index_of current_target - 1;
int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
if(remain_self>1 and remain_bus_decided>1){
int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
int next_2_point_index_self <- targets index_of current_target + 1;
point next_2_point_self <- targets at next_2_point_index_self;
if(next_2_point_bus_closest = next_2_point_self){
cars_closest_10_3<-cars_closest_10_3+bus_decided.location;
}
}
}
//不同路，不同一个目标
if(current_road != bus_decided.current_road and current_target != bus_decided.current_target ){ //and targets index_of current_target != 0
int remain_self <- length (targets)-targets index_of current_target - 1;
int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
if( remain_self = 1 and remain_bus_decided > 1 and current_target != targets at 0){
//agent 在前面，判断堵车
int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
int self_target_before_index <- targets index_of current_target - 1;
if(current_target = next_2_point_bus_closest and bus_decided.current_target = targets at self_target_before_index){
if(distance_behind_car=100){distance_behind_car<-Euclidean_distance;}
else{distance_behind_car<-Euclidean_distance>distance_behind_car?distance_behind_car:Euclidean_distance;}
cars_closest_behind_3<-cars_closest_behind_3 + bus_decided.location;
}
}
if(remain_self > 1 and remain_bus_decided = 1 and bus_decided.current_target != bus_decided.targets at 0){
// agent 在后面，判断追尾
int next_2_point_index_self <- targets index_of current_target + 1;
point next_2_point_self <- targets at next_2_point_index_self;
int self_target_before_index <- targets index_of current_target - 1;
int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
if(next_2_point_self = bus_decided.current_target and current_target = bus_decided.targets at bus_decided_target_before_index){
if(distance_front_car=100){distance_front_car<-Euclidean_distance;}
else{distance_front_car<-Euclidean_distance>distance_front_car?distance_front_car:Euclidean_distance;}
cars_closest_front_3<-cars_closest_front_3 + bus_decided.location;
}
}
if(remain_self > 1 and remain_bus_decided > 1 ){
int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
int next_2_point_index_self <- targets index_of current_target + 1;
point next_2_point_self <- targets at next_2_point_index_self;
// agent 在后面，判断追尾
if(next_2_point_self = bus_decided.current_target and bus_decided.current_target != bus_decided.targets at 0){
int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
if(current_target = bus_decided.targets at bus_decided_target_before_index){
if(distance_front_car=100){distance_front_car<-Euclidean_distance;}
else{distance_front_car<-Euclidean_distance>distance_front_car?distance_front_car:Euclidean_distance;}
cars_closest_front_3<-cars_closest_front_3 + bus_decided.location;
}
}
//agent 在前面，判断堵车
if(current_target = next_2_point_bus_closest and current_target != targets at 0){
int self_target_before_index <- targets index_of current_target - 1;
if(bus_decided.current_target = targets at self_target_before_index){
if(distance_behind_car=100){distance_behind_car<-Euclidean_distance;}
else{distance_behind_car<-Euclidean_distance>distance_behind_car?distance_behind_car:Euclidean_distance;}
cars_closest_behind_3<-cars_closest_behind_3 + bus_decided.location;
}
}
}
}
}
}
do Python;
if(Instantaneous_speed + acceleration <=0){
float t <- Instantaneous_speed/(-acceleration);
real_real_speed <- Instantaneous_speed*t + 0.5*acceleration*t*t;
Instantaneous_speed <- Instantaneous_speed +acceleration;
if(real_real_speed <= 0){real_real_speed<-0.0;}
if(Instantaneous_speed<=0){Instantaneous_speed<-0.0;}
}
else{
real_real_speed<-Instantaneous_speed+0.5*acceleration;
Instantaneous_speed<- Instantaneous_speed + acceleration;
}
//分别判断 追尾和渋滞
loop bus_decided over: cars_front_behind{
float Euclidean_distance <- location distance_to bus_decided;
if(empty(self.targets) = false and empty(bus_decided.targets) = false){
//同一条路上,同向,右行
if(current_target = bus_decided.current_target and current_road = bus_decided.current_road){ //=bus_decided.right_side_driving
// agent 在后面，判断追尾 //s=v0t + 1/2at^2
if((self.location distance_to current_target) >= (bus_decided.location distance_to bus_decided.current_target)){
if((Euclidean_distance+bus_decided.real_speed) < (real_real_speed)){collision<-1; write "同一条路上,同向,右行,Collision!"+Euclidean_distance+" "+distance_front_car;}
}
//agent 在前面，判断堵车
else{
if((Euclidean_distance+real_real_speed) <= NPC_speed){jam<-1;write "同一条路上,同向,右行,Jam! "+Euclidean_distance+" "+distance_behind_car;}
}
}
//不同路，同一个目标,下一个目标也一样
if(current_road != bus_decided.current_road and current_target = bus_decided.current_target ){
int remain_self <- length (targets)-targets index_of current_target - 1;
int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
if(remain_self>1 and remain_bus_decided>1){
int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
int next_2_point_index_self <- targets index_of current_target + 1;
point next_2_point_self <- targets at next_2_point_index_self;
if(next_2_point_bus_closest = next_2_point_self){
if(real_real_speed = self.location distance_to current_target and bus_decided.real_speed = bus_decided.location distance_to bus_decided.current_target){
collision<-1; write "恰好碰撞！";
}
}
}
}
//不同路，同向,右行
if(current_road != bus_decided.current_road and current_target != bus_decided.current_target ){ //and pass_target index_of next_point_self != 0
int remain_self <- length (targets)-targets index_of current_target - 1;
int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
if(remain_self = 1 and remain_bus_decided > 1 and current_target != targets at 0){
//agent 在前面，判断堵车
int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
int self_target_before_index <- targets index_of current_target - 1;
if(current_target = next_2_point_bus_closest and bus_decided.current_target = targets at self_target_before_index){
if((Euclidean_distance+real_real_speed) <= NPC_speed){jam<-1;write "不同路，同向,右行，Jam! "+Euclidean_distance+" "+distance_behind_car;}
}
}
if(remain_self > 1 and remain_bus_decided = 1 and bus_decided.current_target != bus_decided.targets at 0){
// agent 在后面，判断追尾
int next_2_point_index_self <- targets index_of current_target + 1;
point next_2_point_self <- targets at next_2_point_index_self;
int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
if(next_2_point_self = bus_decided.current_target and current_target = bus_decided.targets at bus_decided_target_before_index){
if((Euclidean_distance+bus_decided.real_speed) <= (real_real_speed)){collision<-1;write "不同路，同向,右行,Collision! "+Euclidean_distance+" "+distance_front_car;} //用欧氏距离粗略估计
}
}
if(remain_self > 1 and remain_bus_decided > 1 ){
int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
int next_2_point_index_self <- targets index_of current_target + 1;
point next_2_point_self <- targets at next_2_point_index_self;
// agent 在后面，判断追尾
if(next_2_point_self = bus_decided.current_target and bus_decided.current_target != bus_decided.targets at 0){
int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
if((Euclidean_distance+bus_decided.real_speed) <= (real_real_speed) and current_target = bus_decided.targets at bus_decided_target_before_index){
collision<-1;write ">>1不同路，同向,右行,Collision! "+Euclidean_distance+" "+distance_front_car;
//write "不同路，同向,右行"+current_road + bus_decided.current_road + next_point_self + next_point_bus_closest;
} //用欧氏距离粗略估计
}
//agent 在前面，判断堵车
if(current_target = next_2_point_bus_closest and current_target != targets at 0){
int self_target_before_index <- targets index_of current_target - 1;
if((Euclidean_distance+real_real_speed) <= NPC_speed and bus_decided.current_target = targets at self_target_before_index){
jam<-1;write ">>1不同路，同向,右行,Jam! "+Euclidean_distance+" "+distance_behind_car;
//write "不同路，同向,右行"+current_road + bus_decided.current_road + next_point_self + next_point_bus_closest;
} //NPC_spped bus_decided.real_speed
}
}
}
}
}
if(distance_front_car<30){time_target<-time_target+1;time_after_waite<-3;} // or distance_behind_car<20
else{time_after_waite<-time_after_waite-1;}
distance_front_car_before<-distance_front_car;distance_behind_car_before<-distance_behind_car;
}
reflex change when :current_path = nil{
a_flag_checked_pass_light <- nil;
write "a_flag_checked_pass_light: "+ a_flag_checked_pass_light;
int random_node_start <- int(rnd(12));
int random_node_end <- int(rnd(12));
loop while: random_node_end = random_node_start {random_node_end <- int(rnd(12));}
location <- any_location_in(node_agt(random_node_start));
final_target<- any_location_in(node_agt(random_node_end));
}
//信号に引っかかった後の処理 等红灯。。。
reflex time_to_go when: a_flag_checked_pass_light != 0 and green_light_checked = true {
if(true_target != nil){
target <- true_target;
true_target <- nil;
}
//do road_weight;
}
//目的地（終着バスターミナル）についた時の処理 && 最初の時 location distance_to final_target
reflex time_to_restart when:(distance_left)<=1 or first_time = 1 or collision = 1 { //a_flag_checked_by_light = 0 and checked = false
if(first_time != 1){
done <- 1;
do Python;
episode <- episode + 1 ; //加到1000，算完最后结果
write "done!!___________________________________";
}
else{
first_time <- 0;
if start_R = 0 {do startR;start_R<-1;} //startR only once
}
real_speed <- 0.0;time_pass <- 0;done<-0;
int random_node_start <- int(rnd(12)); int random_node_end <- int(rnd(12));
loop while: random_node_end = random_node_start {random_node_end <- int(rnd(12));}
target<- node_agt(random_node_end);true_target <- node_agt(random_node_end);final_target <- node_agt(random_node_end).location;
location <- any_location_in(node_agt(random_node_start)); pre_point<-any_location_in(node_agt(random_node_start));
a_flag_checked_pass_light <- 1;
distance_passed <- 0.0;distance_all<- 0.0;reward<-0.0;collision<-0;jam<-0;Instantaneous_speed<-0.0;real_real_speed<-0.0;time_after_waite<-4;
do road_weight;
//target_speed<- distance_left/time_target;//9 + rnd(3)°m/°s;
target_speed<- NPC_speed;
write "target_time "+ time_target+"target_speed "+target_speed+" distance_left "+distance_left;
route<-[];loop i over: targets{route<-route+any_location_in(node_agt(i));}
initial_point <- location;
save [initial_point,route] to: "D:/Software/PythonWork/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_img/route.csv" type: "csv" header: false;
do Python;
}
reflex move when: current_path != nil or a_flag_checked_pass_light != 0 {//道が決まり、目的地が決まれば動く
if (episode<total_episode and done = 0 ){
if(time_pass=0){
real_real_speed<-Instantaneous_speed+0.5*acceleration;
Instantaneous_speed<- Instantaneous_speed + acceleration;
real_real_speed <- acceleration;
if(real_real_speed <= 0){real_real_speed<-0.0;}
if(Instantaneous_speed<=0){Instantaneous_speed<-0.0;}
}
real_speed <- real_real_speed;//real_speed + acceleration ; //1;//
}
do drive;
time_pass <- time_pass + 1;
//write "targets: "+targets; //不变
//write "current_target: "+current_target; //变动
}
aspect car3D {
if (current_road) != nil {
point loc <- calcul_loc();
draw box(vehicle_length, 1,1) at: loc rotate: heading color: color;
draw triangle(0.5) depth: 1.5 at: loc rotate: heading + 90 color: color;
}
}
aspect icon {
point loc <- calcul_loc();
if(m =0){
draw icon_bus_agent size: vehicle_length at: loc rotate: heading + 90 ;
}
if(m = 1)
{
draw icon_bus_agent size: vehicle_length at: loc rotate: heading + 90 ;
}
}
point calcul_loc {
float val <- (road(current_road).lanes - current_lane) + 0.5;
val <- on_linked_road ? val * - 1 : val;
if (val = 0) {
return location;
} else {
return (location + {cos(heading + 90) * val, sin(heading + 90) * val});
}
}
}
//NPC
species bus skills: [advanced_driving] {
rgb color <- rnd_color(255);
bool green_light_checked <-false;
node_agt target;
node_agt true_target;
node_agt bus_start;
int n <-1;
int m <- rnd(n);//乱数でバスのルートを決定
// 自作
int time_target;
int time_pass;
int first_time <- 1;
int check_receive <- 0;
int random_node;
int a_flag_checked_pass_light <- nil;
float target_speed;
float elapsed_time_ratio;
float distance_all;
float distance_passed <-0.0;
float distance_left <-0.0;
point pre_point;
point birth_point;
action road_weight{
if(m=0){
road_network <- road_network with_weights kagayaki_route;//重みを地図に適応
current_path <- compute_path(graph: road_network,target: target);
}
if(m=1){
road_network <- road_network with_weights kasayama_route;//重みを地図に適応
current_path <- compute_path(graph: road_network,target: target);
}
int length_nodes <- length(targets);
int sum_nodes <- 0;
loop while: (sum_nodes+1 < length_nodes) {
distance_all <- distance_all + (targets at sum_nodes)distance_to(targets at (sum_nodes+1));
sum_nodes <- sum_nodes+1;
}
distance_left <- distance_all;
distance_left<-max (distance_left,distance_to_goal);
if(round(distance_left/100)>= 0){
time_target <- int((distance_left/100)*5)+ rnd(3); //key
}
else{
time_target <- rnd(2) + 4;
}
}
action distance_cal{
distance_passed<- distance_passed + (location distance_to pre_point);
pre_point <- location;
distance_left <- distance_all - distance_passed;
distance_left<-max (distance_left,distance_to_goal);
}
reflex change when :current_path = nil{
a_flag_checked_pass_light <- nil;
location <- any_location_in(node_agt(5));
final_target<- any_location_in(node_agt(12));
}
//信号に引っかかった後の処理 等红灯。。。
reflex time_to_go when: a_flag_checked_pass_light != 0 and green_light_checked = true {
if(true_target != nil){
target <- true_target;
true_target <- nil;
}
}
//目的地（終着バスターミナル）についた時の処理 && 最初の時 location distance_to final_target
reflex time_to_restart when:(distance_left)<=1 or first_time = 1 or time_pass > 50{ //a_flag_checked_by_light = 0 and checked = false
if(first_time != 1){
done <- 1;
do distance_cal;
episode <- episode + 1 ; //加到1000，算完最后结果
}
else{
first_time <- 0;
}
real_speed <- 0.0;
time_pass <- 0;
random_node <- int(rnd(12)); //rnd(
int f_p <- int(rnd(12));
loop while: random_node = f_p or f_p = 5{f_p <- int(rnd(12));random_node <- int(rnd(12));}
target<- node_agt(random_node);
true_target <- node_agt(random_node);
final_target <- node_agt(random_node).location;
a_flag_checked_pass_light <- 1;
location <- node_agt(f_p); //any_location_in()
birth_point<-location;
pre_point<-any_location_in(node_agt(f_p));
distance_passed <- 0.0;
distance_all<- 0.0;
do road_weight;
target_speed<- distance_left/time_target;//9 + rnd(3)°m/°s;
}
reflex move when: current_path != nil or a_flag_checked_pass_light != 0 {//道が決まり、目的地が決まれば動く
if (episode<total_episode and done = 0 ){
do distance_cal;
real_speed <- NPC_speed;
}
if(episode<total_episode and done = 1){
do distance_cal;
done<-0;
real_speed <- NPC_speed;
}
do drive;
time_pass <- time_pass + 1;
}
aspect car3D {
if (current_road) != nil {
point loc <- calcul_loc();
draw box(vehicle_length, 1,1) at: loc rotate: heading color: color;
draw triangle(0.5) depth: 1.5 at: loc rotate: heading + 90 color: color;
}
}
aspect icon {
point loc <- calcul_loc();
if(m =0){
draw bus_shape_kagayaki size: vehicle_length at: loc rotate: heading + 90 ;
}
if(m = 1)
{
draw bus_shape_kasayama size: vehicle_length at: loc rotate: heading + 90 ;
}
}
point calcul_loc {
float val <- (road(current_road).lanes - current_lane) + 0.5;
val <- on_linked_road ? val * - 1 : val;
if (val = 0) {
return location;
} else {
return (location + {cos(heading + 90) * val, sin(heading + 90) * val});
}
}
}
species node_agt skills: [skill_road_node] {
bool is_traffic_signal;
string type;
int cycle <- 100; //サイクル長
float split <- 0.5 ; //スプリット
int counter;
int offset <- 0;
bool is_blue <- true;
list<road> current_accessible ; //現通行可
list<road> current_forbidden ; //現通行不可
list<node_agt> adjoin_node;//隣接交差点[東,西,南,北]
string mode <- "independence";
agent c1; //信号制御で止める車1
agent c2; //信号制御で止める車2
agent f1;
agent f2;
//オフセット設定（広域信号制御の際に使用）
reflex set_offset when:time = time_to_set_offset and is_traffic_signal{
starting_point.mode <- "start";
loop i from: 0 to: length(starting_point.adjoin_node)-1 {
starting_point.adjoin_node[i].offset <- 0;
}
}
//起点モード（広域信号制御の際に使用）
reflex set_adjoinnode when: time = 0{
if(length(self.roads_out) >1){
loop i from: 0 to: length(self.roads_out) - 1 {
self.adjoin_node <- self.adjoin_node + [node_agt(road(roads_out[i]).target_node)] where each.is_traffic_signal;
}
}
}
//現示の切り替えタイミング
reflex start when:counter = 10 {//counter >= cycle*split+offset even()
counter <- 0;
is_blue <- !is_blue; //
}
//4叉路用信号制御処理
reflex stop4 when:is_traffic_signal and length(roads_in) = 4
{
counter <- counter + 1;
if(contains(bus,c1)){ //c1是bus吗
bus(c1).green_light_checked <- false;
}
if(contains(bus,c2)){
bus(c2).green_light_checked <- false;
}
if(contains(people,c1)){
people(c1).green_light_checked <- false;
}
if(contains(people,c2)){
people(c2).green_light_checked <- false;
}
c1 <- nil;
c2 <- nil;
//現示処理（通行権付与処理） 绿灯能通行的路
if (is_blue) {
current_accessible <- [road(roads_in[0]),road(roads_in[2])];
current_forbidden <- [road(roads_in[1]),road(roads_in[3])];
}
else{
current_accessible <- [road(roads_in[1]),road(roads_in[3])];
current_forbidden <- [road(roads_in[0]),road(roads_in[2])];
}
if(length(current_accessible) != 0 or length(current_forbidden) != 0 ){
if(length(current_accessible[0].all_agents) != 0 ){ //current_shows[0]----road(roads_in[0]) or road(roads_in[1])
c1 <- current_accessible[0].all_agents[0]; //c1 可以走的路的第一条 上面的所有agent
if(contains(bus,c1)){
bus(c1).true_target <- bus(c1).target;
//bus(c1).final_target <- any_location_in(self);
bus(c1).a_flag_checked_pass_light <- int(any_location_in(self));
bus(c1).green_light_checked <- true;
}
if(contains(people,c1)){
people(c1).true_target <- people(c1).target;
people(c1).final_target <- any_location_in(self);
people(c1).green_light_checked <- true;
}
//write "c1: "+c1+"a_flag_checked_by_light: " + bus(c1).a_flag_checked_pass_light+" current_path"+bus(c1).current_path;
}
//current_shows[1]----road(roads_in[2]) or road(roads_in[3])
if(length(current_accessible[1].all_agents) != 0){ //all_agents: the list of agents on the road
c2 <- current_accessible[1].all_agents[0]; //c2 可以走的路的第二条 上面的所有agent
//write "c2: "+c2;
if(contains(bus,c2)){
bus(c2).true_target <- bus(c2).target;
//bus(c2).final_target <- any_location_in(self);
bus(c2).a_flag_checked_pass_light <- int(any_location_in(self));
bus(c2).green_light_checked <- true;
}
if(contains(people,c2)){
people(c2).true_target <- people(c2).target;
people(c2).final_target <- any_location_in(self);
people(c2).green_light_checked <- true;
}
}
//不能通行
if(length(current_forbidden[0].all_agents) != 0){
f1 <- current_forbidden[0].all_agents[0];
if(contains(bus,f1)){
bus(f1).true_target <- bus(f1).target;
//bus(c2).final_target <- any_location_in(self);
bus(f1).a_flag_checked_pass_light <- 0;//int(any_location_in(self));
bus(f1).green_light_checked <- false;
}
if(contains(people,f1)){
people(f1).true_target <- people(f1).target;
//people(c2).final_target <- any_location_in(self);
people(f1).green_light_checked <- false;
}
}
if(length(current_forbidden[1].all_agents) != 0){
f2 <- current_forbidden[1].all_agents[0];
//write "f2: "+f2;
if(contains(bus,c2)){
bus(f2).true_target <- bus(f2).target;
//bus(c2).final_target <- any_location_in(self);
bus(f2).a_flag_checked_pass_light <- 0;//int(any_location_in(self));
bus(f2).green_light_checked <- false;
}
if(contains(people,f2)){
people(f2).true_target <- people(f2).target;
people(f2).final_target <- 0;//any_location_in(self);
people(f2).green_light_checked <- false;
}
}
}
}
//3叉路用信号制御処理
reflex stop3 when:is_traffic_signal and length(roads_in) = 3{
counter <- counter + 1;
//以下初期化
if(contains(bus,c1)){
bus(c1).green_light_checked <- false;
}
if(contains(bus,c2)){
bus(c2).green_light_checked <- false;
}
if(contains(people,c1)){
people(c1).green_light_checked <- false;
}
if(contains(people,c2)){
people(c2).green_light_checked <- false;
}
c1 <- nil;
c2 <- nil;
//現示処理（通行権付与処理）
if (is_blue) {
current_accessible <- [road(roads_in[0])];
}else{
current_accessible <- [road(roads_in[1]),road(roads_in[2])];
}
//現示の道路に車がいない時の処理
if(length(current_accessible) != 0){
if(length(current_accessible[0].all_agents) != 0 ){
c1 <- current_accessible[0].all_agents[0];
if(contains(bus,c1)){
bus(c1).true_target <- bus(c1).target;
//bus(c1).final_target <- any_location_in(self);
bus(c1).a_flag_checked_pass_light <- int(any_location_in(self));
bus(c1).green_light_checked <- true;
}
if(contains(people,c1)){
people(c1).true_target <- people(c1).target;
people(c1).final_target <- any_location_in(self);
people(c1).green_light_checked <- true;
}
}
//現示の道路が二本以上の時
if(length(current_accessible) > 1){
if(length(current_accessible[1].all_agents) != 0){
c2 <- current_accessible[1].all_agents[0];
if(contains(bus,c2)){
bus(c2).true_target <- bus(c2).target;
//bus(c2).final_target <- any_location_in(self);
bus(c2).a_flag_checked_pass_light <- int(any_location_in(self));
bus(c2).green_light_checked <- true;
}
if(contains(people,c2)){
people(c2).true_target <- people(c2).target;
people(c2).final_target <- any_location_in(self);
people(c2).green_light_checked <- true;
}
}
}
}
}