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Commit 82c5ecd

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sherryz
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‎DrivingScenarioEnv.m‎

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classdef DrivingScenarioEnv < rl.env.MATLABEnvironment
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% Copyright 2020 The MathWorks, Inc.
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%MYENVIRONMENT: Template for defining custom environment in MATLAB.
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% parameters for simulation environment
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properties
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scenario
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network
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traffic
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cars
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state
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driver
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InjectionRate
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TurnRatio
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N = 3 % number of road
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phaseDuration = 50 % time duration for each of the phase
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T
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end
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% simulation doesn't have yellow light
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% manually set up clearning phase here if needed
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properties
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clearingPhase = false
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clearingPhaseTime = 0
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TrafficSignalDesign
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ObservationSpaceDesign
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end
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% parameter for reward definition
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properties
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rewardForPass = 0
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vehicleEnterJunction % keep record of cars pass the intersection
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hitPenalty = 20
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penaltyForFreqSwitch = 1
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safeDistance = 2.25 % check collision
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slowSpeedThreshold = 3.5 % check whether car is waiting
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end
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properties
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recordVid = false
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vid
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end
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properties
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discrete_action = [0 1 2];
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dim =10;
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end
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properties(Access = protected)
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IsDone = false
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end
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%% Necessary Methods
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methods
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function this = DrivingScenarioEnv()
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% Initialize Observation settings
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ObservationInfo = rlNumericSpec([10, 1]); % # of state
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ObservationInfo.Name = 'real-time traffic information';
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ObservationInfo.Description = '';
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% Initialize action settings
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ActionInfo = rlFiniteSetSpec([0 1 2]); % three phases
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ActionInfo.Name = 'traffic signal phases';
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% The following line implements built-in functions of the RL environment
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this = this@rl.env.MATLABEnvironment(ObservationInfo,ActionInfo);
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end
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function [state, Reward,IsDone,LoggedSignals] = step(this, Action)
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Action = getForce(this, Action);
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% update the action
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pre_phase = this.traffic.IsOpen;
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if this.TrafficSignalDesign == 1
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cur_phase = signalPhaseDesign1(Action);
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elseif this.TrafficSignalDesign == 2
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cur_phase = signalPhaseDesign2(Action);
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elseif this.TrafficSignalDesign == 3
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cur_phase = signalPhaseDesign3(Action);
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end
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% Reward: penalty for signal phase switch
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changed = ~isequal(pre_phase, cur_phase);
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Reward = this.penaltyForFreqSwitch * (1 - changed);
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% (yellow light time)add clearing phase when signal phase switch
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if changed && this.clearingPhase
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for i = 1:this.clearingPhaseTime
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this.traffic.IsOpen = [0, 0, 0, 0, 0, 0];
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advance(this.scenario);
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this.T = this.T + this.scenario.SampleTime;
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notifyEnvUpdated(this);
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% check terminal condition
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IsHit = checkCollision(this);
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Reward = Reward - IsHit * this.hitPenalty;
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this.IsDone = IsHit || this.T+0.5 >= this.scenario.StopTime;
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if this.IsDone
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break
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end
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end
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end
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% (green light time)simulate the signal phase based on the action by RL
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this.traffic.IsOpen = cur_phase;
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if ~this.IsDone
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for i = 1:this.phaseDuration
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% update traffic state
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advance(this.scenario);
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this.T = this.T + this.scenario.SampleTime;
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% update visulization
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notifyEnvUpdated(this);
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% check terminal condition
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IsHit = checkCollision(this);
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Reward = Reward - IsHit * this.hitPenalty;
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this.IsDone = IsHit || this.T+0.5 >= this.scenario.StopTime;
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if this.IsDone
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break
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end
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% obtain reward
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Reward = Reward + obtainReward(this, cur_phase);
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end
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end
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if this.ObservationSpaceDesign == 1
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state = observationSpace1(this, Action);
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else
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state = observationSpace2(this, Action);
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end
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this.state = state;
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IsDone = this.IsDone;
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LoggedSignals = [];
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end
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function InitialState = reset(this)
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% flag for record simulation
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this.recordVid = false;
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% Initialize scenario
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this.scenario = createTJunctionScenario();
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this.scenario.StopTime = 100;
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this.scenario.SampleTime = 0.05;
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this.T = 0;
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% initialize network
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this.network = createTJunctionNetwork(this.scenario);
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this.traffic = trafficControl.TrafficController(this.network(7:12));
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% car parameters
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this.InjectionRate = [250, 250, 250]; % veh/hour
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this.TurnRatio = [50, 50];
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this.cars = createVehiclesForTJunction(this.scenario, this.network, this.InjectionRate, this.TurnRatio);
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this.vehicleEnterJunction = [];
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% obtain state from traffic and network
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if this.ObservationSpaceDesign == 1
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InitialState = observationSpace1(this, 0);
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else
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InitialState = observationSpace2(this, 0);
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end
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% visulization
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notifyEnvUpdated(this);
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end
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end
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methods
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function force = getForce(this,action)
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if ~ismember(action,this.ActionInfo.Elements)
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error('Action must be integer from 1 to numAction');
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end
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force = action;
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end
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% update the action info based on max force
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function updateActionInfo(this)
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this.ActionInfo.Elements = this.discrete_action;
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end
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end
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methods (Access = protected)
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function envUpdatedCallback(this)
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if this.T == 0
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close all;
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plot(this.scenario)
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set(gcf,'Visible','On');
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if this.recordVid
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this.vid = VideoWriter('baseRLlearningProcess33');
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this.vid.FrameRate=20;
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open(this.vid)
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end
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end
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if this.recordVid
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frame = getframe(gcf);
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writeVideo(this.vid,frame);
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end
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this.traffic.plotOpenPaths()
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drawnow
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end
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end
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end
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function [acc,v_b,v_a] = gippsDriverModel(spacing,speed,speedDiff,varargin)
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desiredSpeed = 10; %Desired speed
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maxSpeed = 20; %max. speed
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minSpeed = 0; % min. speed
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minAcc = -3; %min. acceleration
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maxAcc = 3; %max. acceleration
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minAccEstimate = minAcc;
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reactionTime = 0.8;
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S0 = 2;
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v_now = speed;
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v_infront = speed+speedDiff;
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v_a = v_now + 2.5*maxAcc*reactionTime*(1-v_now/desiredSpeed)*sqrt(0.025+v_now/desiredSpeed);
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v_b = minAcc*reactionTime + sqrt((minAcc*reactionTime)^2-minAcc*(2*(spacing-S0)-v_now*reactionTime-v_infront^2/minAccEstimate));
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v_b = max(v_b,minSpeed);
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v_a = min(v_a,maxSpeed);
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v_new = min([v_a,v_b]);
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acc = (v_new-v_now)/reactionTime;
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end
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function [acc] = intelligentDriverModel(spacing,speed,speedDiff,varargin)
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% Parameters
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% NAME REALISTIC BOUNDS DEFAULT UNITS
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% desiredSpeed [0,11] 33 m/s
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% safeHeadway [1,3] 1.6 s
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% accelMax [0.5,2] 0.73 m/s^2
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% decelConf [0.5,2] 1.67 m/s^2
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% beta 4
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% minJamSpacing [0,5] 2 m
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% nonLinJamSpacing [0,5] 3 m
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% Need to program input parse to pass new parameters
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desiredSpeed = 10;
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safeHeadway = 1.6;
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accelMax = 0.73;
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decelConf = 1.67;
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beta = 4;
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minJamSpacing = 2;
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nonLinJamSpacing = 0;
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desiredSpacing = minJamSpacing + nonLinJamSpacing*sqrt(speed/desiredSpeed)...
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+speed*safeHeadway-speed*speedDiff/2/sqrt(accelMax*decelConf);
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acc = accelMax*(1-(speed/desiredSpeed)^beta-(desiredSpacing/spacing)^2);
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if acc<-10 || acc>3 || isnan(acc)
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acc;
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end
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end
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classdef TrafficController < driving.scenario.MotionStrategy...
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& driving.scenario.mixin.PropertiesInitializableInConstructor
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properties
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Scenario
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Nodes = Node.empty % List of nodes the traffic controller manages
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IsOpen % Boolean list indicating wether the node can be entered
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PlotHandles = plot3([],[],[]);
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end
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methods
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function obj = TrafficController(nodes,varargin)
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obj@driving.scenario.MotionStrategy(nodes(1).Scenario.actor);
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obj@driving.scenario.mixin.PropertiesInitializableInConstructor(varargin{:});
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obj.EgoActor.MotionStrategy = obj;
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obj.EgoActor.IsVisible = false;
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%obj.EgoActor.Position = nodes(1).getRoadCenterFromStation(10);
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obj.Scenario = nodes(1).Scenario;
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obj.Nodes = nodes;
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obj.IsOpen = false(size(nodes));
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end
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function set.Nodes(obj,nodes)
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for node = nodes
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if ~any(obj.Nodes==node)
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obj.Nodes(end+1)=node;
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node.TrafficController=obj;
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end
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end
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end
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function running = move(obj,SimulationTime)
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running = true;
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end
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function running = restart(obj,inputArg)
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%METHOD1 Summary of this method goes here
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% Detailed explanation goes here
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outputArg = obj.Property1 + inputArg;
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end
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end
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methods
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function state = getNodeState(obj,node)
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state = obj.IsOpen(obj.Nodes==node);
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end
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end
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methods % plot methods
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function plotOpenPaths(obj,ax)
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green = [0.4660 0.6740 0.1880];
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red = [0.6350 0.0780 0.1840];
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yellow = [0.9290 0.6940 0.1250];
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if nargin<2
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ax=gca;
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end
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hold on
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if isempty(obj.PlotHandles)
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for node=obj.Nodes
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obj.PlotHandles(end+1) = plot3(ax,node.Mapping(:,2),node.Mapping(:,3),node.Mapping(:,4)+10);
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end
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end
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for idx = 1:length(obj.Nodes)
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p = obj.PlotHandles(idx);
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node = obj.Nodes(idx);
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p.XData = node.Mapping(:,2);
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p.YData = node.Mapping(:,3);
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p.ZData = node.Mapping(:,4)+0;
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p.LineWidth = 2;
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if obj.IsOpen(idx)==true
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p.Color = [green,1];
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else
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p.Color = [red,0.2];
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end
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end
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end
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end
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end
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classdef TrafficLight < trafficControl.TrafficController
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properties
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Cliques
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Cycle
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Phase
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end
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methods
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function obj = TrafficLight(nodes,varargin)
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obj@trafficControl.TrafficController(nodes,varargin{:});
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end
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function running = move(obj,SimulationTime)
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obj.IsOpen = false(size(obj.Nodes));
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t = mod(SimulationTime,obj.Cycle(end));
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phase = discretize(t,obj.Cycle);
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numPhases = max(obj.Cliques);
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for i =1:numPhases
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if phase==i
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obj.IsOpen(obj.Cliques==i)=true;
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end
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end
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running = true;
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end
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end
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end
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