Get the lane geometry corresponding to a given index in the road network. :param index: a tuple (origin node, destination node, lane

Convert a distance [m] to pixels [px]. :param length: the input distance [m] :return: the corresponding size [px]

Reset the environment to it's initial configuration :return: the observation of the reset state

:param lane_index: the index of a lane. :return: indexes of lanes next to a an input lane, to its right or left.

Execute the action on the ego-vehicle. Most of the action mechanics are actually implemented in vehicle.act(action), where v

Find the preceding and following vehicles of a given vehicle. :param vehicle: the vehicle whose neighbours must be found :pa

Whether the lane is reachable from a given world position :param position: the world position [m] :return: is the lane reach

Compute the signed distance to another vehicle along a lane. :param vehicle: the other vehicle :param lane: a lane :

Compute the product of two intervals :param a: interval [a_min, a_max] :param b: interval [b_min, b_max] :return: the interval of th

Perform a change of coordinate: rotation and centering. :param value: the object to transform :param matrix: is it a matrix

Find the preceding and following vehicles of a given vehicle. :param vehicle: the vehicle whose neighbours must be found :par

Render the environment. Create a viewer if none exists, and use it to render an image. :param mode: the rendering mode

Compute an acceleration command with the Intelligent Driver Model. The acceleration is chosen so as to: - reach a target speed; - ma

Compute an acceleration command with the Intelligent Driver Model. The acceleration is chosen so as to: - reach a target spe

A lane is encoded as an edge in the road network. :param _from: the node at which the lane starts. :param _to: the node at w

Clip a position in the TTC grid, so that it stays within bounds. :param h: speed index :param i: lane index :param j: time index

Close the pygame window.

Convert a world position to local lane coordinates. :param position: a world position [m] :return: the (longitudinal, latera

Get the lane width at a given longitudinal lane coordinate. :param longitudinal: longitudinal lane coordinate [m] :return: t

Converts an interval in absolute x,y coordinates to an interval in local (longiturinal, lateral) coordinates :param position_i: the position

Perform a high-level action to change the desired lane or speed. - If a high-level action is provided, update the target spe

Get the index of the next lane that should be followed after finishing the current lane. - If a plan is available and matches with c

The action space.

Convert a world position [m] into a position in the surface [px]. :param vec: a world position [m] :return: the coordinates

Get the list of currently available actions. Lane changes are not available on the boundary of the road, and speed changes are not av

Perform a high-level action. - If the action is a speed change, choose speed from the allowed discrete range. - Else, forwar

:param lane_index: the index of a lane. :return: all lanes belonging to the same road.

Set the types and spaces of observation and action from config.

Display a lane on a surface. :param lane: the lane to be displayed :param surface: the pygame surface

Draw a set of stripes along a lane. :param lane: the lane :param surface: the surface to draw on :param starts: a li

Convert an index among allowed speeds to its corresponding speed :param index: the speed index [] :return: the corresponding

Compute the difference of two intervals :param a: interval [a_min, a_max] :param b: interval [b_min, b_max] :return: the interval of

Find the preceding and following vehicles of a given vehicle. :param vehicle: the vehicle whose neighbours must be found :param lane_ind

Get an observation of the environment state.

Whether a given world position is on the lane. :param position: a world position [m] :param longitudinal: (optional) the cor

Convert two world coordinates [m] into a position in the surface [px] :param x: x world coordinate [m] :param y: y world coo

Find the index of the closest speed allowed to a given speed. :param speed: an input speed [m/s] :return: the index of the c

A collection of features used to follow a lane :param target_lane_index: index of the lane to follow :return: a array of fea

The vehicle is rewarded for driving with high speed on lanes to the right and avoiding collisions But an additional altruisti

Check whether the current state is a terminal state :return:is the state terminal

Many thanks to https://stackoverflow.com/a/54714144.

Check for collision with another vehicle. :param other: the other vehicle' trajectories or object other_trajectories: [vehic

Check for collision with another vehicle. :param other: the other vehicle or object

Compute the grid of predicted time-to-collision to each vehicle within the lane For each ego-speed and lane. :param env: environment

Compute a confidence polytope over the parameter theta, where y = theta^T phi :param data: a dictionary {"features": [phi_0,...,phi_N], "out

Create a new vehicle from an existing one. Only the vehicle dynamics are copied, other properties are default. :param vehic

Compute the desired distance between a vehicle and its leading vehicle. :param ego_vehicle: the vehicle being controlled :param front_ve

Compute the desired distance between a vehicle and its leading vehicle. :param ego_vehicle: the vehicle being controlled :pa

Display a vehicle on a pygame surface. The vehicle is represented as a colored rotated rectangle. :param vehicle: the vehic

Compute the L1 distance [m] from a position to the lane.

At the end of a lane, automatically switch to a next one.

Get the index of the lane closest to a world position. :param position: a world position [m]. :param heading: a heading angl

Get the list of routes that can be followed at the next intersection.