The episode is over when a collision occurs or when the access ramp has been passed.

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

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

Decide the actions of each entity on the road.

Get a copy of this vehicle behaving according to one of its possible routes. :param index: index of the route to consider :r

Change the type of all vehicles on the road :param vehicle_class_path: The path of the class of behavior for other vehicles

Worst-case collision check. For robust planning, we assume that MDPVehicles collide with the uncertainty set of an IntervalVehicle,

Close the environment. Will close the environment viewer if it exists.

Collect the features for each possible route, and true observed outputs.

The vehicle acted upon. If not set, the first controlled vehicle is used by default.

Create a new vehicle from an existing one. The vehicle dynamics and target dynamics are copied, other properties are default.

Create a new vehicle from an existing one. The vehicle dynamics and target dynamics are copied, other properties are default.

Create a random vehicle on the road. The lane and /or speed are chosen randomly, while longitudinal position is chosen behind the la

See Chapter 2 of Lateral Vehicle Dynamics. Vehicle Dynamics and Control. Rajamani, R. (2011) :return: the state derivative

Linearized lateral dynamics. This model is based on the following assumptions: - the vehicle is moving with a co

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

Display a road objects on a pygame surface. The objects is represented as a colored rotated rectangle :param object_: the v

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

Handle pygame events for moving and zooming in the displayed area. :param event: a pygame event

Linear map of value v with range x to desired range y.

Create a vehicle on a given lane at a longitudinal position. :param road: the road where the vehicle is driving :param lane_

Create an object on a given lane at a longitudinal position. :param road: the road instance where the object is placed in :p

Compute the maximum allowed speed to avoid Inevitable Collision States. Assume the front vehicle is going to brake at full decelerat

The vehicle observing the scene. If not set, the first controlled vehicle is used by default.

Is the vehicle on its current lane, or off-road ?

Plan a route to a destination in the road network :param destination: a node in the road network

Check if a point is inside an ellipse :param point: a point :param center: ellipse center :param angle: ellipse main axis angle

Convert local lane coordinates to a world position. :param longitudinal: longitudinal lane coordinate [m] :param lateral: la

If stopped on the wrong lane, try a reversing maneuver. :param acceleration: desired acceleration from IDM :return: suggeste

Do two rotated rectangles intersect? :param rect1: (center, length, width, angle) :param rect2: (center, length, width, angle) :retu