I210 highway updated (#934)

* removed sweep

* added updated single lane highway network config

* added i210 xml files with downstream edge

* added I210Router

* added updated i210 features

* minor cleanup

* better parameters based on when congestion propagates

* bug fixes

* bug fixes

* more bug fixes

* bug fixes

* minor

* broader tests for scenario

* added tests for specify_routes

* PR fixes

Author: AboudyKreidieh

examples/exp_configs/non_rl/highway_single.py

@@ -1,25 +1,27 @@
-"""Multi-agent highway with ramps example.
-
-Trains a non-constant number of agents, all sharing the same policy, on the
-highway with ramps network.
-"""
-from flow.controllers import BandoFTLController
+"""Example of an open network with human-driven vehicles."""
+from flow.controllers import IDMController
 from flow.core.params import EnvParams
 from flow.core.params import NetParams
 from flow.core.params import InitialConfig
 from flow.core.params import InFlows
 from flow.core.params import VehicleParams
 from flow.core.params import SumoParams
 from flow.core.params import SumoLaneChangeParams
+from flow.core.params import SumoCarFollowingParams
 from flow.networks import HighwayNetwork
 from flow.envs import TestEnv
 from flow.networks.highway import ADDITIONAL_NET_PARAMS
 
-TRAFFIC_SPEED = 11
-END_SPEED = 16
-TRAFFIC_FLOW = 2056
-HORIZON = 3600
-INCLUDE_NOISE = False
+# the speed of vehicles entering the network
+TRAFFIC_SPEED = 24.1
+# the maximum speed at the downstream boundary edge
+END_SPEED = 6.0
+# the inflow rate of vehicles
+TRAFFIC_FLOW = 2215
+# the simulation time horizon (in steps)
+HORIZON = 1500
+# whether to include noise in the car-following models
+INCLUDE_NOISE = True
 
 additional_net_params = ADDITIONAL_NET_PARAMS.copy()
 additional_net_params.update({
@@ -31,28 +33,30 @@
     "speed_limit": 30,
     # number of edges to divide the highway into
     "num_edges": 2,
-    # whether to include a ghost edge of length 500m. This edge is provided a
-    # different speed limit.
+    # whether to include a ghost edge. This edge is provided a different speed
+    # limit.
     "use_ghost_edge": True,
     # speed limit for the ghost edge
-    "ghost_speed_limit": END_SPEED
+    "ghost_speed_limit": END_SPEED,
+    # length of the downstream ghost edge with the reduced speed limit
+    "boundary_cell_length": 300,
 })
 
 vehicles = VehicleParams()
 vehicles.add(
     "human",
-    num_vehicles=0,
+    acceleration_controller=(IDMController, {
+        'a': 1.3,
+        'b': 2.0,
+        'noise': 0.3 if INCLUDE_NOISE else 0.0
+    }),
+    car_following_params=SumoCarFollowingParams(
+        min_gap=0.5
+    ),
     lane_change_params=SumoLaneChangeParams(
-        lane_change_mode="strategic",
+        model="SL2015",
+        lc_sublane=2.0,
     ),
-    acceleration_controller=(BandoFTLController, {
-        'alpha': .5,
-        'beta': 20.0,
-        'h_st': 12.0,
-        'h_go': 50.0,
-        'v_max': 30.0,
-        'noise': 1.0 if INCLUDE_NOISE else 0.0,
-    }),
 )
 
 inflows = InFlows()
@@ -64,8 +68,6 @@
     depart_speed=TRAFFIC_SPEED,
     name="idm_highway_inflow")
 
-# SET UP FLOW PARAMETERS
-
 flow_params = dict(
     # name of the experiment
     exp_tag='highway-single',
@@ -82,14 +84,15 @@
     # environment related parameters (see flow.core.params.EnvParams)
     env=EnvParams(
         horizon=HORIZON,
-        warmup_steps=0,
-        sims_per_step=1,
+        warmup_steps=500,
+        sims_per_step=3,
     ),
 
     # sumo-related parameters (see flow.core.params.SumoParams)
     sim=SumoParams(
-        sim_step=0.5,
+        sim_step=0.4,
         render=False,
+        use_ballistic=True,
         restart_instance=False
     ),
 

examples/exp_configs/non_rl/i210_subnetwork.py

@@ -1,9 +1,9 @@
 """I-210 subnetwork example."""
 import os
-
 import numpy as np
 
-from flow.controllers.car_following_models import IDMController
+from flow.controllers import IDMController
+from flow.controllers import I210Router
 from flow.core.params import SumoParams
 from flow.core.params import EnvParams
 from flow.core.params import NetParams
@@ -15,7 +15,49 @@
 from flow.envs import TestEnv
 from flow.networks.i210_subnetwork import I210SubNetwork, EDGES_DISTRIBUTION
 
-# create the base vehicle type that will be used for inflows
+# =========================================================================== #
+# Specify some configurable constants.                                        #
+# =========================================================================== #
+
+# whether to include the upstream ghost edge in the network
+WANT_GHOST_CELL = True
+# whether to include the downstream slow-down edge in the network
+WANT_DOWNSTREAM_BOUNDARY = True
+# whether to include vehicles on the on-ramp
+ON_RAMP = True
+# the inflow rate of vehicles (in veh/hr)
+INFLOW_RATE = 5 * 2215
+# the speed of inflowing vehicles from the main edge (in m/s)
+INFLOW_SPEED = 24.1
+
+# =========================================================================== #
+# Specify the path to the network template.                                   #
+# =========================================================================== #
+
+if WANT_DOWNSTREAM_BOUNDARY:
+    NET_TEMPLATE = os.path.join(
+        config.PROJECT_PATH,
+        "examples/exp_configs/templates/sumo/i210_with_ghost_cell_with_"
+        "downstream.xml")
+elif WANT_GHOST_CELL:
+    NET_TEMPLATE = os.path.join(
+        config.PROJECT_PATH,
+        "examples/exp_configs/templates/sumo/i210_with_ghost_cell.xml")
+else:
+    NET_TEMPLATE = os.path.join(
+        config.PROJECT_PATH,
+        "examples/exp_configs/templates/sumo/test2.net.xml")
+
+# If the ghost cell is not being used, remove it from the initial edges that
+# vehicles can be placed on.
+edges_distribution = EDGES_DISTRIBUTION.copy()
+if not WANT_GHOST_CELL:
+    edges_distribution.remove("ghost0")
+
+# =========================================================================== #
+# Specify vehicle-specific information and inflows.                           #
+# =========================================================================== #
+
 vehicles = VehicleParams()
 vehicles.add(
     "human",
@@ -24,35 +66,39 @@
         lane_change_mode="strategic",
     ),
     acceleration_controller=(IDMController, {
-        "a": 0.3, "b": 2.0, "noise": 0.5
+        "a": 1.3,
+        "b": 2.0,
+        "noise": 0.3,
     }),
+    routing_controller=(I210Router, {}) if ON_RAMP else None,
 )
 
 inflow = InFlows()
 # main highway
 inflow.add(
     veh_type="human",
-    edge="119257914",
-    vehs_per_hour=8378,
-    departLane="random",
-    departSpeed=23)
+    edge="ghost0" if WANT_GHOST_CELL else "119257914",
+    vehs_per_hour=INFLOW_RATE,
+    departLane="best",
+    departSpeed=INFLOW_SPEED)
 # on ramp
-# inflow.add(
-#     veh_type="human",
-#     edge="27414345",
-#     vehs_per_hour=321,
-#     departLane="random",
-#     departSpeed=20)
-# inflow.add(
-#     veh_type="human",
-#     edge="27414342#0",
-#     vehs_per_hour=421,
-#     departLane="random",
-#     departSpeed=20)
-
-NET_TEMPLATE = os.path.join(
-    config.PROJECT_PATH,
-    "examples/exp_configs/templates/sumo/test2.net.xml")
+if ON_RAMP:
+    inflow.add(
+        veh_type="human",
+        edge="27414345",
+        vehs_per_hour=500,
+        departLane="random",
+        departSpeed=10)
+    inflow.add(
+        veh_type="human",
+        edge="27414342#0",
+        vehs_per_hour=500,
+        departLane="random",
+        departSpeed=10)
+
+# =========================================================================== #
+# Generate the flow_params dict with all relevant simulation information.     #
+# =========================================================================== #
 
 flow_params = dict(
     # name of the experiment
@@ -69,22 +115,26 @@
 
     # simulation-related parameters
     sim=SumoParams(
-        sim_step=0.5,
+        sim_step=0.4,
         render=False,
         color_by_speed=True,
         use_ballistic=True
     ),
 
     # environment related parameters (see flow.core.params.EnvParams)
     env=EnvParams(
-        horizon=4500,
+        horizon=10000,
     ),
 
     # network-related parameters (see flow.core.params.NetParams and the
     # network's documentation or ADDITIONAL_NET_PARAMS component)
     net=NetParams(
         inflows=inflow,
-        template=NET_TEMPLATE
+        template=NET_TEMPLATE,
+        additional_params={
+            "on_ramp": ON_RAMP,
+            "ghost_edge": WANT_GHOST_CELL,
+        }
     ),
 
     # vehicles to be placed in the network at the start of a rollout (see
@@ -94,10 +144,14 @@
     # parameters specifying the positioning of vehicles upon initialization/
     # reset (see flow.core.params.InitialConfig)
     initial=InitialConfig(
-        edges_distribution=EDGES_DISTRIBUTION,
+        edges_distribution=edges_distribution,
     ),
 )
 
+# =========================================================================== #
+# Specify custom callable that is logged during simulation runtime.           #
+# =========================================================================== #
+
 edge_id = "119257908#1-AddedOnRampEdge"
 custom_callables = {
     "avg_merge_speed": lambda env: np.nan_to_num(np.mean(