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main.py
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main.py
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# 此程序为该方法主程序 （注意：内部参数以及势函数形式被多次调整，同学需要仔细检查势函数形式以及重新调试参数，以达到最佳效果）
import pandas as pd
from optimization_single import nmpc
import CAV as CAV
from IDM_model import IDM_model
from draw_single_veh import draw_single_veh
import matplotlib.pyplot as plt
plt.rcParams['font.sans-serif'] = ['Arial', 'Helvetica', 'FreeSans'] # 替换为系统上可用的字体列表
# 相关系数
predict_horizon = 50
time_step = 0.5
green_time = 30
yellow_time = 3
red_time = 30
# 创建红绿灯
light = []
for i in range(int(green_time / time_step)): #60
light.append(0)
for i in range(int(yellow_time / time_step)): #6
light.append(1)
for i in range(int(red_time / time_step)): #60
light.append(2)
light_all = light
#下面的代码相当于在原来的light列表中添加light列表
for i in range(11):
light_all = light_all + light
##截取一个predict_horizon的长度作为红绿灯，每次predict长度都是50
def light_predict(predict_horizon, predict_origin_list, start_index):
# 原始列表
original_list = predict_origin_list
# 初始化一个空列表，用于存储拼接后的结果
concatenated_list = []
# 设置目标列表长度
target_length = predict_horizon
# 从指定位置开始循环直到达到目标长度
while len(concatenated_list) < target_length:
concatenated_list.extend(original_list[start_index:])
start_index = 0 # 之后的循环从列表开头开始
# 如果列表长度超过目标长度，可以截取前面的部分以满足要求
concatenated_list = concatenated_list[:target_length]
return concatenated_list
start_time=40
mean=0
std_dev=1
class Multi_vehicle():
def __init__(self):
self.length=5
self.width=2
self.veh_trajectory=pd.DataFrame(columns=['No', 'VehType', 'Speed', 'Pos', 'Acc', 'recent_time', 'light', 'predict_light'])
#self.distance=2
self.distance=5 #两辆车之间的距离最好设置为5，距离要大一些
self.number=7 #车辆的数量
self.vehicle_type=['Auto_vehicle','Human_vehicle','Auto_vehicle','Human_vehicle','Auto_vehicle','Auto_vehicle','Human_vehicle']
def order(self):
for i in range(self.number):
# FIXME:
pass
def initial_state(self):
#第一辆车是AV，一共5辆车，AV与HV混合排列成一队
predict_light = light_predict(predict_horizon = 50,predict_origin_list = light_all,start_index=40)
predict_light = light_predict(predict_horizon = 50,predict_origin_list = light_all,start_index=40)
for i in range(len(self.vehicle_type)):
if self.vehicle_type[i] == 'Auto_vehicle':
self.veh_trajectory.loc[self.veh_trajectory.shape[0]] = [i,'Auto_vehicle',10,i*(self.length + self.distance),0,40,0,predict_light]
elif self.vehicle_type[i] == 'Human_vehicle':
self.veh_trajectory.loc[self.veh_trajectory.shape[0]] = [i,'Human_vehicle',10,i*(self.length + self.distance),0,40,0,predict_light]
#veh_inf1=[0,'Auto_vehicle',10,0,0,40,0,predict_light]
#veh_trajectory.loc[veh_trajectory.shape[0]]==veh_inf1
def update(self):
# 每辆车之间的间距，每辆车的速度，每辆车的灯状态
#max_index=row_with_last.index.max()
#for time in range(start_time,400):
for time in range(start_time,50):
if (time-start_time) == 0:
self.initial_state()
elif (time-start_time) > 0 and self.veh_trajectory['Pos'].iloc[0] < 300:
for i in range(len(self.vehicle_type)):
if self.vehicle_type[i] == 'Auto_vehicle':
acc1=nmpc(state_all_start = self.veh_trajectory.iloc[self.veh_trajectory.shape[0] - 5 + i], T=time_step, N=predict_horizon)
print('veh_trajectory',self.veh_trajectory.iloc[self.veh_trajectory.shape[0] - 5 + i])
#print('lens_acc',len(acc1))
#因为mpc会有horizon，这里只取预测的第一个值
speed1 = self.veh_trajectory['Speed'].iloc[self.veh_trajectory.shape[0] - 5 + i] + acc1[0] * time_step
Pos1 = self.veh_trajectory['Pos'].iloc[-1] + self.veh_trajectory['Speed'].iloc[-1] * time_step + 0.5 * acc1[0] * time_step * time_step
light_state=light_all[time]
predict_light=light_predict(predict_horizon = 50,predict_origin_list = light_all,start_index = time)
self.veh_trajectory.loc[self.veh_trajectory.shape[0]] = [i,'Auto_vehicle',speed1,Pos1,acc1,time,light_state,predict_light]
#print('300米之前的值',self.veh_trajectory)
elif self.vehicle_type[i] == 'Human_vehicle':
#v1=IDM_model(v1, v2, x1, x2)
x1=self.veh_trajectory['Pos'].iloc[-1]
v1=self.veh_trajectory['Speed'].iloc[-1]
veh_tmp=self.veh_trajectory.loc[self.veh_trajectory['No'] == i]
#print('veh_tmp',veh_tmp)
veh_index=veh_tmp.index.max()
#print('veh_index',veh_index)
#print('veh_trajectory[]',self.veh_trajectory['Speed'].iloc[veh_index])
#print('veh_trajectory[',self.veh_trajectory['Acc'].iloc[veh_index])
#print('at',self.veh_trajectory['Acc'].iloc[veh_index]*time_step)
v2=self.veh_trajectory['Speed'].iloc[veh_index] + self.veh_trajectory['Acc'].iloc[veh_index] * time_step
#print('v2',v2)
x2=self.veh_trajectory['Pos'].iloc[veh_index] + v2 * time_step + 0.5 *\
self.veh_trajectory['Acc'].iloc[veh_index] * time_step * time_step
acc = IDM_model(v1, v2, x1, x2); # 2代表本车，1代表前车
light_state = light_all[time]
predict_light = light_predict(predict_horizon = 50,predict_origin_list = light_all,start_index = time)
self.veh_trajectory.loc[self.veh_trajectory.shape[0]] = [i,'Human_vehicle',v2,x2,acc,time,light_state,predict_light]
else:
pass
elif Pos1 > 400 and (time - start_time) > 0:
break
else:
pass
multi_vehicle=Multi_vehicle()
multi_vehicle.update()
multi_vehicle.veh_trajectory.to_csv(r'2.csv', index = False)
fig = draw_single_veh(multi_vehicle.veh_trajectory, start_time, 'Time-space Map') # 调用绘图函数