CommonRoad Agent Simulation
This repository comprises module to perform multi agent simulations with CommonRoad scenarios. Dynamic obstacles in a scenario can be replaced by agents with certain behavior models implemented in this repository. This allows to perfom simulations with interacting traffic participants that do not follow predefined trajectories but react on other traffic participants.
Supported Behavior Models
If nothing specified the dynamic obstacles in a scenario move according to the predefined trajectories.
If assigned like shown in the examples, the scenario can be simulated forward with the step() while the considered dynamic obstacles behave according to the specified behavior model.
Currently, the following behavior models are implemented:
IDM
The IDM is a well known car following model. It does not include lane changes and is suited best for highway scenarios. An example can be found here
MOBIL
MOBIL is an extension of the IDM with lane change decisions. An example can be found here
LEVEL_0_POLICY
The level 0 policy defines a basic behavior of an interaction unaware traffic participant. This policy will be used to train higher level agents with reasoning hierarchy.
Installation
The following need to be installed on your machine:
Requirements
- Python >= 3.6
Installation via pip:
pip install commonroad-agent
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Metadata
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Release files for commonroad-agent 1.2.0
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