Global router overhauled
* Enabled support for 3d localization and routing * Added graph representation for lane change * Overhauled code to make use of carla objects as much as possible EOD commit
This commit is contained in:
Praveen Kumar
parent
106d3e116c
commit
b854ed0851
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@ -12,6 +12,7 @@ import networkx as nx
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import carla
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from agents.navigation.local_planner import RoadOption
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from agents.tools.misc import vector
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class GlobalRoutePlanner(object):
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@ -29,6 +30,7 @@ class GlobalRoutePlanner(object):
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self._topology = None
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self._graph = None
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self._id_map = None
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self._road_id_to_edge = None
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def setup(self):
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"""
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@ -37,57 +39,189 @@ class GlobalRoutePlanner(object):
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"""
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self._topology = self._dao.get_topology()
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# Creating graph of the world map and also a maping from
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# node co-ordinates to node id
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self._graph, self._id_map = self._build_graph()
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# self._lane_change_link()
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# node co-ordinates to node id along with a map from road id to edge
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self._graph, self._id_map, self._road_id_to_edge = self._build_graph()
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self._lane_change_link()
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def _build_graph(self):
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"""
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This function builds a networkx graph representation of topology.
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The topology is read from self._topology.
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graph node properties:
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vertex - carla.Location object of node's position in world map
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graph edge properties:
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entry_vector - unit vector along tangent at entry point
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exit_vector - unit vector along tangent at exit point
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net_vector - unit vector of the chord from entry to exit
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intersection - boolean indicating if the edge belongs to an
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intersection
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return : graph -> networkx graph representing the world map,
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id_map-> mapping from (x,y,z) to node id
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road_id_to_edge-> map from road id to edge in the graph
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"""
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graph = nx.DiGraph()
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id_map = dict() # Map with structure {(x,y,z): id, ... }
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road_id_to_edge = dict() # Map with structure {road_id: {lane_id: edge, ... }, ... }
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for segment in self._topology:
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entry_wp = segment['entry']
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exit_wp = segment['exit']
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path = segment['path']
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intersection = entry_wp.is_intersection
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road_id, lane_id = entry_wp.road_id, entry_wp.lane_id
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for vertex_wp in entry_wp, exit_wp:
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# Adding unique nodes and populating id_map
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location = vertex_wp.transform.location
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if (location.x, location.y, location.z) not in id_map:
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new_id = len(id_map)
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id_map[location.x, location.y, location.z] = new_id
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graph.add_node(new_id, vertex=location)
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n1 = id_map[entry_wp.transform.location.x, entry_wp.transform.location.y, entry_wp.transform.location.z]
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n2 = id_map[exit_wp.transform.location.x, exit_wp.transform.location.y, exit_wp.transform.location.z]
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if road_id not in road_id_to_edge:
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road_id_to_edge[road_id] = dict()
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road_id_to_edge[road_id][lane_id] = (n1, n2)
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# Adding edge with attributes
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graph.add_edge(
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n1, n2,
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length=len(path) + 1, path=path,
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entry_vector=vector(
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entry_wp.transform.location,
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path[0].transform.location if len(path) > 0 else exit_wp.transform.location),
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exit_vector=vector(
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path[-1].transform.location if len(path) > 0 else entry_wp.transform.location,
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exit_wp.transform.location),
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net_vector=vector(entry_wp.transform.location, exit_wp.transform.location),
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intersection=intersection, type=RoadOption.LANEFOLLOW)
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return graph, id_map, road_id_to_edge
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def _localise(self, location):
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"""
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This function finds the road segment closest to given waypoint
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x, y : co-rodinates to be localized in the graph
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return : pair node ids representing an edge in the graph
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"""
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waypoint = self._dao.get_waypoint(location)
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return self._road_id_to_edge[waypoint.road_id][waypoint.lane_id]
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def _lane_change_link(self):
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"""
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This method places zero cost links in the topology graph
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representing availability of lane changes.
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"""
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for segment in self._topology:
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left_found, right_found = False, False
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for waypoint in segment['path']:
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next_waypoint = None
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next_road_option = None
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if bool(waypoint.lane_change & carla.LaneChange.Right) and not right_found:
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next_waypoint = waypoint.get_right_lane()
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next_road_option = RoadOption.CHANGELANERIGHT
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next_segment = self._localise(next_waypoint.transform.location)
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next_edge = self._graph.edges[next_segment[0], next_segment[1]]
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sloc = segment['entry'].transform.location
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self._graph.add_edge(
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self._id_map[sloc.x, sloc.y, sloc.z], next_segment[1],
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length=next_edge['length'], type=next_road_option, change_waypoint = waypoint)
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right_found = True
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if bool(waypoint.lane_change & carla.LaneChange.Left) and not left_found:
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next_waypoint = waypoint.get_left_lane()
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next_road_option = RoadOption.CHANGELANELEFT
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next_segment = self._localise(next_waypoint.transform.location)
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next_edge = self._graph.edges[next_segment[0], next_segment[1]]
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sloc = segment['entry'].transform.location
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self._graph.add_edge(
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self._id_map[sloc.x, sloc.y, sloc.z], next_segment[1],
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length=next_edge['length'], type=next_road_option, change_waypoint = waypoint)
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left_found = True
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if left_found and right_found: break
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def _distance_heuristic(self, n1, n2):
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"""
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Distance heuristic calculator for path searching
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in self._graph
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"""
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l1 = self._graph.nodes[n1]['vertex']
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l2 = self._graph.nodes[n2]['vertex']
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return l1.distance(l2)
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def _path_search(self, origin, destination):
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"""
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This function finds the shortest path connecting origin and destination
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using A* search with distance heuristic.
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origin : carla.Location object of start position
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desitnation : carla.Location object of of end position
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return : path as list of node ids (as int) of the graph self._graph
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connecting origin and destination
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"""
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start, end = self._localise(origin), self._localise(destination)
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route = nx.astar_path(
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self._graph, source=start[0], target=end[1],
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heuristic=self._distance_heuristic, weight='length')
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return route
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def plan_route(self, origin, destination):
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"""
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The following function generates the route plan based on
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origin : tuple containing x, y of the route's start position
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destination : tuple containing x, y of the route's end position
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origin : carla.Location object of the route's start position
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destination : carla.Location object of the route's end position
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return : list of turn by turn navigation decisions as
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agents.navigation.local_planner.RoadOption elements
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Possible values (for now) are STRAIGHT, LEFT, RIGHT, LANEFOLLOW, VOID
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Possible values are STRAIGHT, LEFT, RIGHT, LANEFOLLOW, VOID
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CHANGELANELEFT, CHANGELANERIGHT
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"""
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threshold = math.radians(4.0)
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threshold = math.radians(5.0)
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route = self._path_search(origin, destination)
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plan = []
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if len(route) == 2 and self._graph.edges[route[0], route[1]]['type'] != RoadOption.LANEFOLLOW:
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plan.append(self._graph.edges[route[0], route[1]]['type'])
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# Compare current edge and next edge to decide on action
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for i in range(len(route) - 2):
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current_edge = self._graph.edges[route[i], route[i + 1]]
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next_edge = self._graph.edges[route[i + 1], route[i + 2]]
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cv = current_edge['exit_vector']
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nv = next_edge['net_vector']
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cv, nv = cv + (0,), nv + (0,) # Making vectors 3D
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entry_edges = 0
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exit_edges = 0
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if next_edge['type'] != RoadOption.LANEFOLLOW:
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plan.append(next_edge['type'])
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elif current_edge['type'] == RoadOption.LANEFOLLOW:
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cv, nv = current_edge['exit_vector'], next_edge['net_vector']
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entry_edges, exit_edges = 0, 0
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cross_list = []
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# Accumulating cross products of all other paths
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for neighbor in self._graph.successors(route[i+1]):
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select_edge = self._graph.edges[route[i+1], neighbor]
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if select_edge['type'] == RoadOption.LANEFOLLOW:
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entry_edges += 1
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if neighbor != route[i + 2]:
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select_edge = self._graph.edges[route[i + 1], neighbor]
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sv = select_edge['net_vector']
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cross_list.append(np.cross(cv, sv)[2])
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for neighbor in self._graph.predecessors(route[i+2]):
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exit_edges += 1
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if entry_edges == 1 and exit_edges > 1:
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cross_list.append(0)
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for neighbor in self._graph.predecessors(route[i+2]): exit_edges += 1
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if entry_edges == 1 and exit_edges > 1: cross_list.append(0)
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# Calculating turn decision
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if next_edge['intersection'] and (entry_edges > 1 or exit_edges > 1):
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elif next_edge['intersection'] and (entry_edges > 1 or exit_edges > 1):
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next_cross = np.cross(cv, nv)[2]
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deviation = math.acos(np.dot(cv, nv) /
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deviation = math.acos(np.dot(cv, nv) /\
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(np.linalg.norm(cv)*np.linalg.norm(nv)))
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if deviation < threshold:
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action = RoadOption.STRAIGHT
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if deviation < threshold: action = RoadOption.STRAIGHT
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elif next_cross < min(cross_list):
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action = RoadOption.LEFT
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elif next_cross > max(cross_list):
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action = RoadOption.RIGHT
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plan.append(action)
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return plan
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def verify_intersection(self, waypoint):
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@ -99,197 +233,15 @@ class GlobalRoutePlanner(object):
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is_intersection = False
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if waypoint.is_intersection :
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x = waypoint.transform.location.x
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y = waypoint.transform.location.y
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segment = self._localise(x, y)
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entry_node_id = self._id_map[segment['entry']]
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exit_node_id = self._id_map[segment['exit']]
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entry_node_id, exit_node_id = self._localise(waypoint.transform.location)
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segment = self._graph.edges[entry_node_id, exit_node_id]
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entry_edges, exit_edges = 0, 0
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for _ in self._graph.successors(entry_node_id): entry_edges += 1
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for _ in self._graph.predecessors(exit_node_id): exit_edges += 1
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for _ in self._graph.successors(entry_node_id):
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if segment['type'] == RoadOption.LANEFOLLOW: entry_edges += 1
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for _ in self._graph.predecessors(exit_node_id):
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if segment['type'] == RoadOption.LANEFOLLOW: exit_edges += 1
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if entry_edges > 1 or exit_edges > 1: is_intersection = True
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return is_intersection
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def _distance_heuristic(self, n1, n2):
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"""
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Distance heuristic calculator for path searching
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in self._graph
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"""
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(x1, y1) = self._graph.nodes[n1]['vertex']
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(x2, y2) = self._graph.nodes[n2]['vertex']
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return ((x1 - x2) ** 2 + (y1 - y2) ** 2) ** 0.5
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def _path_search(self, origin, destination):
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"""
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This function finds the shortest path connecting origin and destination
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using A* search with distance heuristic.
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origin : tuple containing x, y co-ordinates of start position
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desitnation : tuple containing x, y co-ordinates of end position
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return : path as list of node ids (as int) of the graph self._graph
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connecting origin and destination
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"""
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xo, yo = origin
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xd, yd = destination
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start = self._localise(xo, yo)
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end = self._localise(xd, yd)
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route = nx.astar_path(
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self._graph, source=self._id_map[start['entry']],
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target=self._id_map[end['exit']],
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heuristic=self._distance_heuristic,
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weight='length')
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return route
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def _localise(self, x, y):
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"""
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This function finds the road segment closest to (x, y)
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x, y : co-ordinates of the point to be localized
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return : pair of points, tuple of tuples containing co-ordinates
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of points that represents the road segment closest to x, y
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"""
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distance = float('inf')
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nearest = (distance, dict())
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# Measuring distances from segment waypoints and (x, y)
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for segment in self._topology:
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entryxy = segment['entry']
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exitxy = segment['exit']
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path = segment['path']
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for xp, yp in [entryxy] + path + [exitxy]:
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new_distance = self._distance((xp, yp), (x, y))
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if new_distance < nearest[0]:
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nearest = (new_distance, segment)
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segment = nearest[1]
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return segment
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def _build_graph(self):
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"""
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This function builds a networkx graph representation of topology.
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The topology is read from self._topology.
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graph node properties:
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vertex - (x,y) of node's position in world map
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num_edges - Number of exit edges from the node
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graph edge properties:
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entry_vector - unit vector along tangent at entry point
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exit_vector - unit vector along tangent at exit point
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net_vector - unit vector of the chord from entry to exit
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intersection - boolean indicating if the edge belongs to an
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intersection
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return : graph -> networkx graph representing the world map,
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id_map-> mapping from (x,y) to node id
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"""
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graph = nx.DiGraph()
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# Map with structure {(x,y): id, ... }
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id_map = dict()
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for segment in self._topology:
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entryxy = segment['entry']
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exitxy = segment['exit']
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path = segment['path']
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intersection = segment['intersection']
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for vertex in entryxy, exitxy:
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# Adding unique nodes and populating id_map
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if vertex not in id_map:
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new_id = len(id_map)
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id_map[vertex] = new_id
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graph.add_node(new_id, vertex=vertex)
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n1, n2 = id_map[entryxy], id_map[exitxy]
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# Adding edge with attributes
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graph.add_edge(
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n1, n2,
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length=len(path) + 1, path=path,
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entry_vector=self._unit_vector(
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entryxy, path[0] if len(path) > 0 else exitxy),
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exit_vector=self._unit_vector(
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path[-1] if len(path) > 0 else entryxy, exitxy),
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net_vector=self._unit_vector(entryxy, exitxy),
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intersection=intersection,
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type=RoadOption.LANEFOLLOW)
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return graph, id_map
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def _lane_change_link(self):
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"""
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This method places zero cost links in the topology graph
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representing availability of lane changes.
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"""
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next_waypoint = None
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next_road_option = None
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for segment in self._topology:
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lane_change_types = []
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for point in segment['path']:
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waypoint = self._dao.get_waypoint(*point)
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if waypoint.lane_change & carla.LaneChange.Right \
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and RoadOption.CHANGELANERIGHT not in lane_change_types:
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next_waypoint = waypoint.right_lane()
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if next_waypoint is not None and next_waypoint.lane_type == 'driving':
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next_road_option = RoadOption.CHANGELANERIGHT
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elif waypoint.lane_change & carla.LaneChange.Left \
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and RoadOption.CHANGELANERIGHT not in lane_change_types:
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next_waypoint = waypoint.left_lane()
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if next_waypoint is not None and next_waypoint.lane_type == 'driving':
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next_road_option = RoadOption.CHANGELANELEFT
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else: pass
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if next_waypoint is not None:
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next_segment = self._localise(
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next_waypoint.transform.location.x, next_waypoint.transform.location.x)
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self._graph.add_edge(
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self._id_map[segment['entry']],
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self._id_map[next_segment['exit']],
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type=next_road_option)
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lane_change_types.append(next_road_option)
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next_waypoint = None
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if len(lane_change_types) == 2:
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break
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def _distance(self, point1, point2):
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"""
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returns the distance between point1 and point2
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point1 : (x,y) of first point
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point2 : (x,y) of second point
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return : distance from point1 to point2
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"""
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x1, y1 = point1
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x2, y2 = point2
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return math.sqrt((x2 - x1)**2 + (y2 - y1)**2)
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def _unit_vector(self, point1, point2):
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"""
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This function returns the unit vector from point1 to point2
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point1 : (x,y) of first point
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point2 : (x,y) of second point
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return : tuple containing x and y components of unit vector
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from point1 to point2
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"""
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x1, y1 = point1
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x2, y2 = point2
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vector = (x2 - x1, y2 - y1)
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vector_mag = math.sqrt(vector[0]**2 + vector[1]**2)
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vector = (vector[0] / vector_mag, vector[1] / vector_mag)
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return vector
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def _dot(self, vector1, vector2):
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"""
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This function returns the dot product of vector1 with vector2
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vector1 : x, y components of first vector
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vector2 : x, y components of second vector
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return : dot porduct scalar between vector1 and vector2
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"""
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return vector1[0] * vector2[0] + vector1[1] * vector2[1]
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pass
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@ -15,7 +15,7 @@ class GlobalRoutePlannerDAO(object):
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"""
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||||
def __init__(self, wmap):
|
||||
"""
|
||||
"""get_topology
|
||||
Constructor
|
||||
|
||||
wmap : carl world map object
|
||||
|
|
@ -36,35 +36,29 @@ class GlobalRoutePlannerDAO(object):
|
|||
to exit
|
||||
intersection - Boolean indicating if the road segment
|
||||
is an intersection
|
||||
roadid - unique id common for all lanes of a road segment
|
||||
"""
|
||||
topology = []
|
||||
# Retrieving waypoints to construct a detailed topology
|
||||
for segment in self._wmap.get_topology():
|
||||
x1 = segment[0].transform.location.x
|
||||
y1 = segment[0].transform.location.y
|
||||
x2 = segment[1].transform.location.x
|
||||
y2 = segment[1].transform.location.y
|
||||
x1, y1, x2, y2 = np.round([x1, y1, x2, y2], 2)
|
||||
wp1, wp2 = segment[0], segment[1]
|
||||
l1, l2 = wp1.transform.location, wp2.transform.location
|
||||
l1.x, l1.y, l1.z, l2.x, l2.y, l2.z = np.round([l1.x, l1.y, l1.z, l2.x, l2.y, l2.z], 2)
|
||||
wp1.transform.location, wp2.transform.location = l1, l2
|
||||
seg_dict = dict()
|
||||
seg_dict['entry'] = (x1, y1)
|
||||
seg_dict['exit'] = (x2, y2)
|
||||
seg_dict['entry'] = wp1
|
||||
seg_dict['exit'] = wp2
|
||||
seg_dict['path'] = []
|
||||
wp1 = segment[0]
|
||||
wp2 = segment[1]
|
||||
seg_dict['intersection'] = True if wp1.is_intersection else False
|
||||
endloc = wp2.transform.location
|
||||
w = wp1.next(1)[0]
|
||||
while w.transform.location.distance(endloc) > 1:
|
||||
x = w.transform.location.x
|
||||
y = w.transform.location.y
|
||||
seg_dict['path'].append((x, y))
|
||||
seg_dict['path'].append(w)
|
||||
w = w.next(1)[0]
|
||||
|
||||
topology.append(seg_dict)
|
||||
return topology
|
||||
|
||||
def get_waypoint(self, x, y):
|
||||
def get_waypoint(self, location):
|
||||
"""
|
||||
The method returns waytpoint at x, y
|
||||
The method returns waytpoint at given location
|
||||
"""
|
||||
return self._wmap.get_waypoint(carla.Location(x=x, y=y))
|
||||
return self._wmap.get_waypoint(location)
|
||||
|
|
|
|||
Loading…
Reference in New Issue