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SUMO simulations
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The ACC/Midpoint controllers cause jams #30

Closed cathywu closed 8 years ago

cathywu commented 8 years ago

Example: loopsim-1000m1l-h000-r050- 01-lane-change loopsim-1000m1l-h000-r040- 01-lane-change

cathywu commented 8 years ago

This is the first positive result, achieved by reducing the follow_sec to 1.0 (from 3.0): loopsim-1000m2l-robot050-acc

Params: follow_sec = 1.0, max_speed = 40, gain = 0.1, beta = 0.9.

cathywu commented 8 years ago

With only a few robot cars, on the other hand, (and a simple policy that means that they can't change lanes) they can have very little effect. I think this is due to the fact that they are not in the right place to make a difference. loopsim-1000m2l-human045-robot005-acc

cathywu commented 8 years ago

With 50% penetration, the robot cars (using ACC) are able to improve speed: loopsim-1000m2l-human025-robot025-acc

cathywu commented 8 years ago

ACC first results!

1 lane, 25 agents, all robotic agents (ACC "works")

Note: ACC still kicks in halfway through the simulation. loopsim-1000m1l-robot025-acc

1 lane, 25 agents, half robots (ACC improves things)

loopsim-1000m1l-human013-robot012-acc

2 lanes, 25 agents per lane, half humans (slow)

Still unsure why the changeFasterLane seems to result in super slow vehicles overall, see #28. loopsim-1000m2l-human050-acc

2 lanes, 25 agents per lane, half robots (ACC causes jams)

loopsim-1000m2l-human025-robot025-acc

cathywu commented 8 years ago

On the other hand, the heuristic controller (currently configured to keep a headway of 0.25 the distance between the front and back vehicles) seems to improve things! loopsim-1000m2l-human025-robot025-midpoint

Parameters: max_speed=40, gain=0.1, beta=0.9, duration=250, bias=1.0, ratio=0.25.

WARNING: Everything is pretty finicky right now and requires manual parameter selection and fine tuning.

I've run this a bunch of times. Every few times, the plot looks like the controller does cause traffic, but most of the time the speed looks improved.