search

sisl / ngsim_env

Learning human driver models from NGSIM data with imitation learning.
https://arxiv.org/abs/1803.01044
MIT License
172 stars 80 forks source link

v1.1 fixes, incorrect data extraction #8

Closed djp42 closed 5 years ago

djp42 commented 5 years ago

After running julia 1.1 version of the ngsim extract everything and looking at the expert data in visualize_emergent.ipynb, we see completely wrong values for dleft, dright, and TTC, likely the result of some undocumented change in a dependency between julia versions (speculation). Some of the other values also seem a bit off. See below for values:

{'0820am-0835am': 
{'dleft': (207670.91874906194, 208635.24563178793), 
'dright': (-18210.856847647272, -18112.51571709203), 
'Turn-rate': (-0.7525520700884558, 0.6810855783650847), 
'Acceleration': (-9.169478099589634, 19.6527255780126), 
'Jerk': (-56.311584929457936, 170.3583576401261),
'Speed': (4.4628430053130104e-05, 30.40344487830156), 
'TTC': (0.1, 0.1)}}
djp42 commented 5 years ago

We saw an issue elsewhere where the road was misoriented, which could lead to the positions (and thus the distances) being wrong. Alternatively, some of the lidar updates in AutomotiveDrivingModels could have messed with the values. Old values (displayed using Julia 1.1, so the issue has to be in the extract_demonstrations):

 '0820am-0835am': {
'dleft': (-2.3049260146309027, 21.96607412120762), 
'dright': (-2.3457481513705556, 20.482909199293207), 
'Turn-rate': (-0.7525520700884558, 0.6810855783650847),
 'Acceleration': (-9.169478099589634, 19.6527255780126),
 'Jerk': (-56.311584929457936, 170.3583576401261), 
'Speed': (4.4628430053130104e-05, 30.40344487830156), 
'iTTC': (0.03333333333333333, 1276.2552473386506),
'TTC': (0.0007835423220278857, 30.0)},
djp42 commented 5 years ago

Potential fix: https://github.com/sisl/NGSIM.jl/commit/55bbe5dff5283abe3bd12d0914d26f3e128aafb4

djp42 commented 5 years ago

After that push to NGSIM, this is resolved (the values are more reasonable):

{'0750am-0805am': {
'Speed': (3.8103724410853456e-06, 29.570213614914064), 
'dright': (-1.7140965580048575, 20.555864801174923), 
'iTTC': (0.03333333333333333, 1701.604566642411), 
'TTC': (0.0005876806042976188, 30.0), 
'Turn-rate': (-2.3524487840378727, 1.135634508056773), 
'Acceleration': (-13.339110489477832, 39.66206075144301), 
'Jerk': (-111.2891908640254, 328.2468851536772), 
'dleft': (-1.318445210868404, 21.840951362599814)}}