self.controlled_vehicles.append(controlled_vehicle) self.road.vehicles.append(controlled_vehicle) - # Front vehicle - vehicle = IDMVehicle.make_on_lane( - self.road, - ("b", "c", lane_index[-1]), - longitudinal=rng.uniform( - low=0, high=self.road.network.get_lane(("b", "c", 0)).length - ), - speed=6 + rng.uniform(high=3), - ) - self.road.vehicles.append(vehicle) - - # Other vehicles - for i in range(rng.integers(self.config["other_vehicles"])): - random_lane_index = self.road.network.random_lane_index(rng) + if self.config["other_vehicles"] > 0: + # Front vehicle vehicle = IDMVehicle.make_on_lane( self.road, - random_lane_index, + ("b", "c", lane_index[-1]), longitudinal=rng.uniform( - low=0, high=self.road.network.get_lane(random_lane_index).length + low=0, high=self.road.network.get_lane(("b", "c", 0)).length ), speed=6 + rng.uniform(high=3), ) - # Prevent early collisions - for v in self.road.vehicles: - if np.linalg.norm(vehicle.position - v.position) < 20: - break - else: - self.road.vehicles.append(vehicle)
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diff --git a/main/searchindex.js b/main/searchindex.js
index c2b32a7cb..cb7aa834d 100644
--- a/main/searchindex.js
+++ b/main/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["404", "actions/index", "bibliography/index", "dynamics/index", "dynamics/road/lane", "dynamics/road/regulation", "dynamics/road/road", "dynamics/vehicle/behavior", "dynamics/vehicle/controller", "dynamics/vehicle/kinematics", "environments/highway", "environments/index", "environments/intersection", "environments/merge", "environments/parking", "environments/racetrack", "environments/roundabout", "faq", "graphics/index", "index", "installation", "make_your_own", "multi_agent", "observations/index", "quickstart", "rewards/index", "user_guide"], "filenames": ["404.md", "actions/index.md", "bibliography/index.md", "dynamics/index.md", "dynamics/road/lane.md", "dynamics/road/regulation.md", "dynamics/road/road.md", "dynamics/vehicle/behavior.md", "dynamics/vehicle/controller.md", "dynamics/vehicle/kinematics.md", "environments/highway.md", "environments/index.md", "environments/intersection.md", "environments/merge.md", "environments/parking.md", "environments/racetrack.md", "environments/roundabout.md", "faq.md", "graphics/index.md", "index.md", "installation.md", "make_your_own.md", "multi_agent.md", "observations/index.md", "quickstart.md", "rewards/index.md", "user_guide.md"], "titles": ["404", "Actions", "Bibliography", "Dynamics", "Lane", "Road regulation", "Road", "Behavior", "Control", "Kinematics", "Highway", "The environments", "Intersection", "Merge", "Parking", "Racetrack", "Roundabout", "Frequently Asked Questions", "Graphics", "Welcome to highway-env\u2019s documentation!", "Installation", "Make your own environment", "The Multi-Agent setting", "Observations", "Getting Started", "Rewards", "User Guide"], "terms": {"similarli": 1, "observ": [1, 2, 10, 12, 13, 14, 15, 16, 21, 24, 25, 26], "sever": [1, 7, 10, 12, 17, 21, 23, 24], "type": [1, 4, 10, 12, 13, 14, 15, 16, 21, 22, 23, 24], "can": [1, 4, 6, 7, 8, 10, 12, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 24, 25], "us": [1, 7, 8, 9, 14, 18, 19, 20, 21, 23, 24, 25], 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Why?": [[17, "i-try-to-train-an-agent-using-the-kinematics-observation-and-an-mlp-model-but-the-resulting-policy-is-not-optimal-why"]], "My videos are too fast / have a low framerate.": [[17, "my-videos-are-too-fast-have-a-low-framerate"]], "Graphics": [[18, "id1"]], "World surface": [[18, "world-surface"]], "Scene graphics": [[18, "scene-graphics"]], "Welcome to highway-env\u2019s documentation!": [[19, "welcome-to-highway-env-s-documentation"]], "How to cite this work?": [[19, "how-to-cite-this-work"]], "Installation": [[20, "installation"]], "Prerequisites": [[20, "prerequisites"]], "Ubuntu": [[20, "ubuntu"]], "Windows 10": [[20, "windows-10"]], "Stable release": [[20, "stable-release"]], "Development version": [[20, "development-version"]], "Make your own environment": [[21, "make-your-own-environment"]], "Set up files": [[21, "set-up-files"]], "Create the scene": [[21, "create-the-scene"]], "Create the vehicles": [[21, "create-the-vehicles"]], "Make the environment configurable": 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\ No newline at end of file
+Search.setIndex({"docnames": ["404", "actions/index", "bibliography/index", "dynamics/index", "dynamics/road/lane", "dynamics/road/regulation", "dynamics/road/road", "dynamics/vehicle/behavior", "dynamics/vehicle/controller", "dynamics/vehicle/kinematics", "environments/highway", "environments/index", "environments/intersection", "environments/merge", "environments/parking", "environments/racetrack", "environments/roundabout", "faq", "graphics/index", "index", "installation", "make_your_own", "multi_agent", "observations/index", "quickstart", "rewards/index", "user_guide"], "filenames": ["404.md", "actions/index.md", "bibliography/index.md", "dynamics/index.md", "dynamics/road/lane.md", "dynamics/road/regulation.md", "dynamics/road/road.md", "dynamics/vehicle/behavior.md", "dynamics/vehicle/controller.md", "dynamics/vehicle/kinematics.md", "environments/highway.md", "environments/index.md", "environments/intersection.md", "environments/merge.md", "environments/parking.md", 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