small modification on DL

Author: lyg1597

demo/traffic_signal/traffic_signal_scenario.py

@@ -63,13 +63,13 @@
     # # -----------------------------------------
 
     # ----------- verify old version ----------
-    # traces = scenario.verify(30, 1)
-    # # fig = go.Figure()
-    # # fig = reachtube_tree(traces, fig, 0,1,[0,1],'lines', 'trace')
-    # # fig.show()
-    # # fig = go.Figure()
-    # # fig = reachtube_tree(traces, fig, 0,2,[0,1],'lines', 'trace')
-    # # fig.show()
+    traces = scenario.verify(50, 0.1)
+    fig = go.Figure()
+    fig = reachtube_tree(traces, None, fig, 0,1,[0,1],'lines', 'trace')
+    fig.show()
+    fig = go.Figure()
+    fig = reachtube_tree(traces, None, fig, 0,2,[0,1],'lines', 'trace')
+    fig.show()
 
     # fig = go.Figure()
     # fig = reachtube_tree_3d(traces, fig, 0,'time', 1,'x',2,'y')

demo/traffic_signal/vehicle_controller.py

@@ -25,7 +25,7 @@ def __init__(self, x, y, theta, v, agent_mode: VehicleMode):
 
 def decisionLogic(ego: State, other: State):
     output = copy.deepcopy(ego)
-    if ego.agent_mode == VehicleMode.Normal and other.signal_mode == TLMode.RED:
+    if ego.agent_mode == VehicleMode.Normal and other.signal_mode == TLMode.RED and other.dist<20:
         output.agent_mode = VehicleMode.Brake 
     if ego.agent_mode == VehicleMode.Brake and other.signal_mode != TLMode.RED:
         output.agent_mode = VehicleMode.Accel