README.md

An episode of one of the environments available in HighwayEnv.

A collection of environments for autonomous driving and tactical decision-making tasks. Originally developed by Edouard Leurent and currently maintained by Jin Huang.

The documentation website is at highway-env.farama.org, and we have a public discord server (which we also use to coordinate development work) that you can join here: https://discord.gg/bnJ6kubTg6

Installation

To install HighwayEnv, use:

pip install highway-env

We support Python 3.10+ on Linux and macOS.

Environments

HighwayEnv includes 10 driving scenario families: highway, intersection, exit, lane-keeping, merge, parking, racetrack, roundabout, two-way, and u-turn, with several environments also offering fast, continuous-control, connected-lane, multi-agent, generic, large, or oval variants. The full list with descriptions and configuration options is available in the documentation.

Previews

highway	merge	roundabout	parking	intersection	racetrack

Usage

import gymnasium as gym

env = gym.make('highway-v0', render_mode='human')

obs, info = env.reset()
done = truncated = False
while not (done or truncated):
    action = ...  # Your agent code here
    obs, reward, done, truncated, info = env.step(action)
env.close()

See the documentation for more examples including how to train agents with Stable Baselines3 and Google Colab notebooks. For examples of trained agents (DQN, DDPG, Value Iteration, MCTS), see the Agent Examples page.

Documentation

Read the documentation online.

Development Roadmap

Here is the roadmap for future development work.

Citating

If you use HighwayEnv in your work, please consider citing it with:

@misc{highway-env,
  author = {Leurent, Edouard},
  title = {An Environment for Autonomous Driving Decision-Making},
  year = {2018},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/Farama-Foundation/HighwayEnv}},
}

Publications

A list of publications using HighwayEnv can be found in the documentation.