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Remove switch to different default rss parameter, add new members

This commit is contained in:
Pasch, Frederik 2020-09-02 15:54:46 +02:00 committed by Marc Garcia Puig
parent d8005283be
commit 251d2bbbb7
2 changed files with 14 additions and 31 deletions
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7
PythonAPI/examples/rss/manual_control_rss.py
View File

@ -102,7 +102,6 @@ try:
from pygame.locals import K_q
from pygame.locals import K_r
from pygame.locals import K_s
from pygame.locals import K_t
from pygame.locals import K_w
from pygame.locals import K_l
from pygame.locals import K_i
@ -420,12 +419,6 @@ class VehicleControl(object):
elif event.key == K_g:
if self._world and self._world.rss_sensor:
self._world.rss_sensor.drop_route()
elif event.key == K_t:
if self._world and self._world.rss_sensor:
if self._world.rss_sensor.assertive_parameters:
self._world.rss_sensor.set_default_parameters()
else:
self._world.rss_sensor.set_assertive_parameters()
if isinstance(self._control, carla.VehicleControl):
if event.key == K_q:
self._control.gear = 1 if self._control.reverse else -1

38
PythonAPI/examples/rss/rss_sensor.py
View File

@ -298,29 +298,6 @@ class RssSensor(object):
def toggle_debug_visualization_mode(self):
self.debug_visualizer.toggleMode()
@staticmethod
def get_assertive_parameters():
ego_dynamics = rss.RssDynamics()
ego_dynamics.alphaLon.accelMax = 4.1
ego_dynamics.alphaLon.brakeMax = -8.03
ego_dynamics.alphaLon.brakeMin = -4.64
ego_dynamics.alphaLon.brakeMinCorrect = -1.76
ego_dynamics.alphaLat.accelMax = 0.43
ego_dynamics.alphaLat.brakeMin = -0.96
ego_dynamics.lateralFluctuationMargin = 0.07
ego_dynamics.responseTime = 0.25 # paper: 0.53
ego_dynamics.maxSpeedOnAcceleration = 100
ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
ego_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
ego_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
ego_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
ego_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
return ego_dynamics
def set_assertive_parameters(self):
print("Use 'assertive' RSS Parameters")
self.current_vehicle_parameters = self.get_assertive_parameters()
@staticmethod
def get_default_parameters():
ego_dynamics = rss.RssDynamics()
@ -331,13 +308,18 @@ class RssSensor(object):
ego_dynamics.alphaLat.accelMax = 0.2
ego_dynamics.alphaLat.brakeMin = -0.8
ego_dynamics.lateralFluctuationMargin = 0.1
ego_dynamics.responseTime = 1.0
ego_dynamics.responseTime = 0.5
ego_dynamics.maxSpeedOnAcceleration = 100
ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
ego_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
ego_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
ego_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
ego_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
ego_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4
ego_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0
ego_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0
ego_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0
ego_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4
return ego_dynamics
def set_default_parameters(self):
@ -358,9 +340,17 @@ class RssSensor(object):
pedestrian_dynamics.maxSpeedOnAcceleration = 10
pedestrian_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
pedestrian_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
#not used:
pedestrian_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
pedestrian_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
pedestrian_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4
pedestrian_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0
pedestrian_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0
pedestrian_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0
pedestrian_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4
return pedestrian_dynamics
def get_steering_ranges(self):