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Implemented keep right rule 

for lane change logic
This commit is contained in:
Praveen Kumar 2020-03-06 19:40:12 +05:30 committed by Marc Garcia Puig
parent 48fb019be6
commit 2b29bc24ef
1 changed files with 13 additions and 4 deletions
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17
LibCarla/source/carla/trafficmanager/LocalizationStage.cpp
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@ -139,10 +139,20 @@ namespace LocalizationConstants {
}
// Assign a lane change.
const SimpleWaypointPtr front_waypoint = waypoint_buffer.front();
const ChangeLaneInfo lane_change_info = parameters.GetForceLaneChange(vehicle);
const bool force_lane_change = lane_change_info.change_lane;
const bool lane_change_direction = lane_change_info.direction;
bool force_lane_change = lane_change_info.change_lane;
bool lane_change_direction = lane_change_info.direction;
if (!force_lane_change) {
float perc_keep_right = parameters.GetKeepRightPercentage(vehicle);
if (perc_keep_right >= 0.0f && perc_keep_right >= (rand() % 101)) {
force_lane_change = true;
lane_change_direction = true;
}
}
const SimpleWaypointPtr front_waypoint = waypoint_buffer.front();
const double lane_change_distance = std::pow(std::max(10.0f * vehicle_velocity, INTER_LANE_CHANGE_DISTANCE), 2);
if (((parameters.GetAutoLaneChange(vehicle) || force_lane_change) && !front_waypoint->CheckJunction())
@ -495,7 +505,6 @@ namespace LocalizationConstants {
SimpleWaypointPtr LocalizationStage::AssignLaneChange(Actor vehicle, const cg::Location &vehicle_location,
bool force, bool direction)
{
// TODO: Implement keep right rule.
const ActorId actor_id = vehicle->GetId();
const float vehicle_velocity = vehicle->GetVelocity().Length();