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Removed overtaking for behavior agent

This commit is contained in:
Guillermo 2021-07-29 12:20:53 +02:00 committed by bernat
parent 8a877315a9
commit 3514ed014f
2 changed files with 7 additions and 56 deletions
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60
PythonAPI/carla/agents/navigation/behavior_agent.py
View File

@ -23,12 +23,11 @@ class BehaviorAgent(BasicAgent):
target destination, by computing the shortest possible path to it.
This agent can correctly follow traffic signs, speed limitations,
traffic lights, while also taking into account nearby vehicles. Lane changing
decisions can be taken by analyzing the surrounding environment,
such as overtaking or tailgating avoidance. Adding to these are possible
behaviors, the agent can also keep safety distance from a car in front of it
by tracking the instantaneous time to collision and keeping it in a certain range.
Finally, different sets of behaviors are encoded in the agent, from cautious
to a more aggressive ones.
decisions can be taken by analyzing the surrounding environment such as tailgating avoidance.
Adding to these are possible behaviors, the agent can also keep safety distance
from a car in front of it by tracking the instantaneous time to collision
and keeping it in a certain range. Finally, different sets of behaviors
are encoded in the agent, from cautious to a more aggressive ones.
"""
def __init__(self, vehicle, behavior='normal'):
@ -148,41 +147,6 @@ class BehaviorAgent(BasicAgent):
return affected
def _overtake(self, waypoint, vehicle_list):
"""
This method is in charge of overtaking behaviors.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:param vehicle_list: list of all the nearby vehicles
"""
left_turn = waypoint.left_lane_marking.lane_change
right_turn = waypoint.right_lane_marking.lane_change
left_wpt = waypoint.get_left_lane()
right_wpt = waypoint.get_right_lane()
if (left_turn == carla.LaneChange.Left or left_turn ==
carla.LaneChange.Both) and waypoint.lane_id * left_wpt.lane_id > 0 and left_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._vehicle_obstacle_detected(vehicle_list, max(
self._behavior.min_proximity_threshold, self._speed_limit / 3), up_angle_th=180, lane_offset=-1)
if not new_vehicle_state:
print("Overtaking to the left!")
end_waypoint = self._local_planner.target_waypoint
self._behavior.overtake_counter = 200
self.set_destination(end_waypoint.transform.location,
left_wpt.transform.location)
elif right_turn == carla.LaneChange.Right and waypoint.lane_id * right_wpt.lane_id > 0 and right_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._vehicle_obstacle_detected(vehicle_list, max(
self._behavior.min_proximity_threshold, self._speed_limit / 3), up_angle_th=180, lane_offset=1)
if not new_vehicle_state:
print("Overtaking to the right!")
end_waypoint = self._local_planner.target_waypoint
self._behavior.overtake_counter = 200
self.set_destination(end_waypoint.transform.location,
right_wpt.transform.location)
def _tailgating(self, waypoint, vehicle_list):
"""
This method is in charge of tailgating behaviors.
@ -224,7 +188,7 @@ class BehaviorAgent(BasicAgent):
def collision_and_car_avoid_manager(self, waypoint):
"""
This module is in charge of warning in case of a collision
and managing possible overtaking or tailgating chances.
and managing possible tailgating chances.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
@ -250,16 +214,8 @@ class BehaviorAgent(BasicAgent):
vehicle_list, max(
self._behavior.min_proximity_threshold, self._speed_limit / 3), up_angle_th=30)
# Check for overtaking
if vehicle_state and self._direction == RoadOption.LANEFOLLOW and \
not waypoint.is_junction and self._speed > 10 \
and self._behavior.overtake_counter == 0 and self._speed > get_speed(vehicle):
self._overtake(waypoint, vehicle_list)
# Check for tailgating
elif not vehicle_state and self._direction == RoadOption.LANEFOLLOW \
if not vehicle_state and self._direction == RoadOption.LANEFOLLOW \
and not waypoint.is_junction and self._speed > 10 \
and self._behavior.tailgate_counter == 0:
self._tailgating(waypoint, vehicle_list)
@ -349,8 +305,6 @@ class BehaviorAgent(BasicAgent):
control = None
if self._behavior.tailgate_counter > 0:
self._behavior.tailgate_counter -= 1
if self._behavior.overtake_counter > 0:
self._behavior.overtake_counter -= 1
ego_vehicle_loc = self._vehicle.get_location()
ego_vehicle_wp = self._map.get_waypoint(ego_vehicle_loc)

3
PythonAPI/carla/agents/navigation/behavior_types.py
View File

@ -12,7 +12,6 @@ class Cautious(object):
safety_time = 3
min_proximity_threshold = 12
braking_distance = 6
overtake_counter = -1
tailgate_counter = 0
@ -24,7 +23,6 @@ class Normal(object):
safety_time = 3
min_proximity_threshold = 10
braking_distance = 5
overtake_counter = 0
tailgate_counter = 0
@ -36,5 +34,4 @@ class Aggressive(object):
safety_time = 3
min_proximity_threshold = 8
braking_distance = 4
overtake_counter = 0
tailgate_counter = -1