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Fixes vehicle elimination algorithm

This commit is contained in:
Jacopo Bartiromo 2020-10-15 15:33:39 +02:00 committed by bernat
parent 7f6c2b3594
commit 4052fa4be6
2 changed files with 9 additions and 4 deletions
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12
LibCarla/source/carla/trafficmanager/ALSM.cpp
View File

@ -313,9 +313,7 @@ void ALSM::UpdateUnregisteredActorsData() {
void ALSM::UpdateIdleTime(std::pair<ActorId, double>& max_idle_time, const ActorId& actor_id) {
if (idle_time.find(actor_id) != idle_time.end()) {
double &idle_duration = idle_time.at(actor_id);
TrafficLightState tl_state = simulation_state.GetTLS(actor_id);
if (simulation_state.GetVelocity(actor_id).SquaredLength() > SQUARE(STOPPED_VELOCITY_THRESHOLD)
|| (tl_state.at_traffic_light && tl_state.tl_state != TLS::Green && tl_state.tl_state != TLS::Off)) {
if (simulation_state.GetVelocity(actor_id).SquaredLength() > SQUARE(STOPPED_VELOCITY_THRESHOLD)) {
idle_duration = current_timestamp.elapsed_seconds;
}
@ -329,7 +327,13 @@ void ALSM::UpdateIdleTime(std::pair<ActorId, double>& max_idle_time, const Actor
bool ALSM::IsVehicleStuck(const ActorId& actor_id) {
if (idle_time.find(actor_id) != idle_time.end()) {
double delta_idle_time = current_timestamp.elapsed_seconds - idle_time.at(actor_id);
if (delta_idle_time >= BLOCKED_TIME_THRESHOLD) {
TrafficLightState tl_state = simulation_state.GetTLS(actor_id);
if (!tl_state.at_traffic_light && tl_state.tl_state != TLS::Red && delta_idle_time >= BLOCKED_TIME_THRESHOLD) {
std::cout << "Destroying not at Red TL" << std::endl;
return true;
}
else if (delta_idle_time >= RED_TL_BLOCKED_TIME_THRESHOLD) {
std::cout << "Destroying at Red TL" << std::endl;
return true;
}
}

1
LibCarla/source/carla/trafficmanager/Constants.h
View File

@ -24,6 +24,7 @@ static const int64_t TM_TIMEOUT = 2000; // ms
namespace VehicleRemoval {
static const float STOPPED_VELOCITY_THRESHOLD = 0.8f;
static const double BLOCKED_TIME_THRESHOLD = 90.0;
static const double RED_TL_BLOCKED_TIME_THRESHOLD = 180.0;
static const double DELTA_TIME_BETWEEN_DESTRUCTIONS = 10.0;
} // namespace VehicleRemoval