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This commit is contained in:
Joel Moriana 2022-07-26 11:56:07 +02:00 committed by bernat
parent be79ffdbcc
commit 9a5508ee35
2 changed files with 13 additions and 10 deletions
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19
LibCarla/source/carla/trafficmanager/TrafficLightStage.cpp
View File

@ -33,12 +33,12 @@ void TrafficLightStage::Update(const unsigned long index) {
const ActorId ego_actor_id = vehicle_id_list.at(index);
if (!simulation_state.IsDormant(ego_actor_id)) {
// Check if the vehicle is currently at a non-signalized junction
JunctionID current_junction_id = -1;
if (vehicle_last_junction.find(ego_actor_id) != vehicle_last_junction.end()) {
current_junction_id = vehicle_last_junction.at(ego_actor_id);
}
auto junction_id = GetJunctionId(ego_actor_id);
auto affected_junction_id = GetAffectedJunctionId(ego_actor_id);
current_timestamp = world.GetSnapshot().GetTimestamp();
@ -51,26 +51,29 @@ void TrafficLightStage::Update(const unsigned long index) {
traffic_light_state != TLS::Green &&
traffic_light_state != TLS::Off &&
parameters.GetPercentageRunningLight(ego_actor_id) <= random_device.next()) {
// Remove actor from non-signalized junction if it is affected by a traffic light.
if (current_junction_id != -1) {
RemoveActor(ego_actor_id);
}
traffic_light_hazard = true;
}
// The vehicle is currently at a non signalized junction, so handle its priorities.
// Don't use the next condition as bounding boxes might switch to green
else if (current_junction_id != -1)
{
if ( junction_id == -1 || junction_id != current_junction_id ) {
if ( affected_junction_id == -1 || affected_junction_id != current_junction_id ) {
RemoveActor(ego_actor_id);
}
else {
traffic_light_hazard = HandleNonSignalisedJunction(ego_actor_id, junction_id, current_timestamp);
traffic_light_hazard = HandleNonSignalisedJunction(ego_actor_id, affected_junction_id, current_timestamp);
}
}
else if (junction_id != -1 &&
else if (affected_junction_id != -1 &&
!is_at_traffic_light &&
traffic_light_state != TLS::Green &&
parameters.GetPercentageRunningSign(ego_actor_id) <= random_device.next()) {
AddActorToNonSignalisedJunction(ego_actor_id, junction_id);
AddActorToNonSignalisedJunction(ego_actor_id, affected_junction_id);
traffic_light_hazard = true;
}
}
@ -126,7 +129,7 @@ bool TrafficLightStage::HandleNonSignalisedJunction(const ActorId ego_actor_id,
return traffic_light_hazard;
}
JunctionID TrafficLightStage::GetJunctionId(const ActorId ego_actor_id) {
JunctionID TrafficLightStage::GetAffectedJunctionId(const ActorId ego_actor_id) {
const Buffer &waypoint_buffer = buffer_map.at(ego_actor_id);
const SimpleWaypointPtr look_ahead_point = GetTargetWaypoint(waypoint_buffer, JUNCTION_LOOK_AHEAD).first;
const auto front_point = waypoint_buffer.front();

4
LibCarla/source/carla/trafficmanager/TrafficLightStage.h
View File

@ -41,8 +41,8 @@ private:
/// Initialized the vehicle to the non-signalized junction maps
void AddActorToNonSignalisedJunction(const ActorId ego_actor_id, const JunctionID junction_id);
/// Get current junction for the vehicle
JunctionID GetJunctionId(const ActorId ego_actor_id);
/// Get current affected junction id for the vehicle
JunctionID GetAffectedJunctionId(const ActorId ego_actor_id);
public:
TrafficLightStage(const std::vector<ActorId> &vehicle_id_list,