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* Fixed lane change logic 

* Overlapping path logic
* Increased local planner queue length to accomodate larger route plans
This commit is contained in:
Praveen Kumar 2019-03-29 19:19:11 +05:30
parent a86d37f477
commit a0d8c300a9
2 changed files with 34 additions and 32 deletions
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64
PythonAPI/agents/navigation/global_route_planner.py
View File

@ -116,38 +116,40 @@ class GlobalRoutePlanner(object):
left_found, right_found = False, False
for waypoint in segment['path']:
next_waypoint, next_road_option, next_segment = None, None, None
if not segment['entry'].is_intersection:
next_waypoint, next_road_option, next_segment = None, None, None
if bool(waypoint.lane_change & carla.LaneChange.Right) and not right_found:
next_waypoint = waypoint.get_right_lane()
if next_waypoint is not None and next_waypoint.lane_type == carla.LaneType.Driving:
next_road_option = RoadOption.CHANGELANERIGHT
next_segment = None
try:
next_segment = self._localize(next_waypoint.transform.location)
except KeyError:
print("Failed to localize! : ", next_waypoint.road_id, next_waypoint.lane_id)
if next_segment is not None:
self._graph.add_edge(
self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=segment['entry'],
exit_waypoint=self._graph.edges[next_segment[0], next_segment[1]]['entry_waypoint'],
path=[], length=0, type=next_road_option, change_waypoint = waypoint)
right_found = True
if bool(waypoint.lane_change & carla.LaneChange.Right) and not right_found:
next_waypoint = waypoint.get_right_lane()
if next_waypoint is not None and next_waypoint.lane_type == carla.LaneType.Driving and \
waypoint.road_id == next_waypoint.road_id:
next_road_option = RoadOption.CHANGELANERIGHT
try:
next_segment = self._localize(next_waypoint.transform.location)
except KeyError:
print("Failed to localize! : ", next_waypoint.road_id, next_waypoint.lane_id)
if next_segment is not None:
self._graph.add_edge(
self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=segment['entry'],
exit_waypoint=self._graph.edges[next_segment[0], next_segment[1]]['entry_waypoint'],
path=[], length=0, type=next_road_option, change_waypoint = waypoint)
right_found = True
if bool(waypoint.lane_change & carla.LaneChange.Left) and not left_found:
next_waypoint = waypoint.get_left_lane()
if next_waypoint is not None and next_waypoint.lane_type == carla.LaneType.Driving:
next_road_option = RoadOption.CHANGELANELEFT
try:
next_segment = self._localize(next_waypoint.transform.location)
except KeyError:
print("Failed to localize! : ", next_waypoint.road_id, next_waypoint.lane_id)
if next_segment is not None:
self._graph.add_edge(
self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=segment['entry'],
exit_waypoint=self._graph.edges[next_segment[0], next_segment[1]]['entry_waypoint'],
path=[], length=0, type=next_road_option, change_waypoint = waypoint)
left_found = True
if bool(waypoint.lane_change & carla.LaneChange.Left) and not left_found:
next_waypoint = waypoint.get_left_lane()
if next_waypoint is not None and next_waypoint.lane_type == carla.LaneType.Driving and \
waypoint.road_id == next_waypoint.road_id:
next_road_option = RoadOption.CHANGELANELEFT
try:
next_segment = self._localize(next_waypoint.transform.location)
except KeyError:
print("Failed to localize! : ", next_waypoint.road_id, next_waypoint.lane_id)
if next_segment is not None:
self._graph.add_edge(
self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=segment['entry'],
exit_waypoint=self._graph.edges[next_segment[0], next_segment[1]]['entry_waypoint'],
path=[], length=0, type=next_road_option, change_waypoint = waypoint)
left_found = True
if left_found and right_found:
break
@ -287,7 +289,7 @@ class GlobalRoutePlanner(object):
for waypoint in path[closest_index:]:
current_waypoint = waypoint
route_trace.append((current_waypoint, road_option))
if waypoint.transform.location.distance(destination) < 2*resolution:
if len(route)-i <= 2 and waypoint.transform.location.distance(destination) < 2*resolution:
break
return route_trace

2
PythonAPI/agents/navigation/local_planner.py
View File

@ -74,7 +74,7 @@ class LocalPlanner(object):
self._vehicle_controller = None
self._global_plan = None
# queue with tuples of (waypoint, RoadOption)
self._waypoints_queue = deque(maxlen=10000)
self._waypoints_queue = deque(maxlen=20000)
self._buffer_size = 5
self._waypoint_buffer = deque(maxlen=self._buffer_size)