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visualize lane change options

This commit is contained in:
Jacopo Bartiromo 2019-11-20 16:18:07 +01:00 committed by bernat
parent d3b35d7953
commit b75a4ebdeb
5 changed files with 41 additions and 11 deletions
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2
LibCarla/source/carla/road/element/RoadInfoMarkRecord.h
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@ -109,7 +109,7 @@ namespace element {
/// Allow a lane change in the indicated direction taking into account that
/// lanes are numbered in ascending order from right to left. If the
/// attributeis missing, “both” is assumed to be valid.
/// attribute is missing, “both” is assumed to be valid.
LaneChange GetLaneChange() const {
return _lane_change;
}

3
LibCarla/source/carla/trafficmanager/LocalizationStage.cpp
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@ -100,7 +100,6 @@ namespace LocalizationConstants {
};
traffic_distributor.UpdateVehicleRoadPosition(actor_id, current_road_ids);
ChangeLaneInfo lane_change_info = parameters.GetForceLaneChange(vehicle);
bool force_lane_change = lane_change_info.change_lane;
bool lane_change_direction = lane_change_info.direction;
@ -111,7 +110,7 @@ namespace LocalizationConstants {
SimpleWaypointPtr change_over_point = traffic_distributor.AssignLaneChange(
vehicle, front_waypoint, current_road_ids,
buffer_list, vehicle_id_to_index,
actor_list, force_lane_change, lane_change_direction);
actor_list, debug_helper, force_lane_change, lane_change_direction);
if (change_over_point != nullptr) {
waypoint_buffer.clear();

1
LibCarla/source/carla/trafficmanager/LocalizationStage.h
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@ -84,7 +84,6 @@ namespace cc = carla::client;
std::unordered_map<carla::ActorId, uint> vehicle_id_to_index;
/// Number of vehicles currently registered with the traffic manager.
uint number_of_vehicles;
/// A simple method used to draw waypoint buffer ahead of a vehicle.
void DrawBuffer(Buffer &buffer);

42
LibCarla/source/carla/trafficmanager/TrafficDistributor.cpp
View File

@ -79,6 +79,36 @@ namespace TrafficDistributorConstants {
}
}
void TrafficDistributor::DrawLaneChange(carla::road::element::LaneMarking::LaneChange lane_change, const Actor &ego_actor, cc::DebugHelper debug_helper) {
std::string str;
if (lane_change == carla::road::element::LaneMarking::LaneChange::Right) {
str="Right";
debug_helper.DrawString(
cg::Location(ego_actor->GetLocation().x, ego_actor->GetLocation().y, ego_actor->GetLocation().z+1),
str,
false,
{255u, 0u, 0u}, 0.1f, true);
}
else if (lane_change == carla::road::element::LaneMarking::LaneChange::Left){
str="Left";
debug_helper.DrawString(
cg::Location(ego_actor->GetLocation().x, ego_actor->GetLocation().y, ego_actor->GetLocation().z+1),
str,
false,
{0u, 255u, 0u}, 0.1f, true);
}
else if (lane_change == carla::road::element::LaneMarking::LaneChange::Both){
str="Both";
debug_helper.DrawString(
cg::Location(ego_actor->GetLocation().x, ego_actor->GetLocation().y, ego_actor->GetLocation().z+1),
str,
false,
{0u, 0u, 255u}, 0.1f, true);
}
}
std::shared_ptr<SimpleWaypoint> TrafficDistributor::AssignLaneChange(
Actor vehicle,
std::shared_ptr<SimpleWaypoint> current_waypoint,
@ -86,6 +116,7 @@ namespace TrafficDistributorConstants {
std::shared_ptr<BufferList> buffer_list,
std::unordered_map<ActorId, uint> &vehicle_id_to_index,
std::vector<carla::SharedPtr<cc::Actor>> &actor_list,
cc::DebugHelper &debug_helper,
bool force,
bool direction) {
@ -103,9 +134,11 @@ namespace TrafficDistributorConstants {
auto lane_change = current_waypoint->GetWaypoint()->GetLaneChange();
DrawLaneChange(lane_change, vehicle, debug_helper);
auto change_right = carla::road::element::LaneMarking::LaneChange::Right;
auto change_left = carla::road::element::LaneMarking::LaneChange::Left;
//auto change_both = carla::road::element::LaneMarking::LaneChange::Both;
auto change_both = carla::road::element::LaneMarking::LaneChange::Both;
// Don't try to change lane if the current lane has less than two vehicles.
if (co_lane_vehicles.size() >= 2 && !force) {
@ -140,10 +173,7 @@ namespace TrafficDistributorConstants {
// If lane change connections are available,
// pick a direction (preferring left) and
// announce the need for a lane change.
//if (lane_change == change_both) {
// Method to assign either left or right, based on road occupancy.
//}
if (left_waypoint != nullptr && lane_change == change_left) {
if (left_waypoint != nullptr && (lane_change == change_left || lane_change == change_both)) {
traffic_manager::ActorIDSet left_lane_vehicles = GetVehicleIds({
current_road_ids.road_id,
current_road_ids.section_id,
@ -153,7 +183,7 @@ namespace TrafficDistributorConstants {
need_to_change_lane = true;
lane_change_direction = true;
}
} else if (right_waypoint != nullptr && lane_change == change_right) {
} else if (right_waypoint != nullptr && (lane_change == change_right || lane_change == change_both)) {
traffic_manager::ActorIDSet right_lane_vehicles = GetVehicleIds({
current_road_ids.road_id,
current_road_ids.section_id,

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

@ -92,12 +92,13 @@ namespace cg = carla::geom;
GeoIds GetRoadIds(ActorId vehicle_id) const;
public:
TrafficDistributor();
~TrafficDistributor();
void UpdateVehicleRoadPosition(ActorId actor_id, GeoIds road_ids);
void DrawLaneChange(carla::road::element::LaneMarking::LaneChange lane_change, const Actor &ego_actor, cc::DebugHelper debug_helper);
/// Returns the shared pointer of SimpleWaypoint for Lane Change
/// if Lane Change is required and possible, else returns nullptr.
/// Lane change can be forced by setting the force flag and providing
@ -109,6 +110,7 @@ namespace cg = carla::geom;
std::shared_ptr<BufferList> buffer_list,
std::unordered_map<ActorId, uint> &vehicle_id_to_index,
std::vector<Actor> &actor_list,
cc::DebugHelper &debug_helper,
bool force = false,
bool direction = false);