From dec92e690ccd5cb1f3c69e7a6904c67c58bcb44b Mon Sep 17 00:00:00 2001 From: Guillermo Date: Tue, 11 Oct 2022 13:51:35 +0200 Subject: [PATCH] Fixed collision detection --- CHANGELOG.md | 1 + PythonAPI/carla/agents/navigation/basic_agent.py | 2 -- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index f1bdc9154..3e4b2cb83 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -23,6 +23,7 @@ * Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them. * Python agents now have a function to lane change. * Python agents now detect vehicle in adjacent lanes if invaded due to the offset. + * Fixed bug causing the python agents to sometimes not detect a blocking actor if there were severral actors around it. * Improved Python agents performance for large maps. * Fix a bug at `Map.get_topology()`, causing lanes with no successors to not be part of it. * Added new ConstantVelocityAgent diff --git a/PythonAPI/carla/agents/navigation/basic_agent.py b/PythonAPI/carla/agents/navigation/basic_agent.py index 8de07454f..1bed8cd37 100644 --- a/PythonAPI/carla/agents/navigation/basic_agent.py +++ b/PythonAPI/carla/agents/navigation/basic_agent.py @@ -391,8 +391,6 @@ class BasicAgent(object): if route_polygon.intersects(target_polygon): return (True, target_vehicle, compute_distance(target_vehicle.get_location(), ego_location)) - return (False, None, -1) - # Simplified approach, using only the plan waypoints (similar to TM) else: