Safe distance label lateral #525
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juloberno
commented
May 7, 2021
juloberno
commented
- Label Safe Distance: now includes option to calculate lateral safe distance
- GetFrontRear now truly considers lateral difference offset with option to restrict it to lane polygon or not
- Fixes in FrenetState and SingleTrackLaneChange controller (not working for intersection scenario)
- Fix wrapping of primitives ConstAccStayLane
klemense1
requested changes
May 11, 2021
| @@ -50,7 +50,11 @@ BehaviorLaneChangeRuleBased::FrontRearAgents( | |||
| const ObservedWorld& observed_world, | |||
| const LaneCorridorPtr& lane_corr) const { | |||
| AgentInformation front_info, rear_info; | |||
| const auto& front_rear = observed_world.GetAgentFrontRear(lane_corr); | |||
| double lateral_difference_threshold = 100; // do not restrict regarding lateral diff | |||
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should this not be externally settable via the parameter server?
patrickhart
approved these changes
May 18, 2021
| @@ -50,7 +50,11 @@ BehaviorLaneChangeRuleBased::FrontRearAgents( | |||
| const ObservedWorld& observed_world, | |||
| const LaneCorridorPtr& lane_corr) const { | |||
| AgentInformation front_info, rear_info; | |||
| const auto& front_rear = observed_world.GetAgentFrontRear(lane_corr); | |||
| double lateral_difference_threshold = 100; // do not restrict regarding lateral diff | |||
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should this not be externally settable via the parameter server?
| @@ -158,7 +191,7 @@ inline double CalculateSteeringAngle(const SingleTrackModelPtr& model, | |||
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| FrenetState f_state = FrenetState(state_front, ref_line); | |||
| double vel = state(StateDefinition::VEL_POSITION); | |||
| double delta = -NormToPI(f_state.angle) + atan2(-gain * f_state.lat, vel); | |||
| double delta = +NormToPI(f_state.angle) + atan2(-gain * f_state.lat, vel); | |||
| @@ -461,6 +461,7 @@ def drawLaneCorridor(self, lane_corridor, color=None): | |||
| color = "blue" | |||
| self.drawPolygon2d(lane_corridor.polygon, color=color, | |||
| facecolor=color, alpha=.3, zorder=2) | |||
| self.drawLine2d(lane_corridor.center_line, "k") | |||
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could draw the center line in the same color as the lane corridor
| @@ -162,10 +138,13 @@ bool SafeDistanceLabelFunction::CheckSafeDistance( | |||
| double t_stop_f = -v_f / a_f; | |||
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this assumes linear acceleration. would it not be better to use v=1/2at^2
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| import numpy as np | ||
| import itertools | ||
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| # Name and Output Directory | ||
| # CHANGE THIS # | ||
| map_name = "DR_CHN_Merging_ZS_partial_v04_lower_edited" | ||
| map_name = "left_turn_rural" |
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use map that is publicly available, so one can e.g. visualize the lane corridor and understand the concept
klemense1
approved these changes
May 19, 2021
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