Defer only to right of current lane #1630
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Collaborator
Gamenot
commented
Sep 14, 2022
•
Gamenot
commented
- This increases the default lock-in time for holding lane after cut-in
- Also actors will only now yield to right to behind vehicles.
saulfield
approved these changes
Sep 16, 2022
| # hold lane for some time if added recently | ||
| if self._forward_after_added < self._after_added_hold_secs: | ||
| self._forward_after_added += dt | ||
| # skip checks | ||
| checks = [] | ||
|
|
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| ## TODO: Determine how blocked lane changes should be addressed | ||
| # cut_in_is_real_lane = self._cutting_into and self._cutting_into.index < len( | ||
| # self._lane_windows | ||
| # ) |
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Just want to confirm this wasn't left commented unintentionally.
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It is commented out intentionally, this was a consideration of how to address blocking when lanes to right and left are unavailable for periods of time.
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I should convert this to pseudo-code rather than keeping it in as code.
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