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Defer only to right of current lane #1630

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merged 4 commits into from
Sep 19, 2022
+20 −30
Merged

Defer only to right of current lane #1630

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0bcde11
Defer only to right of current lane
Gamenot Sep 14, 2022
da47a7b
Exclude current lane from checks
Gamenot Sep 14, 2022
54737a0
Split cases
Gamenot Sep 14, 2022
1e349a3
Switch commented code to pseudocode
Gamenot Sep 16, 2022
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50 changes: 20 additions & 30 deletions smarts/core/local_traffic_provider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -497,7 +497,7 @@ def __init__(self, flow: Dict[str, Any], owner: LocalTrafficProvider):
self._cutting_into = None
self._cutting_in = False
self._in_front_after_cutin_secs = 0
self._cutin_hold_secs = float(self._vtype.get("lcHoldPeriod", 3.0))
self._cutin_hold_secs = float(self._vtype.get("lcHoldPeriod", 10.0))
self._forward_after_added = 0
self._after_added_hold_secs = self._cutin_hold_secs
self._target_cutin_gap = 2.5 * self._min_space_cush
Expand Down Expand Up @@ -1095,16 +1095,12 @@ def _pick_lane(self, dt: float):
# Try to find the best among available lanes...
best_lw = self._lane_windows[my_idx]

# Check self, then right, then left.
# Default current lane then check right lanes then left lanes.
lanes_to_right = list(range(0, my_idx))[::-1]
lanes_to_left = list(
range(min(my_idx, len(self._lane_windows)), len(self._lane_windows))
)
cut_in_is_real_lane = self._cutting_into and self._cutting_into.index < len(
self._lane_windows
range(min(my_idx + 1, len(self._lane_windows)), len(self._lane_windows))
)
checks = lanes_to_right + lanes_to_left

# hold lane for some time if added recently
if self._forward_after_added < self._after_added_hold_secs:
self._forward_after_added += dt
Expand All @@ -1113,16 +1109,12 @@ def _pick_lane(self, dt: float):

## TODO: Determine how blocked lane changes should be addressed
## Idea is to keep lane if blocked on right, slow down if blocked on left
# if cut_in_is_real_lane and self._target_lane_win.gap < self._min_space_cush:
# if doing_cut_in and blocked_from_cut_in:
# # blocked on the right so pick a closer lane until cutin lane is available
# if self._cutting_into.index < my_idx:
# best_lw = self._lane_windows[min(my_idx, self._cutting_into.index + 1)]
# self._cutting_into = best_lw.lane
# # skip lane checks
# checks = []
# # if blocked on the left, do nothing for now and wait
# elif self._cutting_into.index > my_idx:
# pass
# if blocked_on_right:
# # exclude blocked lane from lane checks
# # if blocked_on_left:
# # do nothing for now and wait

for idx in checks:
lw = self._lane_windows[idx]
Expand Down Expand Up @@ -1193,24 +1185,22 @@ def _pick_lane(self, dt: float):
equal_drive_time = lw.drive_time == best_lw.drive_time
is_destination_lane = lw.lane == self._dest_lane
highest_ttre = lw.ttre >= best_lw.ttre
right_of_best_lw = idx < best_lw.lane.index
right_of_current_lw = idx < self._lane_win.lane.index
# otherwise, keep track of the remaining options and eventually
# pick the lane with the longest available driving time on my route
# or, in the case of ties, the right-most lane (assuming I'm not
# cutting anyone off to get there).
if (
longer_drive_time
or (
equal_drive_time
and (
(is_destination_lane and self._offset < self._dest_offset)
or (highest_ttre and right_of_best_lw)
)
and not will_rearend
)
or will_rearend
and lw.ttc > best_lw.ttc
):

if equal_drive_time and not will_rearend:
if is_destination_lane and self._offset < self._dest_offset:
best_lw = lw
if highest_ttre and right_of_current_lw:
best_lw = lw

if longer_drive_time:
best_lw = lw

if will_rearend and lw.ttc > best_lw.ttc:
best_lw = lw

# keep track of the fact I'm changing lanes for next step
Expand Down