Argoverse and SUMO waypoint improvements #2024
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Gamenot
reviewed
May 17, 2023
Gamenot
approved these changes
May 17, 2023
Adaickalavan
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May 18, 2023
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Fixes #2018 and #2023.
There were a number of issues here. One notable one was that cached lanepoints from incorrect lanes were sometimes returned. We now always generate waypoints for each junction lane (rather than for their roads), and without filtering by
road_id. This ensures thelookaheadvalue will be respected.Videos below:
argoverse-junctions4.mp4
merge-exit1.mp4