Add lane error penalty #2030
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Add lane error penalty #2030
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Gamenot
requested changes
May 19, 2023
saulfield
reviewed
May 23, 2023
saulfield
approved these changes
May 24, 2023
Gamenot
approved these changes
May 24, 2023
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Here, the goal is on lane 0 but ego terminates on lane 2.
DistToDestinationcost ==dist_along_roadwhich is 0 in this situation.DistToDestinationcost ==dist_along_road + lane_error*lane_widthin this situation.Changes made:
RoadMap.Routenow optionally stores the start and end lanes of the route.DistToDestinationmetric now adds lane error penalty when agent terminates in different lane but same road as the goal position.