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New refactor uturn cutin #517

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merged 2 commits into from
Feb 2, 2021
Merged

New refactor uturn cutin #517

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5900860
Refactor uturn and cutin
iman512003 Jan 29, 2021
d2d44b7
Apply Tucker's last comment on removing the attribute
iman512003 Feb 1, 2021
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36 changes: 10 additions & 26 deletions smarts/core/mission_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,6 @@ def __init__(
self._uturn_initial_height = 0
self._insufficient_initial_distant = False
self._uturn_initial_position = 0
self._cut_in_speed = None
self._uturn_is_initialized = False

def random_endless_mission(
Expand Down Expand Up @@ -262,10 +261,10 @@ def cut_in_waypoints(self, sim, pose: Pose, vehicle, base_waypoint_generator):
nei_wps = self._waypoints.waypoint_paths_on_lane_at(
position, target_lane.getID(), 60
)
if self._cut_in_speed is None:
self._cut_in_speed = target_vehicle.speed * 1.2

speed_limit = self._cut_in_speed
cut_in_speed = target_vehicle.speed * 1.2

speed_limit = cut_in_speed

p0 = position
p_temp = nei_wps[0][len(nei_wps[0]) // 3].pos
Expand Down Expand Up @@ -424,29 +423,14 @@ def uturn_waypoints(self, sim, pose: Pose, vehicle):
len(oncoming_lanes) - target_lane_index
)

if current_edge.getID() != oncoming_edge.getID():
# agent at the start edge
p0 = pose.position[:2]
distance = (
15 * abs(abs(target_heading - heading) - math.pi / 2) / (math.pi / 2)
)
offset = radians_to_vec(heading) * distance
p1 = np.array([pose.position[0] + offset[0], pose.position[1] + offset[1],])
p0 = pose.position[:2]
offset = radians_to_vec(heading) * lane_width
p1 = np.array([pose.position[0] + offset[0], pose.position[1] + offset[1],])
offset = radians_to_vec(target_heading) * 5
p3 = target.pos
p2 = np.array([p3[0] - offset[0], p3[1] - offset[1]])

offset = radians_to_vec(heading + math.pi / 2) * (lane_width * lanes)
p2 = np.array([p1[0] + offset[0], p1[1] + offset[1]])
p3 = target.pos
p_x, p_y = bezier([p0, p1, p2, p3], 20)
else:
# agent at the oncoming edge
p0 = pose.position[:2]
offset = radians_to_vec(heading) * lane_width
p1 = np.array([pose.position[0] + offset[0], pose.position[1] + offset[1],])
offset = radians_to_vec(target_heading) * 5
p2 = np.array([p1[0] - offset[0], p1[1] - offset[1]])

p3 = target.pos
p_x, p_y = bezier([p0, p1, p2, p3], 20)
p_x, p_y = bezier([p0, p1, p2, p3], 20)

trajectory = []
for i in range(len(p_x)):
Expand Down
10 changes: 2 additions & 8 deletions ultra/train.py
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Original file line number Diff line number Diff line change
Expand Up @@ -158,16 +158,10 @@ def train(
)

parser.add_argument(
"--seed",
help="Environment seed",
default=2,
type=int,
"--seed", help="Environment seed", default=2, type=int,
)
parser.add_argument(
"--log-dir",
help="Log directory location",
default="logs",
type=str,
"--log-dir", help="Log directory location", default="logs", type=str,
)
args = parser.parse_args()

Expand Down