class BehaviorAgent(Agent):
"""
BehaviorAgent implements an agent that navigates scenes to reach a given
target destination, by computing the shortest possible path to it.
This agent can correctly follow traffic signs, speed limitations,
traffic lights, while also taking into account nearby vehicles. Lane changing
decisions can be taken by analyzing the surrounding environment,
such as overtaking or tailgating avoidance. Adding to these are possible
behaviors, the agent can also keep safety distance from a car in front of it
by tracking the instantaneous time to collision and keeping it in a certain range.
Finally, different sets of behaviors are encoded in the agent, from cautious
to a more aggressive ones.
"""
def __init__(self, vehicle, ignore_traffic_light=False, behavior='normal'):
"""
Constructor method.
:param vehicle: actor to apply to local planner logic onto
:param ignore_traffic_light: boolean to ignore any traffic light
:param behavior: type of agent to apply
"""
super(BehaviorAgent, self).__init__(vehicle)
self.vehicle = vehicle
self.ignore_traffic_light = ignore_traffic_light
self._local_planner = LocalPlanner(self)
self._grp = None
self.look_ahead_steps = 0
# Vehicle information
self.speed = 0
self.speed_limit = 0
self.direction = None
self.incoming_direction = None
self.incoming_waypoint = None
self.start_waypoint = None
self.end_waypoint = None
self.is_at_traffic_light = 0
self.light_state = "Green"
self.light_id_to_ignore = -1
self.min_speed = 5
self.behavior = None
self._sampling_resolution = 4.5
# Parameters for agent behavior
if behavior == 'cautious':
self.behavior = Cautious()
elif behavior == 'normal':
self.behavior = Normal()
elif behavior == 'aggressive':
self.behavior = Aggressive()
def update_information(self):
"""
This method updates the information regarding the ego
vehicle based on the surrounding world.
"""
self.speed = get_speed(self.vehicle)
self.speed_limit = self.vehicle.get_speed_limit()
self._local_planner.set_speed(self.speed_limit)
self.direction = self._local_planner.target_road_option
if self.direction is None:
self.direction = RoadOption.LANEFOLLOW
self.look_ahead_steps = int((self.speed_limit) / 10)
self.incoming_waypoint, self.incoming_direction = self._local_planner.get_incoming_waypoint_and_direction(
steps=self.look_ahead_steps)
if self.incoming_direction is None:
self.incoming_direction = RoadOption.LANEFOLLOW
self.is_at_traffic_light = self.vehicle.is_at_traffic_light()
if self.ignore_traffic_light:
self.light_state = "Green"
else:
# This method also includes stop signs and intersections.
self.light_state = str(self.vehicle.get_traffic_light_state())
def set_destination(self, start_location, end_location, clean=False):
"""
This method creates a list of waypoints from agent's position to destination location
based on the route returned by the global router.
:param start_location: initial position
:param end_location: final position
:param clean: boolean to clean the waypoint queue
"""
if clean:
self._local_planner.waypoints_queue.clear()
self.start_waypoint = self._map.get_waypoint(start_location)
self.end_waypoint = self._map.get_waypoint(end_location)
route_trace = self._trace_route(self.start_waypoint, self.end_waypoint)
self._local_planner.set_global_plan(route_trace, clean)
def reroute(self, spawn_points):
"""
This method implements re-routing for vehicles approaching its destination.
It finds a new target and computes another path to reach it.
:param spawn_points: list of possible destinations for the agent
"""
print("Target almost reached, setting new destination...")
random.shuffle(spawn_points)
new_start = self._local_planner.waypoints_queue[-1][
0].transform.location
destination = spawn_points[0].location if spawn_points[
0].location != new_start else spawn_points[1].location
print("New destination: " + str(destination))
self.set_destination(new_start, destination)
def _trace_route(self, start_waypoint, end_waypoint):
"""
This method sets up a global router and returns the
optimal route from start_waypoint to end_waypoint.
:param start_waypoint: initial position
:param end_waypoint: final position
"""
# Setting up global router
if self._grp is None:
wld = self.vehicle.get_world()
dao = GlobalRoutePlannerDAO(
wld.get_map(), sampling_resolution=self._sampling_resolution)
grp = GlobalRoutePlanner(dao)
grp.setup()
self._grp = grp
# Obtain route plan
route = self._grp.trace_route(start_waypoint.transform.location,
end_waypoint.transform.location)
return route
def traffic_light_manager(self, waypoint):
"""
This method is in charge of behaviors for red lights and stops.
WARNING: What follows is a proxy to avoid having a car brake after running a yellow light.
This happens because the car is still under the influence of the semaphore,
even after passing it. So, the semaphore id is temporarely saved to
ignore it and go around this issue, until the car is near a new one.
:param waypoint: current waypoint of the agent
"""
light_id = self.vehicle.get_traffic_light(
).id if self.vehicle.get_traffic_light() is not None else -1
if self.light_state == "Red":
if not waypoint.is_junction and (
self.light_id_to_ignore != light_id or light_id == -1):
return 1
elif waypoint.is_junction and light_id != -1:
self.light_id_to_ignore = light_id
if self.light_id_to_ignore != light_id:
self.light_id_to_ignore = -1
return 0
def _overtake(self, location, waypoint, vehicle_list):
"""
This method is in charge of overtaking behaviors.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:param vehicle_list: list of all the nearby vehicles
"""
left_turn = waypoint.left_lane_marking.lane_change
right_turn = waypoint.right_lane_marking.lane_change
left_wpt = waypoint.get_left_lane()
right_wpt = waypoint.get_right_lane()
if (
left_turn == carla.LaneChange.Left
or left_turn == carla.LaneChange.Both
) and waypoint.lane_id * left_wpt.lane_id > 0 and left_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=180,
lane_offset=-1)
if not new_vehicle_state:
print("Overtaking to the left!")
self.behavior.overtake_counter = 200
self.set_destination(left_wpt.transform.location,
self.end_waypoint.transform.location,
clean=True)
elif right_turn == carla.LaneChange.Right and waypoint.lane_id * right_wpt.lane_id > 0 and right_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=180,
lane_offset=1)
if not new_vehicle_state:
print("Overtaking to the right!")
self.behavior.overtake_counter = 200
self.set_destination(right_wpt.transform.location,
self.end_waypoint.transform.location,
clean=True)
def _tailgating(self, location, waypoint, vehicle_list):
"""
This method is in charge of tailgating behaviors.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:param vehicle_list: list of all the nearby vehicles
"""
left_turn = waypoint.left_lane_marking.lane_change
right_turn = waypoint.right_lane_marking.lane_change
left_wpt = waypoint.get_left_lane()
right_wpt = waypoint.get_right_lane()
behind_vehicle_state, behind_vehicle, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold, self.speed_limit / 2),
up_angle_th=180,
low_angle_th=160)
if behind_vehicle_state and self.speed < get_speed(behind_vehicle):
if (
right_turn == carla.LaneChange.Right
or right_turn == carla.LaneChange.Both
) and waypoint.lane_id * right_wpt.lane_id > 0 and right_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=1)
if not new_vehicle_state:
print("Tailgating, moving to the right!")
self.behavior.tailgate_counter = 200
self.set_destination(right_wpt.transform.location,
self.end_waypoint.transform.location,
clean=True)
elif left_turn == carla.LaneChange.Left and waypoint.lane_id * left_wpt.lane_id > 0 and left_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=-1)
if not new_vehicle_state:
print("Tailgating, moving to the left!")
self.behavior.tailgate_counter = 200
self.set_destination(left_wpt.transform.location,
self.end_waypoint.transform.location,
clean=True)
def collision_and_car_avoid_manager(self, location, waypoint):
"""
This module is in charge of warning in case of a collision
and managing possible overtaking or tailgating chances.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:return vehicle_state: True if there is a vehicle nearby, False if not
:return vehicle: nearby vehicle
:return distance: distance to nearby vehicle
"""
vehicle_list = self._world.get_actors().filter("*vehicle*")
def dist(v):
return v.get_location().distance(waypoint.transform.location)
vehicle_list = [
v for v in vehicle_list if dist(v) < 45 and v.id != self.vehicle.id
]
if self.direction == RoadOption.CHANGELANELEFT:
vehicle_state, vehicle, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=-1)
elif self.direction == RoadOption.CHANGELANERIGHT:
vehicle_state, vehicle, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=1)
else:
vehicle_state, vehicle, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=30)
# Check for overtaking
if vehicle_state and self.direction == RoadOption.LANEFOLLOW and \
not waypoint.is_junction and self.speed > 10 \
and self.behavior.overtake_counter == 0 and self.speed > get_speed(vehicle):
self._overtake(location, waypoint, vehicle_list)
# Check for tailgating
elif not vehicle_state and self.direction == RoadOption.LANEFOLLOW \
and not waypoint.is_junction and self.speed > 10 \
and self.behavior.tailgate_counter == 0:
self._tailgating(location, waypoint, vehicle_list)
return vehicle_state, vehicle, distance
def pedestrian_avoid_manager(self, location, waypoint):
"""
This module is in charge of warning in case of a collision
with any pedestrian.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:return vehicle_state: True if there is a walker nearby, False if not
:return vehicle: nearby walker
:return distance: distance to nearby walker
"""
walker_list = self._world.get_actors().filter("*walker.pedestrian*")
def dist(w):
return w.get_location().distance(waypoint.transform.location)
walker_list = [w for w in walker_list if dist(w) < 10]
if self.direction == RoadOption.CHANGELANELEFT:
walker_state, walker, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
walker_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=90,
lane_offset=-1)
elif self.direction == RoadOption.CHANGELANERIGHT:
walker_state, walker, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
walker_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=90,
lane_offset=1)
else:
walker_state, walker, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
walker_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=60)
return walker_state, walker, distance
def car_following_manager(self, vehicle, distance, debug=False):
"""
Module in charge of car-following behaviors when there's
someone in front of us.
:param vehicle: car to follow
:param distance: distance from vehicle
:param debug: boolean for debugging
:return control: carla.VehicleControl
"""
vehicle_speed = get_speed(vehicle)
delta_v = max(1, (self.speed - vehicle_speed) / 3.6)
ttc = distance / delta_v if delta_v != 0 else distance / np.nextafter(
0., 1.)
# Under safety time distance, slow down.
if self.behavior.safety_time > ttc > 0.0:
control = self._local_planner.run_step(target_speed=min(
positive(vehicle_speed - self.behavior.speed_decrease),
min(self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist)),
debug=debug)
# Actual safety distance area, try to follow the speed of the vehicle in front.
elif 2 * self.behavior.safety_time > ttc >= self.behavior.safety_time:
control = self._local_planner.run_step(target_speed=min(
max(self.min_speed, vehicle_speed),
min(self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist)),
debug=debug)
# Normal behavior.
else:
control = self._local_planner.run_step(target_speed=min(
self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist),
debug=debug)
return control
def run_step(self, debug=False):
"""
Execute one step of navigation.
:param debug: boolean for debugging
:return control: carla.VehicleControl
"""
control = None
if self.behavior.tailgate_counter > 0:
self.behavior.tailgate_counter -= 1
if self.behavior.overtake_counter > 0:
self.behavior.overtake_counter -= 1
ego_vehicle_loc = self.vehicle.get_location()
ego_vehicle_wp = self._map.get_waypoint(ego_vehicle_loc)
# 1: Red lights and stops behavior
if self.traffic_light_manager(ego_vehicle_wp) != 0:
return self.emergency_stop()
# 2.1: Pedestrian avoidancd behaviors
walker_state, walker, w_distance = self.pedestrian_avoid_manager(
ego_vehicle_loc, ego_vehicle_wp)
if walker_state:
# Distance is computed from the center of the two cars,
# we use bounding boxes to calculate the actual distance
distance = w_distance - max(walker.bounding_box.extent.y,
walker.bounding_box.extent.x) - max(
self.vehicle.bounding_box.extent.y,
self.vehicle.bounding_box.extent.x)
# Emergency brake if the car is very close.
if distance < self.behavior.braking_distance:
return self.emergency_stop()
# 2.2: Car following behaviors
vehicle_state, vehicle, distance = self.collision_and_car_avoid_manager(
ego_vehicle_loc, ego_vehicle_wp)
if vehicle_state:
# Distance is computed from the center of the two cars,
# we use bounding boxes to calculate the actual distance
distance = distance - max(vehicle.bounding_box.extent.y,
vehicle.bounding_box.extent.x) - max(
self.vehicle.bounding_box.extent.y,
self.vehicle.bounding_box.extent.x)
# Emergency brake if the car is very close.
if distance < self.behavior.braking_distance:
return self.emergency_stop()
else:
control = self.car_following_manager(vehicle, distance)
# 4: Intersection behavior
# Checking if there's a junction nearby to slow down
elif self.incoming_waypoint.is_junction and (
self.incoming_direction == RoadOption.LEFT
or self.incoming_direction == RoadOption.RIGHT):
control = self._local_planner.run_step(target_speed=min(
self.behavior.max_speed, self.speed_limit - 5),
debug=debug)
# 5: Normal behavior
# Calculate controller based on no turn, traffic light or vehicle in front
else:
control = self._local_planner.run_step(target_speed=min(
self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist),
debug=debug)
return control
class BehaviorAgent(Agent):
"""
BehaviorAgent implements an agent that navigates scenes to reach a given
target destination, by computing the shortest possible path to it.
This agent can correctly follow traffic signs, speed limitations,
traffic lights, while also taking into account nearby vehicles. Lane changing
decisions can be taken by analyzing the surrounding environment,
such as overtaking or tailgating avoidance. Adding to these are possible
behaviors, the agent can also keep safety distance from a car in front of it
by tracking the instantaneous time to collision and keeping it in a certain range.
Finally, different sets of behaviors are encoded in the agent, from cautious
to a more aggressive ones.
"""
def __init__(self,
vehicle,
ignore_traffic_light=False,
behavior='normal_overtake'):
"""
Constructor method.
:param vehicle: actor to apply to local planner logic onto
:param ignore_traffic_light: boolean to ignore any traffic light
:param behavior: type of agent to apply
"""
super(BehaviorAgent, self).__init__(vehicle)
self.vehicle = vehicle
self.ignore_traffic_light = ignore_traffic_light
self._local_planner = LocalPlanner(self)
self._grp = None
self.look_ahead_steps = 0
# Vehicle information
self.speed = 0
self.speed_limit = 0
self.direction = None
self.incoming_direction = None
self.incoming_waypoint = None
self.start_waypoint = None
self.end_waypoint = None
self.is_at_traffic_light = 0
self.light_state = "Green"
self.light_id_to_ignore = -1
self.min_speed = 5
self.behavior = None
self._sampling_resolution = 4.5
#
self.is_overtaking = False
self.is_overtaking_prolong = False
self.overtake_counter = 0
self.tot_target_reached = 0
# if stay at overtaking lane
self.is_stay_left = False
# Parameters for agent behavior
if behavior == 'cautious':
self.behavior = Cautious()
elif behavior == 'normal_follow':
self.behavior = Normal_follow()
elif behavior == 'normal_overtake':
self.behavior = Normal_overtake()
elif behavior == 'aggressive':
self.behavior = Aggressive()
def set_overtaking_behavior(self, is_stay_at_left):
self.is_stay_left = is_stay_at_left
def update_information(self, world):
"""
This method updates the information regarding the ego
vehicle based on the surrounding world.
:param world: carla.world object
"""
self.speed = get_speed(self.vehicle)
self.speed_limit = world.player.get_speed_limit()
# print('Current speed limit is: ' + str(self.speed_limit))
self._local_planner.set_speed(self.speed_limit)
self.direction = self._local_planner.target_road_option
if self.direction is None:
self.direction = RoadOption.LANEFOLLOW
self.look_ahead_steps = int((self.speed_limit) / 10)
self.incoming_waypoint, self.incoming_direction = self._local_planner.get_incoming_waypoint_and_direction(
steps=self.look_ahead_steps)
if self.incoming_direction is None:
self.incoming_direction = RoadOption.LANEFOLLOW
self.is_at_traffic_light = world.player.is_at_traffic_light()
if self.ignore_traffic_light:
self.light_state = "Green"
else:
# This method also includes stop signs and intersections.
self.light_state = str(self.vehicle.get_traffic_light_state())
def set_destination(self, start_location, end_location, clean=False):
"""
This method creates a list of waypoints from agent's position to destination location
based on the route returned by the global router.
:param start_location: initial position
:param end_location: final position
:param clean: boolean to clean the waypoint queue
"""
if clean:
self._local_planner.waypoints_queue.clear()
self.start_waypoint = self._map.get_waypoint(start_location)
self.end_waypoint = self._map.get_waypoint(end_location)
route_trace = self._trace_route(self.start_waypoint, self.end_waypoint)
self._local_planner.set_global_plan(route_trace)
def reroute(self, spawn_points):
"""
This method implements re-routing for vehicles approaching its destination.
It finds a new target and computes another path to reach it.
:param spawn_points: list of possible destinations for the agent
"""
print("Target almost reached, setting new destination...")
random.shuffle(spawn_points)
new_start = self._local_planner.waypoints_queue[-1][
0].transform.location
destination = spawn_points[0].location if spawn_points[
0].location != new_start else spawn_points[1].location
print("New destination: " + str(destination))
self.set_destination(new_start, destination)
def _trace_route(self, start_waypoint, end_waypoint):
"""
This method sets up a global router and returns the
optimal route from start_waypoint to end_waypoint.
:param start_waypoint: initial position
:param end_waypoint: final position
"""
# Setting up global router
if self._grp is None:
wld = self.vehicle.get_world()
dao = GlobalRoutePlannerDAO(
wld.get_map(), sampling_resolution=self._sampling_resolution)
grp = GlobalRoutePlanner(dao)
grp.setup()
self._grp = grp
# Obtain route plan
route = self._grp.trace_route(start_waypoint.transform.location,
end_waypoint.transform.location)
return route
def traffic_light_manager(self, waypoint):
"""
This method is in charge of behaviors for red lights and stops.
WARNING: What follows is a proxy to avoid having a car brake after running a yellow light.
This happens because the car is still under the influence of the semaphore,
even after passing it. So, the semaphore id is temporarely saved to
ignore it and go around this issue, until the car is near a new one.
:param waypoint: current waypoint of the agent
"""
light_id = self.vehicle.get_traffic_light(
).id if self.vehicle.get_traffic_light() is not None else -1
if self.light_state == "Red":
if not waypoint.is_junction and (
self.light_id_to_ignore != light_id or light_id == -1):
return 1
elif waypoint.is_junction and light_id != -1:
self.light_id_to_ignore = light_id
if self.light_id_to_ignore != light_id:
self.light_id_to_ignore = -1
return 0
def _overtake(self, location, waypoint, vehicle_list):
"""
This method is in charge of overtaking behaviors.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:param vehicle_list: list of all the nearby vehicles
"""
left_turn = waypoint.left_lane_marking.lane_change
right_turn = waypoint.right_lane_marking.lane_change
left_wpt = waypoint.get_left_lane()
right_wpt = waypoint.get_right_lane()
# left overtake
if (left_turn == carla.LaneChange.Left or left_turn == carla.LaneChange.Both) \
and waypoint.lane_id * left_wpt.lane_id > 0 and left_wpt.lane_type == carla.LaneType.Driving:
# check next vehicle hazard state
new_vehicle_state, target_vehicle, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=180,
lane_offset=-1)
# overtake if next state is safe
if not new_vehicle_state:
print(" !! Overtaking to the left !!")
self.behavior.overtake_counter = 200
# move temp target further
dx = self.vehicle.get_velocity().x # m/s
dy = self.vehicle.get_velocity().y
dz = self.vehicle.get_velocity().z
# a delta time in second to set the overtaking temp target
dt = 2.83
if abs(dy) >= 6:
print('Y axis speed high, adjust with higher delta t')
dt = 3.55
distance = math.sqrt((dx * dt)**2 + (dy * dt)**2 +
(dz * dt)**2)
left_next_loc = left_wpt.next(distance)[0].transform.location
self.set_destination(left_next_loc,
self.end_waypoint.transform.location,
clean=True)
self.is_overtaking = True
# right overtake
elif (right_turn == carla.LaneChange.Right or right_turn == carla.LaneChange.Both)\
and waypoint.lane_id * right_wpt.lane_id > 0 and right_wpt.lane_type == carla.LaneType.Driving:
print('!!! threshold pass for right overtake !!!')
new_vehicle_state, _, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=180,
lane_offset=1)
if new_vehicle_state:
print("Overtaking to the right!")
self.behavior.overtake_counter = 200
self.set_destination(right_wpt.transform.location,
self.end_waypoint.transform.location,
clean=True)
print('Right waypoint location: ' +
str(right_wpt.transform.location))
# set overtake indicator
self.is_overtaking = True
def _tailgating(self, location, waypoint, vehicle_list):
"""
This method is in charge of tailgating behaviors.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:param vehicle_list: list of all the nearby vehicles
"""
left_turn = waypoint.left_lane_marking.lane_change
right_turn = waypoint.right_lane_marking.lane_change
left_wpt = waypoint.get_left_lane()
right_wpt = waypoint.get_right_lane()
behind_vehicle_state, behind_vehicle, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold, self.speed_limit / 2),
up_angle_th=180,
low_angle_th=160)
if behind_vehicle_state and self.speed < get_speed(behind_vehicle):
if (
right_turn == carla.LaneChange.Right
or right_turn == carla.LaneChange.Both
) and waypoint.lane_id * right_wpt.lane_id > 0 and right_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=1)
if not new_vehicle_state:
print("Tailgating, moving to the right!")
self.behavior.tailgate_counter = 200
self.set_destination(right_wpt.transform.location,
self.end_waypoint.transform.location,
clean=True)
elif left_turn == carla.LaneChange.Left and waypoint.lane_id * left_wpt.lane_id > 0 and left_wpt.lane_type == carla.LaneType.Driving:
new_vehicle_state, _, _ = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=-1)
if not new_vehicle_state:
print("Tailgating, moving to the left!")
self.behavior.tailgate_counter = 200
self.set_destination(left_wpt.transform.location,
self.end_waypoint.transform.location,
clean=True)
def collision_and_car_avoid_manager(self, location, waypoint):
"""
This module is in charge of warning in case of a collision
and managing possible overtaking or tailgating chances.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:return vehicle_state: True if there is a vehicle nearby, False if not
:return vehicle: nearby vehicle
:return distance: distance to nearby vehicle
"""
vehicle_list = self._world.get_actors().filter("*vehicle*")
def dist(v):
return v.get_location().distance(waypoint.transform.location)
# og dist threshold is 45
vehicle_list = [
v for v in vehicle_list if dist(v) < 25 and v.id != self.vehicle.id
]
# print('Collision avoidance manager is working ! ')
if self.direction == RoadOption.CHANGELANELEFT:
# Change lane to left
vehicle_state, vehicle, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=-1)
elif self.direction == RoadOption.CHANGELANERIGHT:
# Change lane to right
vehicle_state, vehicle, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=180,
lane_offset=1)
else:
# Overtaking
vehicle_state, vehicle, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
vehicle_list,
max( # increase up_angle_th to account for goal waypoint appear after turn
self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=30) # up_angle_th=100) # og up th: 30)
# customized overtake
if vehicle_state and self.speed > 10 and self.behavior.overtake_counter == 0 and\
self.speed > get_speed(vehicle):
# print("!! start over taking !!")
self._overtake(location, waypoint, vehicle_list)
# Check for tailgating
elif not vehicle_state and self.direction == RoadOption.LANEFOLLOW \
and not waypoint.is_junction and self.speed > 10 \
and self.behavior.tailgate_counter == 0:
self._tailgating(location, waypoint, vehicle_list)
# print('Current vehiclce state: ' + str(vehicle_state))
return vehicle_state, vehicle, distance
def pedestrian_avoid_manager(self, location, waypoint):
"""
This module is in charge of warning in case of a collision
with any pedestrian.
:param location: current location of the agent
:param waypoint: current waypoint of the agent
:return vehicle_state: True if there is a walker nearby, False if not
:return vehicle: nearby walker
:return distance: distance to nearby walker
"""
walker_list = self._world.get_actors().filter("*walker.pedestrian*")
def dist(w):
return w.get_location().distance(waypoint.transform.location)
walker_list = [w for w in walker_list if dist(w) < 10]
if self.direction == RoadOption.CHANGELANELEFT:
walker_state, walker, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
walker_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=90,
lane_offset=-1)
elif self.direction == RoadOption.CHANGELANERIGHT:
walker_state, walker, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
walker_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 2),
up_angle_th=90,
lane_offset=1)
else:
walker_state, walker, distance = self._bh_is_vehicle_hazard(
waypoint,
location,
walker_list,
max(self.behavior.min_proximity_threshold,
self.speed_limit / 3),
up_angle_th=60)
return walker_state, walker, distance
def car_following_manager(self, vehicle, distance, debug=False):
"""
Module in charge of car-following behaviors when there's
someone in front of us.
:param vehicle: car to follow
:param distance: distance from vehicle
:param debug: boolean for debugging
:return control: carla.VehicleControl
"""
vehicle_speed = get_speed(vehicle)
delta_v = max(1, (self.speed - vehicle_speed) / 3.6)
ttc = distance / delta_v if delta_v != 0 else distance / np.nextafter(
0., 1.)
# Under safety time distance, slow down. was 0.5
# if 0.6*self.behavior.safety_time > ttc > 0.0:
# increase following behavior
# if 0.7*self.behavior.safety_time > ttc > 0.0:
if 0.4 * self.behavior.safety_time > ttc > 0.0:
print('CAR FOLLOW: slow down ...')
control = self._local_planner.run_step(target_speed=min(
positive(vehicle_speed - self.behavior.speed_decrease),
min(self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist)),
debug=debug)
# Actual safety distance area, try to follow the speed of the vehicle in front.
# elif 2 * self.behavior.safety_time > ttc >= self.behavior.safety_time:
elif 0.9 * self.behavior.safety_time > ttc >= self.behavior.safety_time:
print('CAR FOLLOW: Regular Car following ...')
control = self._local_planner.run_step(target_speed=min(
max(self.min_speed, vehicle_speed),
min(self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist)),
debug=debug)
# Normal behavior.
else:
# normal behavior, not following
control = self._local_planner.run_step(target_speed=min(
self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist),
debug=debug)
return control
def run_step(self, debug=False):
"""
Execute one step of navigation.
:param debug: boolean for debugging
:return control: carla.VehicleControl
"""
control = None
if self.behavior.tailgate_counter > 0:
self.behavior.tailgate_counter -= 1
if self.behavior.overtake_counter > 0:
self.behavior.overtake_counter -= 1
# print('Current overtake counter: ' + str(self.behavior.overtake_counter))
ego_vehicle_loc = self.vehicle.get_location()
ego_vehicle_wp = self._map.get_waypoint(ego_vehicle_loc)
# 1: Red lights and stops behavior
if self.traffic_light_manager(ego_vehicle_wp) != 0:
return self.emergency_stop()
# 2.1: Pedestrian avoidancd behaviors
walker_state, walker, w_distance = self.pedestrian_avoid_manager(
ego_vehicle_loc, ego_vehicle_wp)
if walker_state:
# Distance is computed from the center of the two cars,
# we use bounding boxes to calculate the actual distance
distance = w_distance - max(walker.bounding_box.extent.y,
walker.bounding_box.extent.x) - max(
self.vehicle.bounding_box.extent.y,
self.vehicle.bounding_box.extent.x)
# Emergency brake if the car is very close.
if distance < self.behavior.braking_distance:
return self.emergency_stop()
# 2.2: Car following behaviors
vehicle_state, vehicle, distance = self.collision_and_car_avoid_manager(
ego_vehicle_loc, ego_vehicle_wp)
# ----------------------------3. Overtaking Controls ------------------------------------
# read all closrby vehicles
vehicles = self._world.get_actors().filter("*vehicle*")
transform = self.vehicle.get_transform()
def dist(l):
return math.sqrt((l.x - transform.location.x)**2 +
(l.y - transform.location.y)**2 +
(l.z - transform.location.z)**2)
vehicles = [(dist(x.get_location()), x) for x in vehicles
if x.id != self.vehicle.id]
# front vehicle distance
min_dist, min_vehicle = sorted(vehicles)[0]
min_wpt = self._map.get_waypoint(min_vehicle.get_location())
min_lane_ID = min_wpt.lane_id
ego_lane_ID = ego_vehicle_wp.lane_id
# determine if necessary to prolong the time in overtaking lane
# Note: Determine conditions: 1.Ego in left lane. 2.Leading vehicle in right lane. 3.Minimum distance smaller than 10
is_delay_lnchg = (min_lane_ID == 3) and (ego_lane_ID
== 2) and (min_dist <= 10)
# reassign waypoint at current lane if need to delay merge back
if is_delay_lnchg and self.is_overtaking and not self.is_stay_left:
if self.overtake_counter == 0:
# reset the target to the current lane
dx = self.vehicle.get_velocity().x # m/s
dy = self.vehicle.get_velocity().y
dz = self.vehicle.get_velocity().z
dt = 1
distance = math.sqrt((dx * dt)**2 + (dy * dt)**2 +
(dz * dt)**2)
temp_start = ego_vehicle_wp.next(
distance)[0].transform.location
temp_goal = ego_vehicle_wp.next(5 *
distance)[0].transform.location
# update temp goal
self._local_planner.waypoints_queue.clear()
self._local_planner._waypoint_buffer.clear()
self.set_destination(temp_start, temp_goal, clean=True)
self.is_overtaking_prolong = True
self.overtake_counter += 1
#print('current counter: ' + str(self.overtake_counter))
print('Set new destination: ' + str(temp_goal))
if vehicle_state:
# Distance is computed from the center of the two cars,
# we use bounding boxes to calculate the actual distance
distance = distance - max(vehicle.bounding_box.extent.y,
vehicle.bounding_box.extent.x) - max(
self.vehicle.bounding_box.extent.y,
self.vehicle.bounding_box.extent.x)
# Emergency brake if the car is very close.
if distance < 0.8 * self.behavior.braking_distance:
print('EEEE Brake ! Emergency brake for too close !!')
return self.emergency_stop()
else:
control = self.car_following_manager(vehicle, distance)
# 4: Normal behavior
# Calculate controller based on no turn, traffic light or vehicle in front
else:
control = self._local_planner.run_step(target_speed=min(
self.behavior.max_speed,
self.speed_limit - self.behavior.speed_lim_dist),
debug=debug)
return control
