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OpenDriveLab / TCP

[NeurIPS 2022] Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline.
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Collision avoidance method #58

Open srajangoyal opened 7 months ago

srajangoyal commented 7 months ago

Hi,

I'm trying to evaluate my formal verification framework on your autonomous agent. I use the default evaluation script (adding new.ckpt in TEAM_CONFIG).

Based on my observation through multiple test runs, is it true that:

  1. Ego speed is constrained to max 5 km/h?
  2. Ego can not change lanes to avoid collisions? Lane changes only when specified in the ego route waypoints (in .xml input file)?
  3. Ego brakes to a stop when another vehicle drives close ahead in its adjacent lane?

Looking forward to your response.

Cheers!

penghao-wu commented 6 months ago

For 1, there is no direct constraint on the ego speed, but the maximum throttle is set to 0.75. For 2&3, as this is an end-to-end learning model, there are no explicit rules or constraints about its behavior but some of these behaviors you observed might be learned from the expert demonstrations.