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PJLab-ADG / LimSim

LimSim & LimSim++: Integrated traffic and autonomous driving simulators with (M)LLM support
https://pjlab-adg.github.io/LimSim/
GNU General Public License v3.0
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Some question about frenet optimal plan #15

Closed AntaiXie closed 7 months ago

AntaiXie commented 9 months ago

Hello, if the USE.DECISION-MAKER in the config file is False, the generated trajectory will not change lanes? Because I found that if the vehicle behavior is not changed, it is always KL, so the trajectory for keeping the lane will be generated by "def lanekeeping_trajectory_generator"

wenjie-2000 commented 9 months ago

The parameter USE_DECISION_MAKER specifies whether or not to use the decision module in the simulation. When USE_DECISION_MAKER is False, vehicles can still change lanes.

Vehicle's behavior is maintained through a state machine. In line 136 of the file trafficManager/traffic_manager.py, the vehicle state machine can be updated by the function vehicle.update_behaviour(roadgraph, KEY_INPUT), which ensures that the vehicle follows the given route.

If you need to get more information about the decision module, you can check out Decision-making in Part B of Section IV in the paper.

github-actions[bot] commented 7 months ago

Stale issue message, no activity