search

carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
11.04k stars 3.55k forks source link

Carla 0.9.11 Lane changed performed on an actor in a bike lane will change two lanes instead of one #5268

Open dliu1118 opened 2 years ago

dliu1118 commented 2 years ago

CARLA version: 0.9.11 Platform/OS: Ubuntu 20.04.03 Problem you have experienced: I called lane change on an actor(bicyclist located in a bike lane) but the bicyclist seems to perform a lane change across two lanes instead of one to the left. Note that the bike lane is a solid line not sure that's why it's causing this behavior? What you expected to happen: I expect the bicyclist make only one lane change. Code Snippet:

sequence_bike = py_trees.composites.Sequence("Bike")
        bike_visible = ActorTransformSetter(self.other_actors[0], self._first_actor_transform)
        sequence_bike.add_child(bike_visible)

        just_drive = py_trees.composites.Parallel("DrivingTowardsSlowVehicle",
                                                  policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)

        bike_driving_fast = DriveDistance(self.other_actors[0], 5)
        just_drive.add_child(bike_driving_fast)
        just_drive.add_child(KeepVelocity(self.other_actors[0], self._fast_vehicle_velocity))
        sequence_bike.add_child(just_drive)

        sequence_bike.add_child(LaneChange(self.other_actors[0], distance_lane_change=5))
stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.