Multiple issues in the Behavior Agent

[squizz617]

Hi, I would like to report multiple issues found in Behavior Agent (config: cautious). Attached videos demonstrate the issues along with the circumstances. I would appreciate if you could share some thoughts on these!

Setup

CARLA version: docker image (carlasim/carla:0.9.10.1) Platform/OS: Ubuntu 18.04

Issues

1. Agent indefinitely stops if a vehicle or a pedestrian is stopped on a sidewalk https://drive.google.com/file/d/17JzjxqxtGP7fNZaVY5ATx9oGUDTGjGkT/view?usp=sharing

2. Forward collision into a vehicle moving diagonally within a lane https://drive.google.com/file/d/1h2MtQJQMIMQXrXjrHwK1QJHaTvmQmSEW/view?usp=sharing

3. Planner generates an inappropriate trajectory when the initial position is given within an intersection https://drive.google.com/file/d/1xfE7ZZYFgNDYmQw1OBYSNbdNKKrEnaIM/view?usp=sharing

4. Improper lane changing, hitting the vehicle driving alongside the agent https://drive.google.com/file/d/1nLLbCmkbclEPS_K0KvoXGPzg7qbWeLAa/view?usp=sharing

5. Indefinitely stopping at stop signs, waiting for the state to change https://drive.google.com/file/d/1Wt4nw9kmUNmZlR5Oqlpbqg_SeEapffUh/view?usp=sharing

6. Does not preemptively slow down when the speed limit is reduced https://drive.google.com/file/d/1v9oMHlnDaflmUKpWwCUiQ6OMDr9rliTl/view?usp=sharing The agent is aware of the speed limit change beforehand; it would be nice to implement a preemptive slow down behavior, as if we do in the real world.

7. Always stops too far (> 10 m) from the goal position due to improper checking of waypoint queue. done() method is not implemented. https://drive.google.com/file/d/1RZZwLWdncKXlTTPqvJTPspef2oOnoYVD/view?usp=sharing

8. Collision prevention does not work at intersections (only checks if obstacles are on the same lane) https://drive.google.com/file/d/1_clotrOC0V0LWrvQJ9XdatWte9ijrir7/view?usp=sharing Similarly to this, if there's a vehicle stopped at the end of an intersection, the agent just hits it after turning.

9. Fails to avoid lateral collision https://drive.google.com/file/d/159d7rv8Tjh6qk8tXCa9vlgITMoCMvkkh/view?usp=sharing

10. Fails to avoid rear-end collision https://drive.google.com/file/d/1PzRh-KrJoD9von7JzpUfBQnORw7c7NB4/view?usp=sharing This and the previous one are more like a feature request; as the agent knows the existence of the approaching vehicle as ground truth, can't it try to avoid the accident, e.g., by overriding the maximum speed?

11. No dynamic replanning; vehicle does infeasible maneuvers to go back to missed waypoints https://drive.google.com/file/d/17rI0drukT1CHx2D1kxlCP8rS_UKFxeS9/view?usp=sharing

12. Keeps over-accelerating to achieve the target speed while slipping, creating jolt back on dry surface https://drive.google.com/file/d/1YRSj1KUq9GfvV-Z3CtqC5_JyRe1RDGbG/view?usp=sharing It would be great if ESC (which most real vehicles have by default) is implemented to prevent such situation.

13. Default PID parameters are poorly tuned, making the vehicle overshoot at turns https://drive.google.com/file/d/1OxZy-tzncq6_CcPm85cfZQTXNr860piU/view?usp=sharing

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Thank you.

[jaivra]

Another issue is that it doesn't follow the anchor points properly in a bend in the road. https://drive.google.com/file/d/1TlnwHU5JMzb_gmDqPt-RYq6DE_3m933B/view?usp=sharing

[pchunduri6]

Hi @squizz617, were you able to resolve or get more insights into any of these issues, especially those related to collisions and indefinite stopping (e.g., points 1, 2, 4, 5)? Thanks a lot!

[stale[bot]]

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