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dotchen / LAV

(CVPR 2022) A minimalist, mapless, end-to-end self-driving stack for joint perception, prediction, planning and control.
https://dotchen.github.io/LAV/
Apache License 2.0
397 stars 68 forks source link

Issues about evaluation #41

Open viola521 opened 1 year ago

viola521 commented 1 year ago

Hi,broth When I run the run_evaluation.sh,I found the car run really slow ,even thought it could not pass the stragiht road in 30 minutes . how could make it go fast.I have use lav_ahent_fast.py my args are showed blow:

--scenarios=/home/violayu/disk2/LAV-main/leaderboard/data/all_towns_traffic_scenarios_public.json --routes=/home/violayu/disk2/LAV-main/leaderboard/data/routes_devtest.xml
--repetitions=1 --track=SENSORS --checkpoint=/home/violayu/disk2/LAV-main/leaderboard/results.json --agent=/home/violayu/disk2/LAV-main/team_code_v2/lav_agent_fast.py --agent-config=/home/violayu/disk2/LAV-main/team_code_v2/config.yaml
--debug=1

Screenshot from 2023-07-14 13-26-01 Screenshot from 2023-07-14 13-25-31

srajangoyal commented 1 year ago

I found this problem too. In lav_agent_fast.py, I multiplied desired_speed by 3. Seems to work better, but not sure how will it affect the infractions.

Also I found that the ego doesn't change lanes in case of a static vehicle blocking its lane. It just waits, even though the other lanes are empty. @dotchen any pointers?

viola521 commented 1 year ago

I found this problem too. In lav_agent_fast.py, I multiplied desired_speed by 3. Seems to work better, but not sure how will it affect the infractions.

Also I found that the ego doesn't change lanes in case of a static vehicle blocking its lane. It just waits, even though the other lanes are empty. @dotchen any pointers?

I changed the brake thresholds to 1 and then it works.

srajangoyal commented 1 year ago

Which parameter is it?