There were a number of issues here. One notable one was that cached lanepoints from incorrect lanes were sometimes returned. We now always generate waypoints for each junction lane (rather than for their roads), and without filtering by road_id. This ensures the lookahead value will be respected.
Fixes #2018 and #2023.
There were a number of issues here. One notable one was that cached lanepoints from incorrect lanes were sometimes returned. We now always generate waypoints for each junction lane (rather than for their roads), and without filtering by
road_id. This ensures thelookaheadvalue will be respected.Videos below:
https://github.com/huawei-noah/SMARTS/assets/17256344/b7f559ff-c8c8-4c99-963c-8934fb59d1c6
https://github.com/huawei-noah/SMARTS/assets/17256344/210cd356-50f9-49e5-a115-b4a42622e43f