Add lane error penalty - Githubissues

huawei-noah / SMARTS

Scalable Multi-Agent RL Training School for Autonomous Driving

MIT License

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Add lane error penalty #2030

Closed Adaickalavan closed 1 year ago

Adaickalavan commented 1 year ago

Here, the goal is on lane 0 but ego terminates on lane 2.

end_episode

Previously, the DistToDestination cost == dist_along_road which is 0 in this situation.
Now, the DistToDestination cost == dist_along_road + lane_error*lane_width in this situation.

Changes made:

RoadMap.Route now optionally stores the start and end lanes of the route.
DistToDestination metric now adds lane error penalty when agent terminates in different lane but same road as the goal position.