HI i am new to reading OpenCDA code. I may found the logic of v2x_manager add lag have improvement space !!
So i want to verfiy it with you .
The v2x_manager logic to add lag depends on the ego car pos list longer or shorter than self.lag . But in real world the comuncaiton lag mainly depends on the distance between two CAVs.Or the lag come from other issues like network congestion and so on .
the code in core/common/v2x_manager.py
** def get_ego_pos(self):
"""
Add noise and lag to the current ego position and send to other CAVs.
This is for simulate noise and lagging during communication.
Returns
-------
processed_ego_pos : carla.Transform
The ego position after adding noise and lagging.
"""
if not self.ego_pos:
return None
# add lag
ego_pos = self.ego_pos[0] if len(self.ego_pos) < self.lag else \
self.ego_pos[np.random.randint(-1 - int(abs(self.lag)), 0)]**
HI i am new to reading OpenCDA code. I may found the logic of v2x_manager add lag have improvement space !!
So i want to verfiy it with you .
The v2x_manager logic to add lag depends on the ego car pos list longer or shorter than self.lag . But in real world the comuncaiton lag mainly depends on the distance between two CAVs.Or the lag come from other issues like network congestion and so on .
the code in core/common/v2x_manager.py
** def get_ego_pos(self): """ Add noise and lag to the current ego position and send to other CAVs. This is for simulate noise and lagging during communication.