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una-auxme / paf

MIT License
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165 feature local trajectory planning with frenet trajectory planner #177

Closed samuelkuehnel closed 8 months ago

samuelkuehnel commented 8 months ago

Description

This PR introduces the frenet trajectory planner to our project. It enables to create a new trajecotry during runtime when a object ist detected in front. Fixes #165

Type of change

Please delete options that are not relevant.

Does this PR introduce a breaking change?

No

Most important changes

New method in motion planning. utils.py file that has some utility methods to free up space in the motion planning file.

Checklist:

github-actions[bot] commented 8 months ago

Simulation results

Metric Value
Avg. driving score 0.040579
Avg. route completion 3.88
Avg. infraction penalty 0.009472
Collisions with pedestrians 0.0
Collisions with vehicles 23.888
Collisions with layout 3.413
Red lights infractions 1.706
Stop sign infractions 1.706
Off-road infractions 0.041
Route deviations 0.0
Route timeouts 0.0
Agent blocked 3.413
Yield emergency vehicles infractions 0.0
Scenario timeouts 3.413
Min speed infractions 0.0
samuelkuehnel commented 8 months ago

Changes done please re-review

github-actions[bot] commented 8 months ago

Simulation results

Metric Value
Avg. driving score 0.09828
Avg. route completion 0.36
Avg. infraction penalty 0.273
Collisions with pedestrians 0.0
Collisions with vehicles 39.192
Collisions with layout 39.192
Red lights infractions 0.0
Stop sign infractions 0.0
Off-road infractions 0
Route deviations 0.0
Route timeouts 39.192
Agent blocked 0.0
Yield emergency vehicles infractions 0.0
Scenario timeouts 39.192
Min speed infractions 0.0