TrafficLightStage.cpp

浏览该文件的文档.

 
#include "carla/trafficmanager/Constants.h"
#include "carla/trafficmanager/LocalizationUtils.h"
 
#include "carla/trafficmanager/TrafficLightStage.h"
 
namespace carla {
namespace traffic_manager {
 
using constants::TrafficLight::EXIT_JUNCTION_THRESHOLD;
using constants::TrafficLight::MINIMUM_STOP_TIME;
using constants::WaypointSelection::JUNCTION_LOOK_AHEAD;
using constants::MotionPlan::EPSILON_RELATIVE_SPEED;
 
TrafficLightStage::TrafficLightStage(
  const std::vector<ActorId> &vehicle_id_list,
  const SimulationState &simulation_state,
  const BufferMap &buffer_map,
  const Parameters &parameters,
  const cc::World &world,
  TLFrame &output_array,
  RandomGenerator &random_device)
  : vehicle_id_list(vehicle_id_list),
    simulation_state(simulation_state),
    buffer_map(buffer_map),
    parameters(parameters),
    world(world),
    output_array(output_array),
    random_device(random_device) {}
 
void TrafficLightStage::Update(const unsigned long index) {
  bool traffic_light_hazard = false;
 
  const ActorId ego_actor_id = vehicle_id_list.at(index);
  if (!simulation_state.IsDormant(ego_actor_id)) {
 
    JunctionID current_junction_id = -1;
    if (vehicle_last_junction.find(ego_actor_id) != vehicle_last_junction.end()) {
      current_junction_id = vehicle_last_junction.at(ego_actor_id);
    }
    auto affected_junction_id = GetAffectedJunctionId(ego_actor_id);
 
    current_timestamp = world.GetSnapshot().GetTimestamp();
 
    const TrafficLightState tl_state = simulation_state.GetTLS(ego_actor_id);
    const TLS traffic_light_state = tl_state.tl_state;
    const bool is_at_traffic_light = tl_state.at_traffic_light;
 
    // We determine to stop if the vehicle found a traffic light in yellow / red.
    if (is_at_traffic_light &&
        traffic_light_state != TLS::Green &&
        traffic_light_state != TLS::Off &&
        parameters.GetPercentageRunningLight(ego_actor_id) <= random_device.next()) {
      // Remove actor from non-signalized junction if it is affected by a traffic light.
      if (current_junction_id != -1) {
        RemoveActor(ego_actor_id);
      }
      traffic_light_hazard = true;
    }
    // The vehicle is currently at a non signalized junction, so handle its priorities.
    // Don't use the next condition as bounding boxes might switch to green
    else if (current_junction_id != -1)
    {
      if ( affected_junction_id == -1 || affected_junction_id != current_junction_id ) {
        RemoveActor(ego_actor_id);
      }
      else {
        traffic_light_hazard = HandleNonSignalisedJunction(ego_actor_id, affected_junction_id, current_timestamp);
      }
    }
    else if (affected_junction_id != -1 &&
            !is_at_traffic_light &&
            traffic_light_state != TLS::Green &&
            parameters.GetPercentageRunningSign(ego_actor_id) <= random_device.next()) {
 
      AddActorToNonSignalisedJunction(ego_actor_id, affected_junction_id);
      traffic_light_hazard = true;
    }
  }
  output_array.at(index) = traffic_light_hazard;
}
 
void TrafficLightStage::AddActorToNonSignalisedJunction(const ActorId ego_actor_id, const JunctionID junction_id) {
 
  if (entering_vehicles_map.find(junction_id) == entering_vehicles_map.end()) {
    // Initializing new map entry for the junction with an empty actor deque.
    std::deque<ActorId> entry_deque;
    entering_vehicles_map.insert({junction_id, entry_deque});
  }
 
  auto& entering_vehicles = entering_vehicles_map.at(junction_id);
  if (std::find(entering_vehicles.begin(), entering_vehicles.end(), ego_actor_id) == entering_vehicles.end()){
    // Initializing new actor entry to the junction maps.
    entering_vehicles.push_back(ego_actor_id);
    if (vehicle_last_junction.find(ego_actor_id) != vehicle_last_junction.end()) {
      // The actor was entering another junction, so remove all of its stored data
      RemoveActor(ego_actor_id);
    }
    vehicle_last_junction.insert({ego_actor_id, junction_id});
  }
}
 
 
bool TrafficLightStage::HandleNonSignalisedJunction(const ActorId ego_actor_id, const JunctionID junction_id,
                                                    cc::Timestamp timestamp) {
 
  bool traffic_light_hazard = false;
 
  auto& entering_vehicles = entering_vehicles_map.at(junction_id);
 
  if (vehicle_stop_time.find(ego_actor_id) == vehicle_stop_time.end()) {
    // Ensure the vehicle stops before doing anything else
    if (simulation_state.GetVelocity(ego_actor_id).Length() < EPSILON_RELATIVE_SPEED) {
      vehicle_stop_time.insert({ego_actor_id, timestamp});
    }
    traffic_light_hazard = true;
  }
 
  else if (entering_vehicles.front() == ego_actor_id) {
    auto entry_elapsed_seconds = vehicle_stop_time.at(ego_actor_id).elapsed_seconds;
    if (timestamp.elapsed_seconds - entry_elapsed_seconds < MINIMUM_STOP_TIME) {
      // Wait at least the minimum amount of time before entering the junction
      traffic_light_hazard = true;
    }
  } else {
    // Only one vehicle can be entering the junction, so stop the rest.
    traffic_light_hazard = true;
  }
  return traffic_light_hazard;
}
 
JunctionID TrafficLightStage::GetAffectedJunctionId(const ActorId ego_actor_id) {
    const Buffer &waypoint_buffer = buffer_map.at(ego_actor_id);
    const SimpleWaypointPtr look_ahead_point = GetTargetWaypoint(waypoint_buffer, JUNCTION_LOOK_AHEAD).first;
    const auto front_point = waypoint_buffer.front();
 
    auto look_ahead_junction_id = look_ahead_point->GetJunctionId();
    auto front_junction_id = front_point->GetJunctionId();
 
    // Check if the vehicle is currently at a non-signalized junction
    JunctionID current_junction_id = -1;
    if (vehicle_last_junction.find(ego_actor_id) != vehicle_last_junction.end()) {
      current_junction_id = vehicle_last_junction.at(ego_actor_id);
    }
 
    if (current_junction_id != -1) {
      // We are currently processing a junction
      if (current_junction_id == look_ahead_junction_id) {
        return look_ahead_junction_id;
      } else {
        if (look_ahead_junction_id != -1) {
          // We are detecting a different junction
          return look_ahead_junction_id;
        } else {
          if (current_junction_id == front_junction_id) {
            // We are still in the same junction
            return front_junction_id;
          } else {
            return -1;
          }
        }
      }
    } else {
      // If we are not processing any junction, return the look ahead detected junction
      return look_ahead_junction_id;
    }
}
 
void TrafficLightStage::RemoveActor(const ActorId actor_id) {
  if (vehicle_last_junction.find(actor_id) != vehicle_last_junction.end()) {
    auto junction_id = vehicle_last_junction.at(actor_id);
 
    auto& entering_vehicles = entering_vehicles_map.at(junction_id);
    auto ent_index = std::find(entering_vehicles.begin(), entering_vehicles.end(), actor_id);
    if (ent_index != entering_vehicles.end()) {
      entering_vehicles.erase(ent_index);
    }
 
    if (vehicle_stop_time.find(actor_id) != vehicle_stop_time.end()) {
      vehicle_stop_time.erase(actor_id);
    }
 
    vehicle_last_junction.erase(actor_id);
  }
}
 
void TrafficLightStage::Reset() {
  entering_vehicles_map.clear();
  vehicle_last_junction.clear();
  vehicle_stop_time.clear();
}
 
} // namespace traffic_manager
} // namespace carla