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edge_network_navigation: match peer lanes when advancing checkpoints #10

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edge_network_navigation: match peer lanes when advancing checkpoints #10

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14 changes: 14 additions & 0 deletions metadrive/component/navigation_module/edge_network_navigation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,20 @@ def _update_target_checkpoints(self, ego_lane_index) -> bool:
else:
self._target_checkpoints_index.append(idx + 1)
return True

# Also match any peer lane on the same road edge as a checkpoint.
if isinstance(new_index, str) and ":" not in new_index:
new_edge = new_index.rsplit("_", 1)[0]
for j, cp in enumerate(self.checkpoints[self._target_checkpoints_index[1]:],
self._target_checkpoints_index[1]):
if isinstance(cp, str) and ":" not in cp and cp.rsplit("_", 1)[0] == new_edge:
self._target_checkpoints_index = [j]
if j + 1 == len(self.checkpoints):
self._target_checkpoints_index.append(j)
else:
self._target_checkpoints_index.append(j + 1)
return True

return False

def get_current_lateral_range(self, current_position, engine) -> float:
Expand Down