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dont stop at stop signs for priority turns

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This commit is contained in:
Dustin Carlino 2018-08-24 12:53:21 -07:00
parent c3d7595fc3
commit 6eb935a88d
2 changed files with 17 additions and 10 deletions
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24
sim/src/intersections.rs
View File

@ -243,24 +243,29 @@ impl StopSign {
}
fn step(&mut self, time: Tick, map: &Map, control_map: &ControlMap, info: &AgentInfo) {
let ss = &control_map.stop_signs[&self.id];
// If anybody is stopped, promote them.
// TODO retain() would rock
let mut newly_stopped: Vec<Request> = Vec::new();
for req in self.approaching_agents.iter() {
// TODO tmpish debug
if !info.speeds.contains_key(&req.agent) {
println!("no speed for {:?}", req);
// TODO or not blocked by somebody unaccepted
if !info.leaders.contains(&req.agent) {
continue;
}
// TODO and the agent is at the end? maybe easier than looking at their speed
// TODO with lane-changing, somebody could cut in front of them when they're stopped.
if info.leaders.contains(&req.agent)
&& info.speeds[&req.agent] <= kinematics::EPSILON_SPEED
{
let should_promote = if ss.get_priority(req.turn) == TurnPriority::Stop {
// TODO and the agent is at the end? maybe easier than looking at their speed
// TODO with lane-changing, somebody could cut in front of them when they're stopped.
info.speeds[&req.agent] <= kinematics::EPSILON_SPEED
} else {
true
};
if should_promote {
self.started_waiting_at.insert(req.clone(), time);
newly_stopped.push(req.clone());
if self.debug {
println!("{:?} is now considered stopped", req);
println!("{:?} is promoted from approaching to waiting", req);
}
}
}
@ -278,7 +283,6 @@ impl StopSign {
continue;
}
let ss = &control_map.stop_signs[&self.id];
if self.conflicts_with_waiting_with_higher_priority(turn, map, ss) {
continue;
}

3
sim/tests/completion.rs
View File

@ -28,3 +28,6 @@ fn aorta_model_completes() {
}
}
}
// TODO other tests (not completion) to add:
// - different behavior (stopping or not) at stop signs