From c0870d7e89d1f28de5c2abe5d59e11d03ac67482 Mon Sep 17 00:00:00 2001
From: Henry <ehdykhne@uwaterloo.ca>
Date: Thu, 21 Dec 2023 01:32:14 -0500
Subject: [PATCH] moved magic numbers into named variables
---
.../common/can_scenario_be_made_dangerous.py | 18 +++++++++++-------
1 file changed, 11 insertions(+), 7 deletions(-)
diff --git a/nuplan/planning/metrics/evaluation_metrics/common/can_scenario_be_made_dangerous.py b/nuplan/planning/metrics/evaluation_metrics/common/can_scenario_be_made_dangerous.py
index ea8d812..4cd8df4 100644
--- a/nuplan/planning/metrics/evaluation_metrics/common/can_scenario_be_made_dangerous.py
+++ b/nuplan/planning/metrics/evaluation_metrics/common/can_scenario_be_made_dangerous.py
@@ -86,19 +86,21 @@ class CanScenarioBeMadeDangerousStatistics(MetricBase):
:param agent: agent to get the non red connectors for
:return: set of lane connectors that are not red
"""
+ DISTANCE_INTO_INTERSECTION = 5 # meters
+ TIME_TO_INTERSECTION = 5 # seconds
closest_segment, progress = get_starting_segment(agent, map_api)
# Ignore agents for which a closest_segment cannot be found
if closest_segment is None:
return {}
if issubclass(type(closest_segment), LaneConnector):
- if progress > 5:
+ if progress > DISTANCE_INTO_INTERSECTION:
return {} # if we have made it more than 5 meters into the intersection, other agents can likely see us now and we are either already in danger, or not in danger, but we will never be in a position to make the scenario dangerous
connectors = [closest_segment]
elif issubclass(type(closest_segment), Lane):
distance_to_connector = closest_segment.baseline_path.length - progress
#if we are moving so slowly, or are so far away that in 5 seconds the agent does not make it to the intersection, we are probably not in danger
- if distance_to_connector > 5 * agent.velocity.magnitude():
+ if distance_to_connector > TIME_TO_INTERSECTION * agent.velocity.magnitude():
return {}
connectors = closest_segment.outgoing_edges
connectors = set(connectors)
@@ -168,9 +170,11 @@ class CanScenarioBeMadeDangerousStatistics(MetricBase):
if not self.is_connector_mostly_not_red_over_scenario(ego_connector, traffic_light_status_dict, history, step_size):
return False
- upper_cut = 0.95
- lower_cut = 0.05
- ego_line = self.cut_piece(ego_connector.baseline_path.linestring, lower_cut, upper_cut)# cuts off first and last 5% of the line
+ UPPER_CUT = 0.95
+ LOWER_CUT = 0.05
+ MIN_DISTANCE = 5 # meters
+ MAX_DISTANCE = 80 # meters
+ ego_line = self.cut_piece(ego_connector.baseline_path.linestring, LOWER_CUT, UPPER_CUT)# cuts off first and last 5% of the line
for iteration in range(0, int(history.__len__() / 2), int(step_size / history.interval_seconds)): # we only observe the first half of the simulation
agent_connectors = dict()
detections = scenario.get_tracked_objects_at_iteration(iteration)
@@ -179,7 +183,7 @@ class CanScenarioBeMadeDangerousStatistics(MetricBase):
for agent in agents:
## agents should be close enough to ego to matter but far enough to be able to put someone in between: >50m, <5m
- if agent.center.distance_to(ego_state.center) > 80 or agent.center.distance_to(ego_state.center) < 5:
+ if agent.center.distance_to(ego_state.center) > MAX_DISTANCE or agent.center.distance_to(ego_state.center) < MIN_DISTANCE:
agent_connectors[agent.metadata.track_token] = {}
else:
agent_connectors[agent.metadata.track_token] = self.get_non_red_connectors(traffic_light_status_dict[iteration], map_api, agent)
@@ -187,7 +191,7 @@ class CanScenarioBeMadeDangerousStatistics(MetricBase):
for agent in agents:
for connector in agent_connectors[agent.metadata.track_token]:
if self.is_connector_mostly_not_red_over_scenario(connector, traffic_light_status_dict, history, step_size): # we only bother checking the connector if is mostly not red
- agent_line = self.cut_piece(connector.baseline_path.linestring, lower_cut, upper_cut)# cuts off first and last 5% of the line
+ agent_line = self.cut_piece(connector.baseline_path.linestring, LOWER_CUT, UPPER_CUT)# cuts off first and last 5% of the line
if ego_line.intersects(agent_line) and ego_connector.id != connector.id:
return True
--
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