Lane Change¶

The ego is told to change lane as soon as the run starts. Where there is a lane to change into, it has to end up in it; where there is none, it has to stay where it is.

# Every case on the map, one run each
uv run scenario --multirun hydra/sweeper=lanelet_constraint \
    scenario=lane_change/left map=<map>
uv run scenario --multirun hydra/sweeper=lanelet_constraint \
    scenario=lane_change_fail/left map=<map>

Scenario¶


Ego	Constraint search: a lane that is not in a junction and is long enough, excluding the map's lanelets with no 3D model -- with a lane on that side to change into, or, for the refused change, without one. 1 km/h.
Initialization	Every traffic light green.
Ego, from the start	Change lane, left or right.
Pass	Changing: the ego has been on the OpenDRIVE lane beside the one it started on (lane of a position: the matched lanelet at the spawn, the lane to its left or right). Refusing: the timeout passes.
Fail	Changing: the timeout. Refusing: the ego reaches that lane.

The lane checked is the OpenDRIVE lane next to the spawn's, anywhere along its road, rather than the lanelet next to the spawn's: a refused change has no such lanelet to name.

Variants¶

LeftRightRefused, leftRefused, right

Lane change left in the Scenario Editor

scenario=lane_change/left -- a lane on the left, at least 30 m long; 10 s.

Town10HD_Opt, the first case: the search matched lanelet 324, where the ego starts. Result: PASSED.

Lane change right in the Scenario Editor

scenario=lane_change/right -- a lane on the right, at least 30 m long; 10 s.

Town10HD_Opt, the first case: the search matched lanelet 446, where the ego starts. Result: PASSED.

Refused lane change left in the Scenario Editor

scenario=lane_change_fail/left -- no lane on the left, at least 15 m long; passes after 1.5 s in the lane it started in.

Town10HD_Opt, the first case: the search matched lanelet 446, where the ego starts. Result: PASSED. The timeout is 8 s here rather than 1.5 s, so there is something to see.

Refused lane change right in the Scenario Editor

scenario=lane_change_fail/right -- no lane on the right, at least 10 m long; passes after 1.5 s in the lane it started in.

Town10HD_Opt, the first case: the search matched lanelet 31, where the ego starts. Result: PASSED. The timeout is 8 s here rather than 1.5 s, so there is something to see.

Parameters¶

Parameter	Left	Right	Refused left	Refused right
Lane on that side	yes	yes	no	no
Lanelet at least	30 m	30 m	15 m	10 m
Spawn	5 m along it	5 m	0 m	0 m
Ego initial speed	1 km/h	1 km/h	1 km/h	1 km/h
Timeout	10 s (fail)	10 s (fail)	1.5 s (pass)	1.5 s (pass)