Collision avoidance method

[srajangoyal]

Hi,

I'm trying to evaluate my formal verification framework on your autonomous agent.
I use the default evaluation script (adding new.ckpt in TEAM_CONFIG).

Based on my observation through multiple test runs, is it true that:

1. Ego speed is constrained to max 5 km/h?
2. Ego can not change lanes to avoid collisions? Lane changes only when specified in the ego route waypoints (in .xml input file)?
3. Ego brakes to a stop when another vehicle drives close ahead in its adjacent lane?

Looking forward to your response.

Cheers!

[penghao-wu]

For 1, there is no direct constraint on the ego speed, but the maximum throttle is set to 0.75.
For 2&3, as this is an end-to-end learning model, there are no explicit rules or constraints about its behavior but some of these behaviors you observed might be learned from the expert demonstrations.