agents.substep_managers package

Helpers that can take over certain parts, some are directly imported into the LunaticAgent but here for easier access and to keep the class cleaner.

agents.substep_managers.car_following_manager(self: HasPlannerWithConfig[BehaviorAgentSettings | LunaticAgentSettings], vehicle: carla.Vehicle, distance: float, debug: bool = False) → carla.VehicleControl[source]

Module in charge of car-following behaviors when there’s someone in front of us.

Parameters:
Returns:

Calculates the control for the vehicle

Assumes:

No control has been calculated in this tick.

Return type:

carla.VehicleControl

agents.substep_managers.collision_detection_manager(self: LunaticAgent)[source]

This module is in charge of warning in case of a collision with vehicles or static obstacles.

param location:

current location of the agent

return vehicle_state:

True if there is a vehicle nearby, False if not

return vehicle:

nearby vehicle

return distance:

distance to nearby vehicle

# NOTE: Former collision_and_car_avoid_manager, which evaded car via the tailgating function now rule based.

Parameters:

self (LunaticAgent)

agents.substep_managers.collision_manager(self: LunaticAgent, event: carla.CollisionEvent) → None[source]

What to do in case of a collision

Callback function for the collision event.

Attention

This function currently is not yet implemented.

Parameters:
Return type:

None

agents.substep_managers.detect_traffic_light(self: CanDetectNearbyTrafficLights, traffic_lights: ActorList[carla.TrafficLight] | None = None) → TrafficLightDetectionResult[source]

This method is in charge of behaviors for red lights.

Parameters:
Return type:

TrafficLightDetectionResult

agents.substep_managers.emergency_manager(self: LunaticAgent, *, reasons: set[Hazard], control: carla.VehicleControl | None = None, force=False) → carla.VehicleControl[source]

Modifies the control values to perform an emergency stop. The steering remains unchanged to avoid going out of the lane during turns.

Parameters:

  • reasons (set[Hazard]) – set of Hazard that triggered the emergency stop. If empty this function will do nothing. Normally detected_hazards.

  • control (carla.VehicleControl | None) – control to be modified in place. If None the control for the current step will be calculated.

  • force – if True, the emergency stop will be performed even if the reasons are empty.

  • self (LunaticAgent)

Return type:

carla.VehicleControl

agents.substep_managers.pedestrian_detection_manager(self: LunaticAgent) → ObstacleDetectionResult[source]

This module is in charge of warning in case of a collision with any pedestrian.

param location:

current location of the agent

return vehicle_state:

True if there is a walker nearby, False if not

return vehicle:

nearby walker

return distance:

distance to nearby walker

Parameters:

self (LunaticAgent)

Return type:

ObstacleDetectionResult

Submodules

agents.substep_managers.car_following module

agents.substep_managers.car_following.car_following_manager(self: HasPlannerWithConfig[BehaviorAgentSettings | LunaticAgentSettings], vehicle: carla.Vehicle, distance: float, debug: bool = False) → carla.VehicleControl[source]

Module in charge of car-following behaviors when there’s someone in front of us.

Parameters:
Returns:

Calculates the control for the vehicle

Assumes:

No control has been calculated in this tick.

Return type:

carla.VehicleControl

agents.substep_managers.collision_callback module

agents.substep_managers.collision_callback.collision_manager(self: LunaticAgent, event: carla.CollisionEvent) → None[source]

What to do in case of a collision

Callback function for the collision event.

Attention

This function currently is not yet implemented.

Parameters:
Return type:

None

agents.substep_managers.emergency module

agents.substep_managers.emergency.emergency_manager(self: LunaticAgent, *, reasons: set[Hazard], control: carla.VehicleControl | None = None, force=False) → carla.VehicleControl[source]

Modifies the control values to perform an emergency stop. The steering remains unchanged to avoid going out of the lane during turns.

Parameters:

  • reasons (set[Hazard]) – set of Hazard that triggered the emergency stop. If empty this function will do nothing. Normally detected_hazards.

  • control (carla.VehicleControl | None) – control to be modified in place. If None the control for the current step will be calculated.

  • force – if True, the emergency stop will be performed even if the reasons are empty.

  • self (LunaticAgent)

Return type:

carla.VehicleControl

agents.substep_managers.obstacle_detection module

agents.substep_managers.obstacle_detection.collision_detection_manager(self: LunaticAgent)[source]

This module is in charge of warning in case of a collision with vehicles or static obstacles.

param location:

current location of the agent

return vehicle_state:

True if there is a vehicle nearby, False if not

return vehicle:

nearby vehicle

return distance:

distance to nearby vehicle

# NOTE: Former collision_and_car_avoid_manager, which evaded car via the tailgating function now rule based.

Parameters:

self (LunaticAgent)

agents.substep_managers.pedestrian_detection module

agents.substep_managers.pedestrian_detection.pedestrian_detection_manager(self: LunaticAgent) → ObstacleDetectionResult[source]

This module is in charge of warning in case of a collision with any pedestrian.

param location:

current location of the agent

return vehicle_state:

True if there is a walker nearby, False if not

return vehicle:

nearby walker

return distance:

distance to nearby walker

Parameters:

self (LunaticAgent)

Return type:

ObstacleDetectionResult

agents.substep_managers.traffic_light module

agents.substep_managers.traffic_light.affected_by_traffic_light(self: CanDetectNearbyTrafficLights, lights_list: ActorList[carla.TrafficLight] | None = None, max_distance: float | None = None) → TrafficLightDetectionResult[source]

Method to check if there is a red light affecting the vehicle.

Parameters:

  • lights_list (Optional[ActorList[carla.TrafficLight]]) – list containing traffic light objects. If None, all traffic lights in the scene are used.

  • max_distance (Optional[float]) – max distance for a traffic lights to be considered relevant. If None, the base threshold value is used.

  • self (CanDetectNearbyTrafficLights)

Return type:

TrafficLightDetectionResult

agents.substep_managers.traffic_light.detect_traffic_light(self: CanDetectNearbyTrafficLights, traffic_lights: ActorList[carla.TrafficLight] | None = None) → TrafficLightDetectionResult[source]

This method is in charge of behaviors for red lights.

Parameters:
Return type:

TrafficLightDetectionResult