diff --git a/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab b/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab
index 781327a24..d747e0254 100644
--- a/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab
+++ b/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab
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diff --git a/Assets/AWSIM/Scenes/Samples/RandomTrafficYieldingBirdEyeViewSample.unity.meta b/Assets/AWSIM/Scenes/Samples/RandomTrafficYieldingBirdEyeViewSample.unity.meta
new file mode 100644
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diff --git a/Assets/AWSIM/Scenes/Samples/RandomTrafficYieldingSample/Nishishinjuku RandomTraffic_Test.prefab.meta b/Assets/AWSIM/Scenes/Samples/RandomTrafficYieldingSample/Nishishinjuku RandomTraffic_Test.prefab.meta
new file mode 100644
index 000000000..a3020aa2d
--- /dev/null
+++ b/Assets/AWSIM/Scenes/Samples/RandomTrafficYieldingSample/Nishishinjuku RandomTraffic_Test.prefab.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 8d52446e16e57dba7a0184fbc9ec9036
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+ externalObjects: {}
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diff --git a/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/TrafficLaneEditor.cs b/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/TrafficLaneEditor.cs
index 797d8c9c8..7903e4c90 100644
--- a/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/TrafficLaneEditor.cs
+++ b/Assets/AWSIM/Scripts/Editor/RandomTraffic/Environments/TrafficLaneEditor.cs
@@ -19,6 +19,11 @@ private void OnSceneGUI()
[DrawGizmo(GizmoType.InSelectionHierarchy | GizmoType.Pickable)]
private static void DrawGizmoNonSelected(TrafficLane trafficLane, GizmoType gizmoType)
{
+ if (trafficLane.intersectionLane)
+ {
+ Gizmos.color = Color.green;
+ }
+
for (int i = 1; i < trafficLane.Waypoints.Length; ++i)
{
Gizmos.DrawLine(trafficLane.Waypoints[i - 1], trafficLane.Waypoints[i]);
@@ -148,8 +153,8 @@ private static bool JudgeRightOfWay(TrafficLane lane, TrafficLane other)
private static bool AreSamePrevLanes(TrafficLane lane1, TrafficLane lane2)
{
- return lane1.PrevLanes.Count >= 1 &&
- lane2.PrevLanes.Count >= 1 &&
+ return lane1.PrevLanes.Count >= 1 &&
+ lane2.PrevLanes.Count >= 1 &&
lane1.PrevLanes[0] == lane2.PrevLanes[0];
}
diff --git a/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs b/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs
index 75cfe85cb..896fb093a 100644
--- a/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs
+++ b/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs
@@ -168,6 +168,7 @@ public void Destroy()
[Header("Physics Settings")]
[SerializeField] Transform centerOfMass;
[SerializeField] new Rigidbody rigidbody;
+ [SerializeField] Rigidbody trailer = null;
[SerializeField] AxleSettings axleSettings;
[Header("Bounding box Settngs")]
@@ -195,9 +196,14 @@ public void Destroy()
float lastEulerAnguleY;
float lastSpeed;
+ public Transform RigidBodyTransform => rigidbody.transform;
+ public Transform TrailerTransform => trailer?.transform;
+
// Start is called before the first frame update
void Awake()
{
+ if (trailer == null)
+ trailer = rigidbody;
leftTurnSignalLight.Initialize();
rightTurnSignalLight.Initialize();
brakeLight.Initialize();
@@ -424,4 +430,4 @@ private void OnDrawGizmos()
Gizmos.matrix = cacheMatrix;
}
}
-}
\ No newline at end of file
+}
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/Environments/TrafficLane.cs b/Assets/AWSIM/Scripts/RandomTraffic/Environments/TrafficLane.cs
index 0c45ce2b3..47e9d4174 100644
--- a/Assets/AWSIM/Scripts/RandomTraffic/Environments/TrafficLane.cs
+++ b/Assets/AWSIM/Scripts/RandomTraffic/Environments/TrafficLane.cs
@@ -15,7 +15,8 @@ public enum TurnDirectionType
{
STRAIGHT = 0,
LEFT = 1,
- RIGHT = 2
+ RIGHT = 2,
+ NULL = 3
}
[SerializeField, Tooltip("Waypoints in this lane.")]
@@ -32,6 +33,8 @@ public enum TurnDirectionType
private StopLine stopLine;
[SerializeField, Tooltip("Speed limit in m/s")]
private float speedLimit;
+ [SerializeField, Tooltip("Is intersection lane")]
+ public bool intersectionLane;
///
/// Get waypoints in this lane.
@@ -67,6 +70,11 @@ public StopLine StopLine
set => stopLine = value;
}
+ public Vector3 GetStopPoint(int waypointIndex = 0)
+ {
+ return StopLine == null ? Waypoints[waypointIndex] : StopLine.CenterPoint;
+ }
+
///
/// Get speed limit in m/s.
///
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleInternalState.cs b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleInternalState.cs
index 1832f5607..a1c1e2d3a 100644
--- a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleInternalState.cs
+++ b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleInternalState.cs
@@ -16,9 +16,14 @@ public enum NPCVehicleSpeedMode
public enum NPCVehicleYieldPhase
{
NONE,
- ENTERING_YIELDING_LANE,
- YIELDING,
- ON_YIELDING_LANE
+ ENTERING_INTERSECTION,
+ AT_INTERSECTION,
+ INTERSECTION_BLOCKED,
+ LEFT_HAND_RULE_ENTERING_INTERSECTION,
+ LEFT_HAND_RULE_AT_INTERSECTION,
+ LANES_RULES_ENTERING_INTERSECTION,
+ LANES_RULES_AT_INTERSECTION,
+ FORCING_PRIORITY
}
///
@@ -47,7 +52,7 @@ public class NPCVehicleInternalState
public TrafficLightPassability TrafficLightPassability { get; set; }
// Output from Cognition (Right of Way)
- public TrafficLane YieldLane { get; set; }
+ public TrafficLane? YieldLane { get; set; }
public NPCVehicleYieldPhase YieldPhase { get; set; }
public Vector3 YieldPoint { get; set; }
@@ -60,6 +65,7 @@ public class NPCVehicleInternalState
public float Yaw { get; set; }
public float Speed { get; set; }
public float YawSpeed { get; set; }
+ public float Width { get; set; }
// Output from any steps
public bool ShouldDespawn { get; set; }
@@ -74,17 +80,40 @@ public class NPCVehicleInternalState
public Vector3 FrontCenterPosition =>
Position + Quaternion.AngleAxis(Yaw, Vector3.up) * FrontCenterLocalPosition;
- public Vector3 BackCenterPosition =>
- Position + Quaternion.AngleAxis(Yaw, Vector3.up) * BackCenterLocalPosition;
+ public Vector3 ExpandedBackCenterPosition(float extensionToRear = 0f)
+ {
+ var backCenterPositionRaw = BackCenterLocalPosition;
+ backCenterPositionRaw.z -= extensionToRear;
+ if (Vehicle.TrailerTransform)
+ {
+ var yaw = Vehicle.TrailerTransform.rotation.eulerAngles.y;
+ return Vehicle.TrailerTransform.position + Quaternion.AngleAxis(yaw, Vector3.up) * backCenterPositionRaw;
+ }
+ else
+ {
+ return Position + Quaternion.AngleAxis(Yaw, Vector3.up) * backCenterPositionRaw;
+ }
+ }
+
+ public Vector3 BackCenterPosition => ExpandedBackCenterPosition(0f);
public float DistanceToTargetPoint
=> SignedDistanceToPointOnLane(TargetPoint);
+ public Vector3 CurrentWaypoint => CurrentFollowingLane.Waypoints[WaypointIndex];
+
public float DistanceToCurrentWaypoint
- => SignedDistanceToPointOnLane(CurrentFollowingLane.Waypoints[WaypointIndex]);
+ => SignedDistanceToPointOnLane(CurrentWaypoint);
public float DistanceToNextLane
- => SignedDistanceToPointOnLane(CurrentFollowingLane.Waypoints[CurrentFollowingLane.Waypoints.Length - 1]);
+ => CurrentFollowingLane?.Waypoints?.Any() != true ? float.MaxValue
+ : SignedDistanceToPointOnLane(CurrentFollowingLane.Waypoints.Last());
+
+ public float DistanceToIntersection
+ => FirstLaneWithIntersection == null ? float.MaxValue
+ : SignedDistanceToPointOnLane(FirstLaneWithIntersection.StopLine?.CenterPoint ?? FirstLaneWithIntersection.Waypoints[0]);
+
+ public bool ObstructedByVehicleBehindIntersection => DistanceToIntersection > DistanceToFrontVehicle;
private int routeIndex = 0;
@@ -101,8 +130,27 @@ public float SignedDistanceToPointOnLane(Vector3 point)
return hasPassedThePoint ? -distance : distance;
}
- public TrafficLane CurrentFollowingLane
- => FollowingLanes.FirstOrDefault();
+ public TrafficLane CurrentFollowingLane => FollowingLanes.FirstOrDefault();
+
+ public TrafficLane FirstLaneWithIntersection => FollowingLanes.FirstOrDefault(lane => lane.intersectionLane == true);
+
+ public bool IsNextLaneIntersection => FollowingLanes.Count > 0 && FollowingLanes[1].intersectionLane;
+
+ public Vector3? LastIntersectionWaypoint
+ => FirstLaneWithIntersection?.Waypoints?.Any() != true ? (Vector3?)null
+ : FirstLaneWithIntersection.Waypoints.Last();
+
+ public Vector3? FirstIntersectionWaypoint
+ => FirstLaneWithIntersection?.Waypoints?.Any() != true ? (Vector3?)null
+ : FirstLaneWithIntersection.Waypoints.First();
+
+ public bool yieldingPriorityAtTrafficLight => (!CurrentFollowingLane.intersectionLane
+ && TrafficLightPassability == TrafficLightPassability.RED);
+
+ public bool isOnIntersection => FollowingLanes.Count > 0 && CurrentFollowingLane.intersectionLane;
+
+ public bool isIntersectionWithYieldingLane => FirstLaneWithIntersection?.RightOfWayLanes.Count > 0;
+
///
/// Get the next lane of .
@@ -138,10 +186,12 @@ public bool ExtendFollowingLane()
// If the internal state has route - use it. Otherwise, choose next lane randomly.
var lastLane = FollowingLanes.Last();
TrafficLane nextLane;
- if(Route == null || Route.Count == 0 || routeIndex + 1 == Route.Count)
+ if (Route == null || Route.Count == 0 || routeIndex + 1 == Route.Count)
{
nextLane = RandomTrafficUtils.GetRandomElement(lastLane.NextLanes);
- } else {
+ }
+ else
+ {
// Todo: check if route[0] equals to the spawnlane
// Todo: check if next lane in route is valid (is one of lastLane.NextLanes)
routeIndex += 1;
@@ -178,7 +228,8 @@ public static NPCVehicleInternalState Create(NPCVehicle vehicle, TrafficLane lan
x = 0f,
y = 0f,
z = vehicle.Bounds.min.z
- }
+ },
+ Width = vehicle.Bounds.size.x
};
state.FollowingLanes.Add(lane);
return state;
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleSimulator.cs b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleSimulator.cs
index 3c3894d83..10ffba0f9 100644
--- a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleSimulator.cs
+++ b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/NPCVehicleSimulator.cs
@@ -39,7 +39,7 @@ public NPCVehicleSimulator(NPCVehicleConfig config,
LayerMask vehicleLayerMask,
LayerMask groundLayerMask,
int maxVehicleCount,
- GameObject egoVehicle)
+ GameObject egoVehicle)
{
vehicleStates = new List();
cognitionStep = new NPCVehicleCognitionStep(vehicleLayerMask, groundLayerMask, maxVehicleCount);
@@ -47,7 +47,7 @@ public NPCVehicleSimulator(NPCVehicleConfig config,
controlStep = new NPCVehicleControlStep(config);
visualizationStep = new NPCVehicleVisualizationStep();
this.maxVehicleCount = maxVehicleCount;
- EGOVehicle = egoVehicle.transform;
+ EGOVehicle = egoVehicle.transform;
}
@@ -56,7 +56,7 @@ public NPCVehicleSimulator(NPCVehicleConfig config,
///
public void UnregisterEgo()
{
- if(dummyEgo)
+ if (dummyEgo)
{
EGOVehicle = dummyEgo;
}
@@ -69,7 +69,7 @@ public void SetDummyEgo(GameObject ego)
{
dummyEgo = ego.transform;
}
-
+
///
/// Registers Ego vehicle.
///
@@ -142,15 +142,15 @@ public void StepOnce(float deltaTime)
///
/// Show editor gizmos for debugging.
///
- public void ShowGizmos()
+ public void ShowGizmos(bool showYieldingPhase, bool showObstacleChecking)
{
decisionStep.ShowGizmos(VehicleStates);
- cognitionStep.ShowGizmos(VehicleStates);
+ cognitionStep.ShowGizmos(VehicleStates, showYieldingPhase, showObstacleChecking);
}
public void ClearAll()
{
- foreach (var state in VehicleStates)
+ foreach (var state in VehicleStates)
{
state.ShouldDespawn = true;
}
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleCognitionStep.cs b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleCognitionStep.cs
index 0f3960dea..f1b4d043d 100644
--- a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleCognitionStep.cs
+++ b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleCognitionStep.cs
@@ -180,7 +180,7 @@ public void Execute(int index)
// Reduce the detection range so that large sized vehicles can pass each other.
var boxCastExtents = States[stateIndex].Extents * 0.5f;
- boxCastExtents.y *= 3;
+ boxCastExtents.y *= 1;
boxCastExtents.z = 0.1f;
var endPoint = Waypoints[waypointOffset + waypointIndex];
@@ -276,6 +276,12 @@ public void Execute(int index)
///
private struct RightOfWayCheckJob
{
+ public static float minimumDistanceToIntersection = 18f;
+
+ public static float maximumOverrunStopPointForLaneRules = 1f;
+
+ public static float differenceOrientationDegreesImplyingPerpendicularRoad = 35f;
+
// In
public Transform EGOTransform;
@@ -285,176 +291,543 @@ private struct RightOfWayCheckJob
///
/// Checks traffic conditions on right of ways.
/// This method consists of the following steps:
- /// - Find
+ /// - Find
///
public void Execute()
{
- foreach (var state in States)
+ foreach (var refState in States)
{
- if (state.ShouldDespawn)
+ if (refState.ShouldDespawn)
continue;
- switch (state.YieldPhase)
+ switch (refState.YieldPhase)
{
case NPCVehicleYieldPhase.NONE:
- // Check if the next lane is a yielding lane.
- if (state.FollowingLanes.Count > 1)
+ refState.YieldLane = null;
+ if (isEnteringIntersection(refState))
{
- var nextLane = state.FollowingLanes[1];
- var isEnteringYieldingLane = nextLane.RightOfWayLanes.Count > 0;
- if (isEnteringYieldingLane)
- {
- state.YieldPhase = NPCVehicleYieldPhase.ENTERING_YIELDING_LANE;
- state.YieldPoint = GetStopPoint(nextLane);
- state.YieldLane = nextLane;
- break;
- }
+ refState.YieldPoint = refState.FirstLaneWithIntersection.GetStopPoint();
+ refState.YieldPhase = NPCVehicleYieldPhase.ENTERING_INTERSECTION;
}
- // Check if the current lane is a yielding lane.
- if (state.FollowingLanes.Count > 0)
+ else if (refState.isOnIntersection)
{
- var currentLine = state.FollowingLanes[0];
- if (currentLine.RightOfWayLanes.Count > 0)
- {
- state.YieldPhase = NPCVehicleYieldPhase.ON_YIELDING_LANE;
- state.YieldPoint = GetStopPoint(currentLine, 1);
- state.YieldLane = currentLine;
- break;
- }
+ refState.YieldPhase = NPCVehicleYieldPhase.AT_INTERSECTION;
}
+
+ if (refState.YieldPhase != NPCVehicleYieldPhase.NONE)
+ if (refState.isIntersectionWithYieldingLane)
+ refState.YieldLane = refState.FirstLaneWithIntersection;
+ else
+ refState.YieldLane = null;
break;
- case NPCVehicleYieldPhase.ON_YIELDING_LANE:
- case NPCVehicleYieldPhase.ENTERING_YIELDING_LANE:
- // Do nothing if the vehicle is far from stop line
- var signedDistanceToStopLine = state.SignedDistanceToPointOnLane(state.YieldPoint);
- if (signedDistanceToStopLine >= 3f)
- break;
- var shouldYield = ShouldYield(state, States, EGOTransform, out var dominatingVehicle);
- state.DominatingVehicle = dominatingVehicle;
- if (shouldYield)
- state.YieldPhase = NPCVehicleYieldPhase.YIELDING;
-
- // Cancel yielding if the vehicle exceeds stop line
- if (signedDistanceToStopLine < -2f)
- state.YieldPhase = NPCVehicleYieldPhase.NONE;
+
+ case NPCVehicleYieldPhase.ENTERING_INTERSECTION:
+ if (refState.isOnIntersection)
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.AT_INTERSECTION;
+ }
+ else if (ShouldYieldDueToLanes(refState, States, false))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.LANES_RULES_ENTERING_INTERSECTION;
+ }
+ else if (isIntersectionBusy(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.INTERSECTION_BLOCKED;
+ }
+ else if (isLeftHandRuleEnteringIntersection(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.LEFT_HAND_RULE_ENTERING_INTERSECTION;
+ }
break;
- case NPCVehicleYieldPhase.YIELDING:
- shouldYield = ShouldYield(state, States, EGOTransform, out dominatingVehicle);
- state.DominatingVehicle = dominatingVehicle;
- if (!shouldYield)
- state.YieldPhase = NPCVehicleYieldPhase.NONE;
+ case NPCVehicleYieldPhase.AT_INTERSECTION:
+ if (!refState.isOnIntersection)
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.NONE;
+ }
+ else if (ShouldYieldDueToLanes(refState, States, true))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.LANES_RULES_AT_INTERSECTION;
+ }
+ else if (isSomeVehicleForcingPriority(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.FORCING_PRIORITY;
+ }
+ else if (isLeftHandRuleOnIntersection(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.LEFT_HAND_RULE_AT_INTERSECTION;
+ }
+ break;
+
+ case NPCVehicleYieldPhase.INTERSECTION_BLOCKED:
+ if (!isIntersectionBusy(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.NONE;
+ }
+ break;
+ case NPCVehicleYieldPhase.LANES_RULES_ENTERING_INTERSECTION:
+ if (refState.isOnIntersection || !ShouldYieldDueToLanes(refState, States, false))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.NONE;
+ }
+ break;
+ case NPCVehicleYieldPhase.LANES_RULES_AT_INTERSECTION:
+ if (!ShouldYieldDueToLanes(refState, States, true))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.NONE;
+ }
+ break;
+ case NPCVehicleYieldPhase.LEFT_HAND_RULE_ENTERING_INTERSECTION:
+ if (refState.isOnIntersection || !isLeftHandRuleEnteringIntersection(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.NONE;
+ }
+ break;
+ case NPCVehicleYieldPhase.LEFT_HAND_RULE_AT_INTERSECTION:
+ if (!isLeftHandRuleOnIntersection(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.NONE;
+ }
+ break;
+ case NPCVehicleYieldPhase.FORCING_PRIORITY:
+ if (!isSomeVehicleForcingPriority(refState, States))
+ {
+ refState.YieldPhase = NPCVehicleYieldPhase.NONE;
+ }
+ break;
+ default:
+ throw new Exception($"Unattended NPCVehicleYieldPhase case: {refState.YieldPhase}");
break;
}
}
}
- private static Vector3 GetStopPoint(TrafficLane lane, int waypointIndex = 0)
+ static private bool isYieldingDueToRules(NPCVehicleInternalState refState)
+ {
+ return refState.YieldPhase == NPCVehicleYieldPhase.LEFT_HAND_RULE_ENTERING_INTERSECTION ||
+ refState.YieldPhase == NPCVehicleYieldPhase.LEFT_HAND_RULE_AT_INTERSECTION ||
+ refState.YieldPhase == NPCVehicleYieldPhase.LANES_RULES_ENTERING_INTERSECTION ||
+ refState.YieldPhase == NPCVehicleYieldPhase.LANES_RULES_AT_INTERSECTION;
+ }
+
+ static private bool isYieldingDueToLanesBeforeIntersection(NPCVehicleInternalState refState)
+ {
+ return
+ refState.YieldPhase == NPCVehicleYieldPhase.LEFT_HAND_RULE_ENTERING_INTERSECTION ||
+ refState.YieldPhase == NPCVehicleYieldPhase.LANES_RULES_ENTERING_INTERSECTION;
+ }
+
+ static private bool theSameIntersectionLane(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
+ {
+ return refState.FirstLaneWithIntersection?.name == otherState.FirstLaneWithIntersection?.name;
+ }
+
+ static private bool isEnteringFromTheSameSide(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
+ {
+ if (otherState.FirstLaneWithIntersection == null || refState.FirstLaneWithIntersection == null)
+ return false;
+ else
+ return Vector3.Distance(refState.FirstIntersectionWaypoint.Value, otherState.FirstIntersectionWaypoint.Value) < 3f;
+ }
+
+ static private bool isVehicleOnTheLeft(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
{
- return lane.StopLine == null
- ? lane.Waypoints[waypointIndex]
- : lane.StopLine.CenterPoint;
+ Vector3 refPosition = new Vector3(refState.FrontCenterPosition.x, 0f, refState.FrontCenterPosition.z);
+ Vector3 positionBack = new Vector3(otherState.BackCenterPosition.x, 0f, otherState.BackCenterPosition.z);
+ Vector3 positionFront = new Vector3(otherState.FrontCenterPosition.x, 0f, otherState.FrontCenterPosition.z);
+ var crossFront = Vector3.Cross(refState.Forward, positionFront - refPosition).y;
+ var crossBack = Vector3.Cross(refState.Forward, positionBack - refPosition).y;
+ return crossFront < 0f || crossBack < 0f;
}
- private static bool ShouldYield(
- NPCVehicleInternalState state, IReadOnlyList states,
- Transform egoTransform, out Transform dominatingVehicle)
+
+ ///
+ /// Check if the otherState must yield priority based on RightOfWayLanes to refState at the intersection
+ ///
+ static private bool shouldHavePriority(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
{
- dominatingVehicle = null;
- foreach (var lane in state.YieldLane.RightOfWayLanes)
+ if (otherState.FirstLaneWithIntersection != null && refState.FirstLaneWithIntersection != null)
{
- var isDominatedByNPC = IsLaneDominatedByAny(lane, states, state, out dominatingVehicle);
- if (isDominatedByNPC)
+ foreach (TrafficLane otherStateLane in otherState.FirstLaneWithIntersection.RightOfWayLanes)
+ {
+ if (otherStateLane.name == refState.FirstLaneWithIntersection.name)
+ {
+ return true;
+ }
+ }
+ }
+ return false;
+ }
+
+ ///
+ /// Check if the refState must consider the otherState when examining yielding priority
+ ///
+ static private bool shouldBeConsideredForYielding(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
+ {
+ return refState.Vehicle.VehicleID != otherState.Vehicle.VehicleID && isEnteringIntersection(otherState);
+ }
+
+ ///
+ /// Check if the refState should be consider when examining yielding priority
+ ///
+ static private bool isEnteringIntersection(NPCVehicleInternalState refState)
+ {
+ return refState.DistanceToIntersection <= minimumDistanceToIntersection && !refState.ObstructedByVehicleBehindIntersection;
+ }
+
+ static private bool isLeftHandRuleEnteringIntersection(NPCVehicleInternalState refState, IReadOnlyList states)
+ {
+ foreach (var otherState in states)
+ {
+ if (!shouldBeConsideredForYielding(refState, otherState))
+ continue;
+
+ if (isYieldingDueToLanesBeforeIntersection(otherState) || otherState.yieldingPriorityAtTrafficLight)
+ continue;
+
+ if (isEnteringFromTheSameSide(refState, otherState))
+ continue;
+
+ if (!isVehicleOnTheLeft(refState, otherState))
+ continue;
+
+ if (intersectOverall(refState, otherState))
+ {
+ refState.DominatingVehicle = otherState.Vehicle.RigidBodyTransform;
+ refState.YieldPoint = refState.FollowingLanes[0].GetStopPoint();
return true;
+ }
+ }
+ return false;
+ }
+
+ static private bool isLeftHandRuleOnIntersection(NPCVehicleInternalState refState, IReadOnlyList states)
+ {
+ foreach (var otherState in states)
+ {
+ if (!shouldBeConsideredForYielding(refState, otherState))
+ continue;
- var isDominatedByEGO =
- egoTransform != null &&
- IsLaneDominatedBy(lane, egoTransform.position, egoTransform.forward);
- if (isDominatedByEGO)
+ if (!otherState.isOnIntersection)
+ continue;
+
+ if (isYieldingDueToRules(otherState))
+ continue;
+
+ if (isEnteringFromTheSameSide(refState, otherState))
+ continue;
+
+ if (!isVehicleOnTheLeft(refState, otherState))
+ continue;
+
+ // if the refState should yield priority due to lane rules
+ // ignore this condition and allow the refState to proceed to LANES_RULES_**
+ if (shouldHavePriority(otherState, refState))
+ continue;
+
+ if (intersectNowFront(refState, otherState))
{
- dominatingVehicle = egoTransform;
+ refState.DominatingVehicle = otherState.Vehicle.RigidBodyTransform;
+ refState.YieldPoint = refState.FrontCenterPosition;
return true;
}
}
+ return false;
+ }
+
+ static private bool isIntersectionBusy(NPCVehicleInternalState refState, IReadOnlyList states)
+ {
+ foreach (var otherState in states)
+ {
+ if (!shouldBeConsideredForYielding(refState, otherState))
+ continue;
+ if (!otherState.isOnIntersection)
+ continue;
+
+ if (isYieldingDueToRules(otherState) && isOnPerpendicularRoad(refState, otherState))
+ continue;
+
+ if (isEnteringFromTheSameSide(refState, otherState))
+ continue;
+
+ if (intersectOverall(refState, otherState))
+ {
+ refState.DominatingVehicle = otherState.Vehicle.RigidBodyTransform;
+ refState.YieldPoint = refState.FollowingLanes[0].GetStopPoint();
+ return true;
+ }
+ }
return false;
+
+ static bool isOnPerpendicularRoad(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
+ {
+ var diffAngleDegrees = Mathf.Abs(refState.Yaw - otherState.Yaw);
+ return (diffAngleDegrees < differenceOrientationDegreesImplyingPerpendicularRoad ||
+ diffAngleDegrees > 180f - differenceOrientationDegreesImplyingPerpendicularRoad);
+ }
}
- private static bool IsLaneDominatedByAny(TrafficLane lane, IReadOnlyList states,
- NPCVehicleInternalState refState, out Transform dominatingVehicle)
+ static private bool isSomeVehicleForcingPriority(NPCVehicleInternalState refState, IReadOnlyList states)
{
- foreach (var state in states)
+ foreach (var otherState in states)
{
- if (!IsLaneDominatedBy(lane, state))
+ if (!shouldBeConsideredForYielding(refState, otherState))
+ continue;
+
+ if (isYieldingDueToRules(otherState))
continue;
- if (haveTheVehiclesPassed(refState, state))
+
+ if (!shouldHavePriority(refState, otherState))
continue;
- dominatingVehicle = state.Vehicle.transform;
- return true;
+
+ if (intersectNowFront(refState, otherState))
+ {
+ refState.YieldPoint = refState.FrontCenterPosition;
+ refState.DominatingVehicle = otherState.Vehicle.RigidBodyTransform;
+ return true;
+ }
}
+ return false;
+ }
- dominatingVehicle = null;
+
+ private bool ShouldYieldDueToLanes(NPCVehicleInternalState refState, IReadOnlyList states, bool refOnIntersection)
+ {
+ if (refState.YieldLane == null)
+ return false;
+
+ var isNowYielding = isYieldingDueToRules(refState);
+ var stopPoint = refOnIntersection ? (refState.YieldLane.GetStopPoint(1)) : (refState.YieldLane.GetStopPoint());
+ // provide hysteresis equal to maximumOverrunStopPointForLaneRules/2.0
+ if (isNowYielding && refState.SignedDistanceToPointOnLane(refState.YieldPoint) < -maximumOverrunStopPointForLaneRules)
+ return false;
+ else if (!isNowYielding && refState.SignedDistanceToPointOnLane(stopPoint) < -maximumOverrunStopPointForLaneRules / 2.0)
+ return false;
+
+ Transform dominatingVehicle = null;
+ foreach (var lane in refState.YieldLane.RightOfWayLanes)
+ {
+ if (IsLaneDominatedByAny(lane, states, refState, refOnIntersection, out dominatingVehicle))
+ {
+ refState.YieldPoint = stopPoint;
+ refState.DominatingVehicle = dominatingVehicle;
+ return true;
+ }
+ else if (IsLaneDominatedByVehicle(lane, EGOTransform.position, EGOTransform.forward))
+ {
+ refState.YieldPoint = stopPoint;
+ refState.DominatingVehicle = EGOTransform;
+ return true;
+ }
+ }
return false;
- static bool haveTheVehiclesPassed(NPCVehicleInternalState refState, NPCVehicleInternalState state)
+
+ static bool IsLaneDominatedByAny(TrafficLane lane, IReadOnlyList states,
+ NPCVehicleInternalState refState, bool refOnIntersection, out Transform dominatingVehicle)
{
- var refPosition = refState.BackCenterPosition;
- var position = state.BackCenterPosition;
- refPosition.y = 0f;
- position.y = 0f;
- return Vector3.Dot(refState.Forward, position - refPosition) < 0f;
+ dominatingVehicle = null;
+ foreach (var otherState in states)
+ {
+ if (!shouldBeConsideredForYielding(refState, otherState))
+ continue;
+
+ if (otherState.yieldingPriorityAtTrafficLight)
+ continue;
+
+ if (refOnIntersection && (isYieldingDueToRules(otherState) || otherState.YieldPhase == NPCVehicleYieldPhase.INTERSECTION_BLOCKED))
+ continue;
+
+ if (!IsLaneDominatedBy(lane, otherState))
+ continue;
+
+ if (!intersectOverall(refState, otherState))
+ continue;
+
+ dominatingVehicle = otherState.Vehicle.RigidBodyTransform;
+ return true;
+ }
+ return false;
+ }
+
+ static bool IsLaneDominatedBy(TrafficLane lane, NPCVehicleInternalState state)
+ {
+ return (state.CurrentFollowingLane.intersectionLane || state.IsNextLaneIntersection) && state.FirstLaneWithIntersection == lane;
+ }
+
+ /// Check if is dominated by a vehicle whose position is and forward direction is .
+ /// All vehicles trying to pass on a non-priority lane needs to yield if any vehicle dominates the right of way lane.
+ /// It is implemented for vehicles for which lane information is not explicitly maintained, such as EGO vehicles.
+ ///
+ static bool IsLaneDominatedByVehicle(TrafficLane lane, Vector3 vehiclePosition, Vector3 vehicleForward)
+ {
+ vehiclePosition.y = 0f;
+ vehicleForward.y = 0f;
+ for (var i = 0; i < lane.Waypoints.Length - 1; i++)
+ {
+ var wp0 = lane.Waypoints[i];
+ var wp1 = lane.Waypoints[i + 1];
+ wp0.y = 0f;
+ wp1.y = 0f;
+ if (!IsInLaneSection(wp0, wp1, vehiclePosition))
+ continue;
+ if (Vector3.Angle(wp1 - wp0, vehicleForward) < 30f)
+ return true;
+ }
+ return false;
+
+ static bool IsInLaneSection(Vector3 v, Vector3 w, Vector3 p, float extent = 2f)
+ {
+ var l2 = (w - v).sqrMagnitude;
+ if (l2 == 0f)
+ return false;
+ var t = Vector3.Dot(p - v, w - v) / l2;
+ if (t > 1f || t < 0f)
+ return false;
+ var projection = v + t * (w - v);
+ return Vector3.Distance(p, projection) <= extent;
+ }
}
}
- ///
- /// Check if is dominated by .
- /// All vehicles trying to pass on a non-priority lane needs to yield if any vehicle dominates the right of way lane.
- ///
- private static bool IsLaneDominatedBy(TrafficLane lane, NPCVehicleInternalState state)
+
+ static private bool CheckIfLinesIntersect(Vector3 A1, Vector3 B1, Vector3 A2, Vector3 B2)
+ {
+ Vector2 line1point1 = new Vector2(A1.x, A1.z);
+ Vector2 line1point2 = new Vector2(B1.x, B1.z);
+ Vector2 line2point1 = new Vector2(A2.x, A2.z);
+ Vector2 line2point2 = new Vector2(B2.x, B2.z);
+
+ Vector2 a = line1point2 - line1point1;
+ Vector2 b = line2point1 - line2point2;
+ Vector2 c = line1point1 - line2point1;
+
+ float alphaNumerator = b.y * c.x - b.x * c.y;
+ float betaNumerator = a.x * c.y - a.y * c.x;
+ float denominator = a.y * b.x - a.x * b.y;
+
+ if (denominator == 0)
+ {
+ return false;
+ }
+ else if (denominator > 0)
+ {
+ if (alphaNumerator < 0 || alphaNumerator > denominator || betaNumerator < 0 || betaNumerator > denominator)
+ return false;
+ }
+ else if (alphaNumerator > 0 || alphaNumerator < denominator || betaNumerator > 0 || betaNumerator < denominator)
+ {
+ return false;
+ }
+ return true;
+ }
+
+ static private bool intersectOverall(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
{
- if (state.CurrentFollowingLane != lane)
+ Vector3? refStartNullable = refState.FirstIntersectionWaypoint;
+ Vector3? otherStartNullable = otherState.FirstIntersectionWaypoint;
+ if (refStartNullable == null || otherStartNullable == null)
+ return false;
+ Vector3? refGoalNullable = refState.LastIntersectionWaypoint;
+ Vector3? otherGoalNullable = otherState.LastIntersectionWaypoint;
+ if (refGoalNullable == null || otherGoalNullable == null)
+ return false;
+
+ if (!CheckIfLinesIntersect(refStartNullable.Value, refGoalNullable.Value, otherStartNullable.Value, otherGoalNullable.Value))
return false;
- // Ignore vehicles that will not enter the lane soon.
- var isWaitingTrafficLight = state.TrafficLightPassability == TrafficLightPassability.RED;
- return !isWaitingTrafficLight;
+ var refLane = refState.FirstLaneWithIntersection;
+ var otherLane = otherState.FirstLaneWithIntersection;
+
+ var refFirstWaypointIndex = (refLane.name == refState.CurrentFollowingLane.name) ? refState.WaypointIndex : 0;
+ var otherFirstWaypointIndex = (otherLane.name == otherState.CurrentFollowingLane.name) ? otherState.WaypointIndex : 0;
+ // check the intersection between all waypoints of these lanes (starting from CurrentWaypoint)
+ for (int i = refFirstWaypointIndex; i < refLane.Waypoints.Length - 1; i++)
+ {
+ for (int j = otherFirstWaypointIndex; j < otherLane.Waypoints.Length - 1; j++)
+ {
+ if (Vector3.Distance(refLane.Waypoints[i + 1], otherLane.Waypoints[j + 1]) < 1f)
+ return true;
+
+ if (CheckIfLinesIntersect(refLane.Waypoints[i], refLane.Waypoints[i + 1], otherLane.Waypoints[j], otherLane.Waypoints[j + 1]))
+ return true;
+ }
+ }
+
+ if (refLane.name == refState.CurrentFollowingLane.name)
+ {
+ // Check short section [BackCenterPosition->CurrentWaypoint] with all sections from otherLane
+ for (int j = otherFirstWaypointIndex; j < otherLane.Waypoints.Length - 1; j++)
+ {
+ if (CheckIfLinesIntersect(refState.BackCenterPosition, refState.CurrentWaypoint, otherLane.Waypoints[j], otherLane.Waypoints[j + 1]))
+ return true;
+ }
+ }
+
+
+ if (otherLane.name == otherState.CurrentFollowingLane.name)
+ {
+ // Check short section [otherState.BackCenterPosition->otherState.CurrentWaypoint] with all sections from otherLane
+ for (int i = refFirstWaypointIndex; i < refLane.Waypoints.Length - 1; i++)
+ {
+ if (CheckIfLinesIntersect(refLane.Waypoints[i], refLane.Waypoints[i + 1], otherState.BackCenterPosition, otherState.CurrentWaypoint))
+ return true;
+ }
+ }
+
+ // Check short sections [BackCenterPosition->CurrentWaypoint]x[otherState.BackCenterPosition->otherState.CurrentWaypoint]
+ return CheckIfLinesIntersect(refState.BackCenterPosition, refState.CurrentWaypoint, otherState.BackCenterPosition, otherState.CurrentWaypoint);
}
- ///
- /// Check if is dominated by a vehicle whose position is and forward direction is .
- /// All vehicles trying to pass on a non-priority lane needs to yield if any vehicle dominates the right of way lane.
- /// It is implemented for vehicles for which lane information is not explicitly maintained, such as EGO vehicles.
- ///
- private static bool IsLaneDominatedBy(TrafficLane lane, Vector3 vehiclePosition, Vector3 vehicleForward)
+ static private bool intersectNowFront(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
{
- vehiclePosition.y = 0f;
- vehicleForward.y = 0f;
- for (var i = 0; i < lane.Waypoints.Length - 1; i++)
+ if (!refState.CurrentFollowingLane.intersectionLane || !otherState.CurrentFollowingLane.intersectionLane)
+ return false;
+
+ var refLane = refState.CurrentFollowingLane;
+ var otherLane = otherState.CurrentFollowingLane;
+ // check the intersection between all waypoints of current lanes (starting from CurrentWaypoint)
+ for (int i = refState.WaypointIndex; i < refState.CurrentFollowingLane.Waypoints.Length - 1; i++)
{
- var wp0 = lane.Waypoints[i];
- var wp1 = lane.Waypoints[i + 1];
- wp0.y = 0f;
- wp1.y = 0f;
- if (!IsInLaneSection(wp0, wp1, vehiclePosition))
- continue;
- if (Vector3.Angle(wp1 - wp0, vehicleForward) < 30f)
- return true;
+ for (int j = otherState.WaypointIndex; j < otherState.CurrentFollowingLane.Waypoints.Length - 1; j++)
+ {
+ if (Vector3.Distance(refLane.Waypoints[i + 1], otherLane.Waypoints[j + 1]) < 1f)
+ return true;
+
+ if (CheckIfLinesIntersect(refLane.Waypoints[i], refLane.Waypoints[i + 1], otherLane.Waypoints[j], otherLane.Waypoints[j + 1]))
+ return true;
+ }
}
- return false;
+ Vector3 refPose = refState.FrontCenterPosition;
+ Vector3 refNearestWaypoint = refState.CurrentWaypoint;
+ // Check short section [FrontCenterPosition->CurrentWaypoint] with all sections from otherLane
+ for (int j = otherState.WaypointIndex; j < otherState.CurrentFollowingLane.Waypoints.Length - 1; j++)
+ {
+ if (Vector3.Distance(refNearestWaypoint, otherLane.Waypoints[j + 1]) < 1f)
+ return true;
+ if (CheckIfLinesIntersect(refPose, refNearestWaypoint, otherLane.Waypoints[j], otherLane.Waypoints[j + 1]))
+ return true;
+ }
- static bool IsInLaneSection(Vector3 v, Vector3 w, Vector3 p, float extent = 2f)
+ //BackCenterPosition is extended by the Width due to the use of lines intersection analysis (not bounding-boxes)
+ //vehicles have their own width - this can cause collisions at perpendicular intersections
+ Vector3 otherPose = otherState.ExpandedBackCenterPosition(refState.Width);
+ Vector3 otherNearestWaypoint = otherState.CurrentWaypoint;
+ // Check short section [otherState.ExpandedBackCenterPosition->otherState.CurrentWaypoint] with all sections from otherLane
+ for (int i = refState.WaypointIndex; i < refState.CurrentFollowingLane.Waypoints.Length - 1; i++)
{
- var l2 = (w - v).sqrMagnitude;
- if (l2 == 0f)
- return false;
- var t = Vector3.Dot(p - v, w - v) / l2;
- if (t > 1f || t < 0f)
- return false;
- var projection = v + t * (w - v);
- return Vector3.Distance(p, projection) <= extent;
+ if (Vector3.Distance(refLane.Waypoints[i + 1], otherNearestWaypoint) < 1f)
+ return true;
+
+ if (CheckIfLinesIntersect(refLane.Waypoints[i], refLane.Waypoints[i + 1], otherPose, otherNearestWaypoint))
+ return true;
}
+
+ // Check short sections [BackCenterPosition->CurrentWaypoint]x[[otherState.ExpandedBackCenterPosition->otherState.CurrentWaypoint]
+ return CheckIfLinesIntersect(refPose, refNearestWaypoint, otherPose, otherNearestWaypoint);
}
}
@@ -734,65 +1107,85 @@ public void Execute(
Profiler.EndSample();
}
- public void ShowGizmos(IReadOnlyList states)
+ public void ShowGizmos(IReadOnlyList states, bool showYieldingPhase, bool showObstacleChecking)
{
- foreach (var state in states)
+ if (showYieldingPhase)
{
- var currentPosition = state.FrontCenterPosition;
- currentPosition.y = state.Vehicle.transform.position.y + 1f;
-
- // Yield
- currentPosition.y += 3f;
- switch (state.YieldPhase)
+ foreach (var state in states)
{
- case NPCVehicleYieldPhase.NONE:
- break;
- case NPCVehicleYieldPhase.ENTERING_YIELDING_LANE:
- Gizmos.color = Color.yellow;
+ var stateCurrentPosition = state.FrontCenterPosition;
+ stateCurrentPosition.y = state.Vehicle.transform.position.y + 2f;
- Gizmos.DrawSphere(currentPosition, 0.4f);
- break;
- case NPCVehicleYieldPhase.YIELDING:
- Gizmos.color = Color.red;
- Gizmos.DrawSphere(currentPosition, 0.4f);
- if (state.DominatingVehicle != null)
- Gizmos.DrawLine(currentPosition, state.DominatingVehicle.transform.position);
- break;
+ if (state.YieldPhase == NPCVehicleYieldPhase.NONE ||
+ state.YieldPhase == NPCVehicleYieldPhase.ENTERING_INTERSECTION ||
+ state.YieldPhase == NPCVehicleYieldPhase.AT_INTERSECTION)
+ {
+ continue;
+ }
+
+ switch (state.YieldPhase)
+ {
+ case NPCVehicleYieldPhase.INTERSECTION_BLOCKED:
+ Gizmos.color = Color.blue;
+ break;
+ case NPCVehicleYieldPhase.LEFT_HAND_RULE_ENTERING_INTERSECTION:
+ Gizmos.color = Color.gray;
+ break;
+ case NPCVehicleYieldPhase.LEFT_HAND_RULE_AT_INTERSECTION:
+ Gizmos.color = Color.black;
+ break;
+ case NPCVehicleYieldPhase.LANES_RULES_ENTERING_INTERSECTION:
+ Gizmos.color = Color.yellow;
+ break;
+ case NPCVehicleYieldPhase.LANES_RULES_AT_INTERSECTION:
+ Gizmos.color = Color.red;
+ break;
+ case NPCVehicleYieldPhase.FORCING_PRIORITY:
+ Gizmos.color = Color.magenta;
+ break;
+ }
+ Gizmos.DrawCube(state.YieldPoint, new Vector3(1.0f, 0.2f, 1.0f));
+ Gizmos.DrawSphere(stateCurrentPosition, 0.5f);
+ if (state.DominatingVehicle != null)
+ Gizmos.DrawLine(stateCurrentPosition, state.DominatingVehicle.transform.position);
}
}
// Obstacle checking
- for (var stateIndex = 0; stateIndex < states.Count; stateIndex++)
- {
- Gizmos.color = states[stateIndex].IsStoppedByFrontVehicle
- ? new Color(1f, 0.2f, 0f)
- : Color.cyan;
-
- var boxcastCount = Mathf.Min(MaxBoxcastCount, nativeStates[stateIndex].WaypointCount);
- for (var commandIndex = stateIndex * MaxBoxcastCount;
- commandIndex < stateIndex * MaxBoxcastCount + boxcastCount;
- commandIndex++)
- {
- var hitInfo = obstacleHitInfoArray[commandIndex];
- var hasHit = hitInfo.collider != null;
-
- var command = boxcastCommands[commandIndex];
- var startPoint = command.center;
- var direction = command.direction;
- var distance = hasHit
- ? hitInfo.distance
- : command.distance;
- var extents = command.halfExtents;
- var destination = startPoint + distance * direction;
- var rotation = Quaternion.LookRotation(direction);
- Gizmos.matrix = Matrix4x4.TRS((destination + startPoint) / 2f, rotation, Vector3.one);
- var cubeSize = extents * 2f;
- cubeSize.z = distance;
- Gizmos.DrawWireCube(Vector3.zero, cubeSize);
- Gizmos.matrix = Matrix4x4.identity;
-
- if (hasHit)
- break;
+ if (showObstacleChecking)
+ {
+ for (var stateIndex = 0; stateIndex < states.Count; stateIndex++)
+ {
+ Gizmos.color = states[stateIndex].IsStoppedByFrontVehicle
+ ? new Color(1f, 0.2f, 0f)
+ : Color.cyan;
+
+ var boxcastCount = Mathf.Min(MaxBoxcastCount, nativeStates[stateIndex].WaypointCount);
+ for (var commandIndex = stateIndex * MaxBoxcastCount;
+ commandIndex < stateIndex * MaxBoxcastCount + boxcastCount;
+ commandIndex++)
+ {
+ var hitInfo = obstacleHitInfoArray[commandIndex];
+ var hasHit = hitInfo.collider != null;
+
+ var command = boxcastCommands[commandIndex];
+ var startPoint = command.center;
+ var direction = command.direction;
+ var distance = hasHit
+ ? hitInfo.distance
+ : command.distance;
+ var extents = command.halfExtents;
+ var destination = startPoint + distance * direction;
+ var rotation = Quaternion.LookRotation(direction);
+ Gizmos.matrix = Matrix4x4.TRS((destination + startPoint) / 2f, rotation, Vector3.one);
+ var cubeSize = extents * 2f;
+ cubeSize.z = distance;
+ Gizmos.DrawWireCube(Vector3.zero, cubeSize);
+ Gizmos.matrix = Matrix4x4.identity;
+
+ if (hasHit)
+ break;
+ }
}
}
}
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleDecisionStep.cs b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleDecisionStep.cs
index d19810aed..46e989bab 100644
--- a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleDecisionStep.cs
+++ b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleDecisionStep.cs
@@ -14,7 +14,7 @@ public class NPCVehicleDecisionStep
// MinFrontVehicleDistance is added to the threshold for the distance at which an obstacle is considered dangerous.
// The vehicle is controlled to stop at this distance away from the obstacle(e.g. another vehicle in front of the vehicle).
private const float MinFrontVehicleDistance = 4f;
- private const float MinStopDistance = 0.5f;
+ private const float MinStopDistance = 1.5f;
public NPCVehicleDecisionStep(NPCVehicleConfig config)
{
@@ -54,7 +54,9 @@ private static void UpdateTargetPoint(NPCVehicleInternalState state)
private static void UpdateSpeedMode(NPCVehicleInternalState state, NPCVehicleConfig config)
{
if (state.ShouldDespawn)
+ {
return;
+ }
var absoluteStopDistance = CalculateStoppableDistance(state.Speed, config.AbsoluteDeceleration) + MinStopDistance;
var suddenStopDistance = CalculateStoppableDistance(state.Speed, config.SuddenDeceleration) + 2 * MinStopDistance;
@@ -66,29 +68,19 @@ private static void UpdateSpeedMode(NPCVehicleInternalState state, NPCVehicleCon
var distanceToStopPointByRightOfWay = CalculateYieldingDistance(state);
var distanceToStopPoint = Mathf.Min(distanceToStopPointByFrontVehicle, distanceToStopPointByTrafficLight, distanceToStopPointByRightOfWay);
- // Speed mode updated by front vehicle is SLOW or SUDDEN_STOP/ABSOLUTE_STOP.
- // STOP state is not used to prevent the state from changing every frame.
- if (distanceToStopPointByFrontVehicle <= suddenStopDistance)
- {
- state.IsStoppedByFrontVehicle = true;
- state.SpeedMode = NPCVehicleSpeedMode.ABSOLUTE_STOP;
- return;
- }
- else if (distanceToStopPointByFrontVehicle <= stopDistance)
+ state.IsStoppedByFrontVehicle = false;
+ if (distanceToStopPointByFrontVehicle <= stopDistance)
{
state.IsStoppedByFrontVehicle = true;
- state.SpeedMode = NPCVehicleSpeedMode.SUDDEN_STOP;
- return;
}
- state.IsStoppedByFrontVehicle = false;
if (distanceToStopPoint <= absoluteStopDistance)
state.SpeedMode = NPCVehicleSpeedMode.ABSOLUTE_STOP;
- else if (distanceToStopPoint <= suddenStopDistance || state.YieldPhase == NPCVehicleYieldPhase.YIELDING)
+ else if (distanceToStopPoint <= suddenStopDistance)
state.SpeedMode = NPCVehicleSpeedMode.SUDDEN_STOP;
else if (distanceToStopPoint <= stopDistance)
state.SpeedMode = NPCVehicleSpeedMode.STOP;
- else if (distanceToStopPoint <= slowDownDistance || state.IsTurning || state.YieldPhase == NPCVehicleYieldPhase.ENTERING_YIELDING_LANE)
+ else if (distanceToStopPoint <= slowDownDistance || state.IsTurning)
state.SpeedMode = NPCVehicleSpeedMode.SLOW;
else
state.SpeedMode = NPCVehicleSpeedMode.NORMAL;
@@ -120,9 +112,9 @@ private static float CalculateTrafficLightDistance(NPCVehicleInternalState state
private static float CalculateYieldingDistance(NPCVehicleInternalState state)
{
var distanceToStopPointByRightOfWay = float.MaxValue;
- if (state.YieldPhase == NPCVehicleYieldPhase.YIELDING)
+ if (state.YieldPhase != NPCVehicleYieldPhase.NONE && state.YieldPhase != NPCVehicleYieldPhase.ENTERING_INTERSECTION && state.YieldPhase != NPCVehicleYieldPhase.AT_INTERSECTION)
distanceToStopPointByRightOfWay = state.SignedDistanceToPointOnLane(state.YieldPoint);
- return onlyGreaterThan(distanceToStopPointByRightOfWay, 0);
+ return onlyGreaterThan(distanceToStopPointByRightOfWay, -float.MaxValue);
}
private static float CalculateStoppableDistance(float speed, float deceleration)
@@ -153,7 +145,7 @@ public void ShowGizmos(IReadOnlyList states)
}
var currentPosition = state.FrontCenterPosition;
- currentPosition.y = state.Vehicle.transform.position.y + 1f;
+ currentPosition.y += 1f;
Gizmos.DrawLine(currentPosition, state.TargetPoint);
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs b/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs
index df0b51a74..c92bfb3c6 100644
--- a/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs
+++ b/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs
@@ -45,7 +45,9 @@ public GameObject egoVehicle {
[Header("Debug")]
[SerializeField] protected bool showGizmos = false;
-
+ [SerializeField] protected bool showYieldingPhase = false;
+ [SerializeField] protected bool showObstacleChecking = false;
+ [SerializeField] protected bool showSpawnPoints = false;
public RandomTrafficSimulatorConfiguration[] randomTrafficSims;
public RouteTrafficSimulatorConfiguration[] routeTrafficSims;
public NPCVehicleSimulator npcVehicleSimulator;
@@ -86,6 +88,7 @@ private void Awake()
void Start()
{
+ verifyIntegrationEnvironmentElements();
trafficSimulatorNodes = new List();
if (npcVehicleSimulator == null)
{
@@ -119,6 +122,44 @@ void Start()
trafficSimulatorNodes.Add(routeTs);
}
}
+ private void verifyIntegrationEnvironmentElements()
+ {
+ GameObject trafficLanesObject = GameObject.Find("TrafficLanes");
+ if (trafficLanesObject == null)
+ {
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Object 'TrafficLanes' not found in the scene.");
+ }
+
+ Transform[] children = trafficLanesObject.GetComponentsInChildren();
+ HashSet uniqueNames = new HashSet();
+ bool isAnyIntersectionLane = false;
+ bool isAnyTrafficScript = false;
+ foreach (Transform child in children)
+ {
+ var trafficScript = child.gameObject.GetComponent();
+ if (trafficScript)
+ {
+ isAnyTrafficScript = true;
+ if (trafficScript.intersectionLane)
+ {
+ isAnyIntersectionLane = true;
+ }
+ if (!uniqueNames.Add(child.name))
+ {
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Found repeated child name in the 'TrafficLanes' object: " + child.name);
+ }
+ }
+ }
+ if (!isAnyIntersectionLane)
+ {
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Not found any TrafficLane with 'IntersectionLane' set to true.");
+ }
+ if (!isAnyTrafficScript)
+ {
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Not found any TrafficLane with 'TrafficScript'.");
+ }
+
+ }
private void FixedUpdate()
{
@@ -206,14 +247,36 @@ private void OnDestroy()
npcVehicleSimulator?.Dispose();
}
+ private void DrawSpawnPoints()
+ {
+ Gizmos.color = Color.cyan;
+ foreach (var randomTrafficConf in randomTrafficSims)
+ {
+ foreach (var lane in randomTrafficConf.spawnableLanes)
+ {
+ Gizmos.DrawCube(lane.Waypoints[0], new Vector3(2.5f, 0.2f, 2.5f));
+ }
+ }
+
+ Gizmos.color = Color.magenta;
+ foreach (var routeTrafficSimConf in routeTrafficSims)
+ {
+ if (routeTrafficSimConf.route.Length > 0)
+ {
+ Gizmos.DrawCube(routeTrafficSimConf.route[0].Waypoints[0], new Vector3(2.5f, 0.2f, 2.5f));
+ }
+ }
+ }
+
private void OnDrawGizmos()
{
if (!showGizmos)
return;
var defaultColor = Gizmos.color;
-
- npcVehicleSimulator?.ShowGizmos();
+ npcVehicleSimulator?.ShowGizmos(showYieldingPhase, showObstacleChecking);
+ if (showSpawnPoints)
+ DrawSpawnPoints();
Gizmos.color = defaultColor;
}
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/Utils/AssignIntersectionTrafficLanes.cs b/Assets/AWSIM/Scripts/RandomTraffic/Utils/AssignIntersectionTrafficLanes.cs
new file mode 100644
index 000000000..1293dce05
--- /dev/null
+++ b/Assets/AWSIM/Scripts/RandomTraffic/Utils/AssignIntersectionTrafficLanes.cs
@@ -0,0 +1,168 @@
+using System;
+using System.IO;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+using ROS2;
+
+namespace AWSIM.TrafficSimulation
+{
+ ///
+ /// To make the yielding rules work properly, it is necessary to catagorize the TrafficLanes.
+ /// The ones that belong to an intersection have the IntersectionLane variable set to true.
+ /// To automate the assignment of the corresponding IntersectionLane to each TrafficLane, this script can be used.
+ ///
+ [ExecuteInEditMode]
+ public class AssignIntersectionTrafficLanes : MonoBehaviour
+ {
+ [SerializeField, Tooltip("TrafficLanes parent - reference to parent of the GameObjects with the TrafficLane script.")]
+ public GameObject trafficLanesObjectsParent;
+
+ [SerializeField, Tooltip("Show details of each intersectionLane assignment.")]
+ public bool showDetailsOfEachAssignment;
+
+ [SerializeField, Tooltip("Cleaning up the intersectionLane variable")]
+ public bool removeCurrentAssignment;
+
+ [SerializeField, Tooltip("Setup TrafficLane names - with suffix *.")]
+ public bool setNamesIncrementally;
+
+ [SerializeField, Tooltip("Assign based on RightOfWayLanes")]
+ public bool assignBasedOnRightOfWayLanes;
+
+
+ private void OnEnable()
+ {
+ // checks if the reference to the parent of objects containing TrafficLanes has been assigned
+ if (CheckReferences())
+ {
+ // allows to remove current intersectionLane assignments in all children
+ if (removeCurrentAssignment)
+ CleanUpIntersectionLanesVariable();
+
+ // allows to add incremented prefix ".();
+ if (refTrafficLane != null)
+ {
+ refTrafficLane.intersectionLane = false;
+ }
+ else
+ {
+ Debug.LogWarning($"Found GameObject ${refTrafficLaneTransform.name} without TrafficLane script in parent {trafficLanesObjectsParent.name}.");
+ }
+ }
+ Debug.Log("Previous command finished.");
+ }
+
+ private void SetTrafficLaneNames()
+ {
+ Debug.Log("Start setting names incrementally.");
+ int trafficLaneNumber = 0;
+ foreach (Transform refTrafficLaneTransform in trafficLanesObjectsParent.transform)
+ {
+ var refTrafficLaneObj = refTrafficLaneTransform.gameObject;
+ if (refTrafficLaneObj != null)
+ {
+ refTrafficLaneObj.name = $"TrafficLane.{trafficLaneNumber++}";
+ }
+ else
+ {
+ Debug.LogWarning($"Found GameObject ${refTrafficLaneObj.name} without TrafficLane script in parent {trafficLanesObjectsParent.name}.");
+ }
+ }
+ Debug.Log("Previous command finished.");
+ }
+
+
+ private void AssignBasedOnRightOfWayLanes()
+ {
+ Debug.Log("Start assignment based on RightOfWayLanes.");
+ // iterate through all the children of trafficLanesObjectsParent
+ foreach (Transform refTrafficLaneTransform in trafficLanesObjectsParent.transform)
+ {
+ var refTrafficLane = refTrafficLaneTransform.GetComponent();
+ // check if the child has an TrafficLane script
+ if (refTrafficLane == null)
+ {
+ Debug.LogWarning($"Found GameObject ${refTrafficLaneTransform.name} without TrafficLane script in parent {trafficLanesObjectsParent.name}.");
+ continue;
+ }
+ // If refTrafficLane is already an intersectionLane, skip this TrafficLane
+ else if (refTrafficLane.intersectionLane == true)
+ {
+ continue;
+ }
+ // If refTrafficLane has RightOfWayLanes, set it as an intersectionLane and skip this TrafficLane
+ else if (refTrafficLane.RightOfWayLanes != null && refTrafficLane.RightOfWayLanes.Count > 0)
+ {
+ refTrafficLane.intersectionLane = true;
+ if (showDetailsOfEachAssignment)
+ Debug.Log($"{refTrafficLaneTransform.name} has been assigned as intersectionLane.");
+ continue;
+ }
+ // Else search for otherTrafficLane that has refTrafficLane in RightOfWayLanes, if found, assign intersectionLane as true and break
+ else
+ {
+ foreach (Transform otherTrafficLaneTransform in trafficLanesObjectsParent.transform)
+ {
+ var otherTrafficLane = otherTrafficLaneTransform.GetComponent();
+ if (otherTrafficLane == null)
+ {
+ Debug.LogWarning($"Found GameObject ${otherTrafficLaneTransform.name} without TrafficLane script in parent {trafficLanesObjectsParent.name}.");
+ continue;
+ }
+
+ foreach (TrafficLane otherRightOfLane in otherTrafficLane.RightOfWayLanes)
+ {
+ if (otherRightOfLane != null && otherRightOfLane.name == refTrafficLane.name)
+ {
+ refTrafficLane.intersectionLane = true;
+ otherTrafficLane.intersectionLane = true;
+ if (showDetailsOfEachAssignment)
+ {
+ Debug.Log($"{refTrafficLaneTransform.name} has been assigned as intersectionLane.");
+ Debug.Log($"{otherTrafficLaneTransform.name} has been assigned as intersectionLane.");
+ }
+ break;
+ }
+ }
+ // If refTrafficLane is already an intersectionLane -> interrupt further search
+ if (refTrafficLane.intersectionLane == true)
+ break;
+ }
+ }
+ }
+ Debug.Log("Previous command finished.");
+ }
+ }
+}
+
+
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/Utils/AssignIntersectionTrafficLanes.cs.meta b/Assets/AWSIM/Scripts/RandomTraffic/Utils/AssignIntersectionTrafficLanes.cs.meta
new file mode 100644
index 000000000..7234aa409
--- /dev/null
+++ b/Assets/AWSIM/Scripts/RandomTraffic/Utils/AssignIntersectionTrafficLanes.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d82c0ccfa439c03eb8962fb41bb63899
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/docs/Components/Traffic/RandomTraffic/AddRandomTrafficEnvironment/index.md b/docs/Components/Traffic/RandomTraffic/AddRandomTrafficEnvironment/index.md
index b83a69c9f..1cc2b716c 100644
--- a/docs/Components/Traffic/RandomTraffic/AddRandomTrafficEnvironment/index.md
+++ b/docs/Components/Traffic/RandomTraffic/AddRandomTrafficEnvironment/index.md
@@ -65,6 +65,26 @@ For each right turn lane that yields to the opposite straight or left turn lane,
If there is no visible stop line, a `StopLine` component should be added to the scene, near the center of the intersection and associated with `TrafficLane`.
+## Assign Intersection TrafficLanes
+To make the yielding rules work properly, it is necessary to catagorize the `TrafficLanes`.
+The ones that belong to an intersection have the `IntersectionLane` variable set to true.
+
+To automate the assignment of the corresponding `IntersectionLane` to each `TrafficLane`, the script `AssignIntersectionTrafficLanes` can be used.
+
+
+1. At the time of assignment, add it as a component to some object in the scene (e.g. to the `Environment` object).
+2. Disable the component (uncheck the checkbox next to the script name).
+3. Assign to `TrafficLanesObjectsParent` *GameObject*, which contains all `TrafficLanes` objects.
+4. Check all 4 options.
+5. Enable the component (check the checkbox next to the script name).
+
+Check the log to see if all operations were completed:
+
+
+As a result, the names of `TrafficLane` objects should have prefixes with sequential numbers and `TrafficLane` at intersections should be marked. `TrafficLanes` with `IntersectionLane` set to *True* are displayed by *Gizmos* in green color, if `IntersectionLane` is *False* their color is white.
+
+
+
## Check final configuration
Once all the components are ready, the simulation can be run.
diff --git a/docs/Components/Traffic/RandomTraffic/AddRandomTrafficEnvironment/intersectionlane.png b/docs/Components/Traffic/RandomTraffic/AddRandomTrafficEnvironment/intersectionlane.png
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diff --git a/docs/Components/Traffic/RandomTraffic/YieldingRules/LEFT_HAND_RULE_ENTERING_INTERSECTION.png b/docs/Components/Traffic/RandomTraffic/YieldingRules/LEFT_HAND_RULE_ENTERING_INTERSECTION.png
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diff --git a/docs/Components/Traffic/RandomTraffic/YieldingRules/index.md b/docs/Components/Traffic/RandomTraffic/YieldingRules/index.md
new file mode 100644
index 000000000..45941b92f
--- /dev/null
+++ b/docs/Components/Traffic/RandomTraffic/YieldingRules/index.md
@@ -0,0 +1,48 @@
+# Yielding rules
+The `RandomTrafficSimulator` assumes that there are 10 phases of yielding priority:
+
+!!! note "RandomTrafficYielding scene"
+ If you would like to see how `RandomTrafficSimulator` with yielding rules works or run some tests, we encourage you to familiarize yourself with the `RandomTrafficYielding` scene described in this [section](../../../../ProjectGuide/Scenes/#randomtrafficyielding).
+
+1. `NONE` - state in which it is only checked if a vehicle is approaching the intersection. If yes, a transition to state `ENTERING_INTERSECTION` is made.
+
+2. `ENTERING_INTERSECTION` - state in which it is checked if any of the situations `LANES_RULES_ENTERING_INTERSECTION`, `LEFT_HAND_RULE_ENTERING_INTERSECTION`, `INTERSECTION_BLOCKED` occur, if yes the state of the vehicle is changed to one matching the situation - to determine if the vehicle must yield priority. If none of these situations occur only the entry into the intersection will result in a transition to `AT_INTERSECTION`.
+
+3. `AT_INTERSECTION` - state in which it is checked if any of the situations `LANES_RULES_AT_INTERSECTION`, `LEFT_HAND_RULE_AT_INTERSECTION`, `FORCING_PRIORITY` occur, if yes the state of the vehicle is changed to one matching the situation - to determine if the vehicle must yield priority. If none of these situations occur only leaving the intersection will result in a transition to `NONE`.
+
+4. `INTERSECTION_BLOCKED` - when vehicle A is approaching the intersection, it yields priority to vehicle B, which should yield priority, but is forcing it - this refers to a situation in which vehicle B has entered the intersection and has already passed its stop point vehicle B isn’t going to stop but has to leave the intersection. Until now, vehicle A has continued to pass through the intersection without taking vehicle B into account, now it is checking if any vehicle is forcing priority (vehicle A has `INTERSECTION_BLOCKED` state).
+
**(vehicle A is red car with blue sphere, B is the white car to which it points)**
+
+
+
+1. `LEFT_HAND_RULE_ENTERING_INTERSECTION` - vehicle A, before entering the intersection where the traffic lights are off, yields priority to vehicles (ex. B) that are approaching to the intersection and are on the left side of vehicle A.
+Until now, situations in which the lights are off were not handled. If a vehicle didn't have a red light and was going straight - it just entered the intersection. Now vehicle A checks if the vehicles on the left (ex. B) have a red light, if not it yields them priority.
+
**(vehicle A is truck car with gray sphere, B is the white car to which it points)**
+
+
+
+1. `LEFT_HAND_RULE_AT_INTERSECTION` - when vehicle A is already at the intersection, yields priority to vehicles (ex. B) that are also at the intersection and are on its left side - in cases where no other yielding rules are resolved between them (i.e. there are no `RightOfWayLanes` between them).
+
**(vehicle A is red, B is white)**
+
+
+1. `LANES_RULES_ENTERING_INTERSECTION` - when vehicle B intends to turn left and is approaching at the intersection where it needs to yield to vehicle A which is going straight ahead, then it goes to state `LANES_RULES_ENTERING_INTERSECTION`. The introduced changes take into account that a vehicle approaching the intersection considers not only the vehicles at the intersection but also those which are approaching it (at a distance of less than `minimumDistanceToIntersection` to the intersection).
+
**(vehicle B is truck with yellow sphere, A the white car to which it points)**
+
+
+
+1. `LANES_RULES_AT_INTERSECTION` - when vehicle B intends to turn right and is already at the intersection where it needs to yield to vehicle A which is approaching the intersection, then it goes to state `LANES_RULES_AT_INTERSECTION`. The introduced changes take into account that a vehicle approaching the intersection considers not only the vehicles at the intersection but also those which are approaching it (at a distance of less than `minimumDistanceToIntersection` to the intersection).
+**(vehicle B is car with red sphere, A the white car to which it points)**
+
+
+
+1. `FORCING_PRIORITY` - state in which some vehicle B should yield priority to a vehicle A but doesn't - for some reason, most likely it could be some unusual situation in which all other rules have failed. Then vehicle A which is at intersection yields priority to a vehicle that is forcing priority. In such a situation, vehicle A transitions to state `FORCING_PRIORITY`. It is very rare to achieve this state, but it does happen.
+
+## Gizmos Markings
+- **No sphere** means the vehicle is in one of the following states - `NONE`, `ENTERING_INTERSECTION` or `AT_INTERSECTION`.
+- The **gray** sphere means that the vehicle is approaching the intersection and yields priority to the vehicle on the left side - `LEFT_HAND_RULE_ENTERING_INTERSECTION`.
+- The **black** sphere means that the vehicle is at the intersection and yields priority to a vehicle on the left side - `LEFT_HAND_RULE_AT_INTERSECTION`.
+- The **yellow** sphere means that the vehicle yields due to lanes rules before entering the intersection - `LANES_RULES_ENTERING_INTERSECTION`.
+- The **red** sphere means that it yields due to lanes rules but is already at the intersection - `LANES_RULES_AT_INTERSECTION`.
+- The **blue** sphere means that a vehicle is approaching the intersection and yields priority to a vehicle that is forcing priority - `INTERSECTION_BLOCKED` - when the turning vehicle begins to yield, then the blue sphere disappears. However, if the turning vehicle continues to turn (does not yield because it has passed the stopping point), then the vehicle going straight stops before the intersection and allows the turning vehicle to leave the intersection.
+- The **pink** sphere means that a vehicle is at intersection and yields priority to a vehicle that is forcing priority - `FORCING_PRIORITY`.
+
diff --git a/docs/Components/Traffic/TrafficComponents/index.md b/docs/Components/Traffic/TrafficComponents/index.md
index ab1d6164f..2b15f3894 100644
--- a/docs/Components/Traffic/TrafficComponents/index.md
+++ b/docs/Components/Traffic/TrafficComponents/index.md
@@ -125,6 +125,13 @@ The `EgoVehicle` field provides the information about Ego vehicle used for corre
`Show Gizmos` checkbox specifies whether the [Gizmos](#gizmos) visualization should be displayed when running the simulation.
+`Show Yielding Phase` checkbox specifies whether yielding phases should be displayed by Gizmos - in the form of spheres above vehicles, details in the [Markings](../RandomTraffic/RandomTrafficSimulator/) section.
+
+`Show Obstacle Checking` checkbox specifies whether obstacle checking should be displayed by Gizmos - in the form of boxes in front of vehicles
+
+`Show Spawn Points` checkbox specifies whether spawn points should be displayed by Gizmos - in the form of flat cuboids on roads.
+
+
!!! note "Gizmos performance"
Gizmos have a high computational load.
Enabling them may cause the simulation to lag.
diff --git a/docs/Components/Traffic/TrafficComponents/random_traffic_script.png b/docs/Components/Traffic/TrafficComponents/random_traffic_script.png
index c183bbddc..122af7d04 100644
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diff --git a/docs/ProjectGuide/Scenes/index.md b/docs/ProjectGuide/Scenes/index.md
index 2e1492b76..b1ee3427f 100644
--- a/docs/ProjectGuide/Scenes/index.md
+++ b/docs/ProjectGuide/Scenes/index.md
@@ -61,6 +61,17 @@ Replace the lights and configuration with your own and check whether it works co
+## RandomTrafficYielding
+The `RandomTrafficYielding` was developed to conduct a tests of a developed yielding rules at the single intersection.
+
+
+
+## RandomTrafficYieldingBirdEye
+The `RandomTrafficYielding` was developed to conduct a tests of a developed yielding rules with multiple vehicles moving around the entire environment.
+
+
## RGL test scenes
The scenes described below are used for tests related to the external library `RGLUnityPlugin` (`RGL`) - you can read more about it in this [section](../../Components/Sensors/LiDARSensor/RGLUnityPlugin/).
diff --git a/docs/ProjectGuide/Scenes/yielding_rules.mp4 b/docs/ProjectGuide/Scenes/yielding_rules.mp4
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index 000000000..c2f43a743
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diff --git a/docs/ProjectGuide/Scenes/yielding_rules_birdeye.png b/docs/ProjectGuide/Scenes/yielding_rules_birdeye.png
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diff --git a/mkdocs.yml b/mkdocs.yml
index 44434d8b8..7aef1e18b 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -88,6 +88,7 @@ nav:
- Traffic Components: Components/Traffic/TrafficComponents/index.md
- Random Traffic:
- Random Traffic Simulator: Components/Traffic/RandomTraffic/RandomTrafficSimulator/index.md
+ - Yielding Rules: Components/Traffic/RandomTraffic/YieldingRules/index.md
- Add Random Traffic Environment: Components/Traffic/RandomTraffic/AddRandomTrafficEnvironment/index.md
- NPCs:
- Pedestrian: Components/Traffic/NPCs/Pedestrian/index.md