Method _should_brake

leaderboard/team_code/auto_pilot.py:197–210

(self)

        return control

    def _should_brake(self):
        actors = self._world.get_actors()

        vehicle = self._is_vehicle_hazard(actors.filter('*vehicle*'))
        light = self._is_light_red(actors.filter('*traffic_light*'))
        walker = self._is_walker_hazard(actors.filter('*walker*'))
        stop_sign = self._is_stop_sign_hazard(actors.filter('*stop*'))

        self.is_vehicle_present = 1 if vehicle is not None else 0
        self.is_red_light_present = 1 if light is not None else 0
        self.is_pedestrian_present = 1 if walker is not None else 0
        self.is_stop_sign_present = 1 if stop_sign is not None else 0

        return any(x is not None for x in [vehicle, light, walker, stop_sign])

    def _point_inside_boundingbox(self, point, bb_center, bb_extent):
        A = carla.Vector2D(bb_center.x - bb_extent.x, bb_center.y - bb_extent.y)