autopilot hitting NPCs

[sandykalugdan]

Got this strange issue running my client...

My ego car is running in autopilot but for some reason, it is hitting NPCs in the simulation. Using map Town01 and running on behaviour agent and v0.9.12

autopilot1.mp4

[glopezdiest]

Hey @sandykalugdan, as for 0.9.12, agents are quite bad at detecting vehicle if either of them are part of an intersection. This was a known issue but we couldn't fix it until after releasing 0.9.12, so it's not working there. It is these changes plus this minor fix for the basic agent

[sandykalugdan]

@glopezdiest , thank you for your response. I'm going to try those fixes.

[ymurzello]

HI @glopezdiest
I tried these fixes as well as the agent scripts in v0.9.13 and I'm still having the same issue of the autopilot hitting the npcs. I'm running this in Town01 but I think it's an issue in other Towns with junctions too.

[sandykalugdan]

Hello @glopezdiest, unfortunately, the codes didn't help much in solving my issue. Using the provided fix, my client went totally uncontrollable and won't event activate my autopilot scenario.

[glopezdiest]

What do you mean by uncontrollable ? The code just alters the vehicle detection, so it shouldn't affect anything else

[iammix]

Hello @sandykalugdan
is your traffic manager correctly implemented? Autopilot works only with traffic manager.

[sandykalugdan]

Hello @iammix ,
Thanks for looking into this.
Yes, my traffic manager works fine when I use the basic_agent.py (without the fix). When I use the version suggested, my ego vehicle went uncontrollable...

[iammix]

If you try to run the automatic_control.py file (with the behavior agent, not the basic) from the CARLA examples folder the same problem occurs or not?

[sandykalugdan]

Didn't get to that part yet but I'll so some tests tonight. Isn't the behavior agent is now basic_agent in 0.9.12?

[iammix]

No, in 0.9.12 the basic_agent is different than the behavior_agent.
You can check that on your own at the following directory:
PythonAPI/carla/agents/navigation

[sandykalugdan]

Thank you, I'll check this...