UDP Driver - Longitudinal Control & Lateral Trigger

[ufukbolat1]

Hello,

I want to control the vehicle with using UDP Driver. Similar to example (section 6.6.8) I can control the longitudinal behavior of my vehicle but at the same time I also want to control lateral behavior of the vehicle.

Let's say I give the target speed from specific tool to Esmini with using python script. But in parallel, I want to give lane offset or lateral action. Is it possible?

So I need to control the vehicle both lateral and longitudinal, but I dont want to give any steering angle which exist in Driver class. I want to control lateral behavior of the vehicle as the trig_lane_change example. But of course, wtih using UDP Driver.

Thanks a lot,
BR

[eknabevcc]

I would need more details regarding your use case in order to understand exactly what's needed.

But I think you have an interesting request, to inject actions over UDP. So we added an embryo of simple framework for such feature. So far limitations:

1. Only three actions supported, with some limitations:
   • LaneChange (with absolute target lane ID or relative own vehicle)
   • LaneOffset (only absolute lane offset)
   • Speed (only absolute speed)
2. If an action of same type is already running, any new request will be ignored. Another request will be accepted not until ongoing action (of same type) has finished, by itself.

Please have a look and report how it works. See some info on how to run here: inject_actions.py

It's easy to extend with further actions, if/when needed.

BTW: The feature is only available on dev branch so far. It will be merged to master by next release. Let us know if you need a release (otherwise you can build esmini yourself meanwhile).

[ufukbolat1]

Thank you for your suggestion, it seems like a very sensible solution.

However, I am using esmini without building so I need the release. It would be great if you to add it when possible. Thanks.

[eknabevcc]

Ok. Good to know. We'll schedule a new release within a few days.

[eknabevcc]

Included in release v2.32.0