Faithful implementation of the nuPlan at-fault collision metric#440
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WaelDLZ wants to merge 1 commit into
Open
Faithful implementation of the nuPlan at-fault collision metric#440WaelDLZ wants to merge 1 commit into
WaelDLZ wants to merge 1 commit into
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Pull request overview
This PR updates PufferDrive’s at-fault collision metric implementation to more closely mirror nuPlan’s collision-fault classification logic, replacing the prior simplified heuristic with geometry-based collision typing and lane-position checks.
Changes:
- Added nuPlan-oriented collision type constants and a behind-angle threshold (
NUPLAN_BEHIND_COS_THRESHOLD). - Introduced helper geometry routines to detect whether the ego’s front bumper intersects another agent’s box.
- Reworked
is_at_fault_collisionto use a collision-type classifier (stopped-track, active-front, active-rear, active-lateral) and lane cleanliness logic.
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| // helpers for nuPlan's at-fault collision, you need to know if the front bumper was involed |
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| static bool is_at_fault_collision(Drive *env, int agent_idx, int other_idx) { | ||
| Agent *agent = &env->agents[agent_idx]; | ||
| Agent *other = &env->agents[other_idx]; | ||
| int collision_type = classify_collision_type(agent, other); | ||
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The previous implementation was more a rough simplification while this one is designate to be as faithful as i could to nuPlan's original code.