[Speed-dreams-devel] USR-Robot - driving in traffic

[Wolf-Dieter B. <wd...@wd...>]

Hello Xavier, hello All

Since the last revision of the USR robot (by Andrew) the USR does not drive well in traffic.
The issue is visible even if there are only USR driven cars in a race.

Issue description:
Andrew made the USR drive as close as possible to the inner side of a curve. If there is a slower opponent driving at the inner side, the USR tries to use an offset as small as possible to overtake. But the calculation is based on the situation at straights. If the USR drives in a curve it steers to a target point that is in front of the car, the distance to the target point depends on the speed I assume. This makes the USR drive closer to the inner side of the curve than the offset calculated (based on geometry of straights).

This results in permanently damaging the own car and the opponent.

Here the calculation of the offset has to take into account the distance to the target point, otherwise the robot is not usable in the game.

Cheers

Wolf-Dieter