#376 Road Rules definitions in Carla #414
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Added doc about carla traffic rules.
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Actionable comments posted: 3
🧹 Outside diff range and nitpick comments (4)
doc/research/paf24/general/carla_traffic_rules.md (4)
1-6: Fix markdown formatting for better readability.Add blank lines around headings to improve document structure.
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# Traffic Rules in CARLA + ## Introduction + CARLA (Car Learning to Act) is an open-source simulator designed for the development, training, and validation of autonomous driving systems. While there isn't a specific set of traffic laws from any real-world jurisdiction strictly implemented in CARLA, the simulation emphasizes key traffic behaviors and principles essential for creating a realistic driving environment, particularly in urban settings. + ## Key Traffic Principles Emphasized in CARLA🧰 Tools
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27-34: Improve list formatting in OpenDRIVE section.Add blank lines around the list for better readability.
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Road networks in CARLA are created using the **ASAM OpenDRIVE®** format, which provides a standardized method for describing road infrastructures. This standardization allows for: + - **Hierarchical Structure**: Road networks are organized in nodes, facilitating specialized applications while ensuring interoperability. - **Reference Line**: The core of every road network is the reference line, which anchors the geometry of roads and lanes. - **Interconnectivity**: Roads can be interconnected, enabling realistic traffic behavior and routing. + The integration of ASAM OpenDRIVE ensures that road networks can be efficiently modeled and shared across different simulation platforms, enhancing the realism of the driving scenarios.🧰 Tools
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38-40: Enhance references section.
- Add blank lines around the list
- Consider adding more relevant resources such as:
- CARLA traffic manager documentation
- Research papers using CARLA for traffic simulation
- Traffic rule implementation examples
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doc/research/paf24/general/carla_traffic_rules.md(1 hunks)
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doc/research/paf24/general/carla_traffic_rules.md
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| - **Traffic Signals**: | ||
| - Vehicles must respond to traffic lights, stopping at red lights and proceeding on green. | ||
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| - **Stop Signs**: | ||
| - Cars are required to stop at stop signs and yield to other vehicles and pedestrians. | ||
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| - **Lane Management**: | ||
| - Vehicles should remain within their designated lanes, respecting lane markings. | ||
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| - **Speed Limits**: | ||
| - Various areas within the simulation have established speed limits that vehicles must adhere to. | ||
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| - **Pedestrian Rights**: | ||
| - Vehicles must yield to pedestrians at designated crossings. | ||
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| These principles are vital for developing and validating algorithms for autonomous vehicles, as they mimic the rules that drivers are expected to follow in real-world urban traffic scenarios. | ||
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Expand traffic principles to fully address issue #376.
The current traffic principles section could be enhanced by adding:
- Country-specific regulations and variations
- Speed measurement units (km/h vs. m/h)
- Information about traffic sign positioning and road markings
- Special cases and exceptions
This additional information would better align with the requirements outlined in issue #376.
Would you like me to help draft the additional content for these sections?
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| ## Focus on Urban Environments | ||
| CARLA is particularly designed to simulate urban scenarios, which are characterized by complex interactions among various traffic participants, including vehicles, pedestrians, and cyclists. The focus on urban environments makes it essential for testing systems under conditions that resemble real city driving dynamics. | ||
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🛠️ Refactor suggestion
Consider adding specific urban scenario examples.
While the urban environment overview is good, it would be more helpful to include specific examples of complex urban scenarios that CARLA simulates, such as:
- Roundabouts
- Multi-lane intersections
- School zones
- Construction areas
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| ## Flexibility and Customization | ||
| CARLA provides the flexibility for users to define or modify traffic rules based on specific research requirements, enabling a wide range of testing scenarios. This adaptability is crucial for the development and validation of autonomous driving technologies. | ||
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🛠️ Refactor suggestion
Enhance the flexibility section with specific examples.
Consider adding:
- Examples of customizable traffic rules
- How to modify existing rules
- Use cases for different research scenarios
- Code snippets or configuration examples
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Actionable comments posted: 2
🧹 Outside diff range and nitpick comments (1)
doc/research/paf24/general/carla_traffic_rules.md (1)
1-39: Fix markdown formatting issues for better readability.Apply these formatting improvements:
- Add blank lines before and after all headings
- Add blank lines before and after all lists
Here's the corrected structure:
# Traffic Rules in CARLA + ## Introduction + CARLA (Car Learning to Act)... + ## Key Traffic Principles in CARLA + - **Traffic Signals**... + These principles help... [similar changes for other sections]🧰 Tools
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doc/research/paf24/general/carla_traffic_rules.md(1 hunks)
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🔇 Additional comments (1)
doc/research/paf24/general/carla_traffic_rules.md (1)
31-33:
Expand units section to address regional differences.
The current units section only mentions CARLA's internal units (m/s). To fully address issue #376, please add:
- Conversion between simulation units and real-world units (km/h, mph)
- How CARLA handles different regional measurement systems
I notice this was mentioned in a previous review. Would you like assistance in drafting this section?
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| ## Flexibility and Customization | ||
| CARLA allows users to modify traffic rules and create custom maps. This flexibility enables researchers to design specific scenarios, enhancing the testing of self-driving technologies. |
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🛠️ Refactor suggestion
Enhance the flexibility section with technical details.
The current flexibility section is too brief. Consider adding:
- How traffic rules are implemented in CARLA's codebase
- Configuration options for modifying rules
- Code examples for common customizations
- Best practices for rule modifications
Would you like me to help draft technical examples for this section?
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| ## Key Traffic Principles in CARLA | ||
| - **Traffic Signals**: Vehicles must obey traffic lights—stop at red and go at green. | ||
| - **Stop Signs**: Cars must stop at stop signs and yield to pedestrians and other vehicles. | ||
| - **Lane Management**: Vehicles should stay in their lanes. | ||
| - **Speed Limits**: There are speed limits in different areas of the simulation. | ||
| - **Pedestrian Rights**: Vehicles must yield to pedestrians at crosswalks. | ||
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Add country-specific traffic rules section.
To fully address issue #376, please add a new section covering:
- Common variations in traffic rules across different countries
- Regional differences in:
- Traffic sign designs and positioning
- Road markings and their meanings
- Right-of-way rules
- Speed limits and their enforcement
Example structure:
## Regional Variations in Traffic Rules
### Traffic Signs and Markings
- European standards
- American standards
- Asian standards
### Speed Limits
- Default urban/rural limits by region
- School zone variations
- Special zone regulations🧰 Tools
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Actionable comments posted: 3
🧹 Outside diff range and nitpick comments (3)
doc/research/paf24/general/carla_traffic_rules.md (3)
16-16: Improve readability by breaking down the long sentence.Consider splitting this into shorter, more focused sentences:
-CARLA (Car Learning to Act) is an open-source simulator specifically designed for testing and developing autonomous driving systems. It incorporates essential traffic rules to create a flexible environment. This flexibility allows users to modify traffic regulations and design custom maps, enabling the evaluation of driving behaviors and interactions without strictly adhering to the traffic laws of any specific country. +CARLA (Car Learning to Act) is an open-source simulator for testing and developing autonomous driving systems. It provides a flexible environment with essential traffic rules that can be modified according to research needs. This design allows users to create custom maps and evaluate driving behaviors without being constrained by specific country regulations.🧰 Tools
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20-39: Enhance traffic principles with implementation examples.While the principles are well-defined, adding code snippets or configuration examples would make this section more actionable. Consider:
- How these rules are implemented in CARLA's codebase
- How to modify these rules
- Examples of common customizations
Would you like me to help draft technical examples for each principle?
90-94: Enhance references section.Consider adding:
- Links to regional traffic rule documentation
- CARLA configuration guides
- Related research papers or case studies
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doc/research/paf24/general/carla_traffic_rules.md(1 hunks)
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doc/research/paf24/general/carla_traffic_rules.md
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| ## Road Network Creation with ASAM OpenDRIVE® | ||
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| Road networks in CARLA are created using **ASAM OpenDRIVE®**, which standardizes road descriptions: | ||
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| - **Hierarchical Structure**: Roads are organized in nodes for better application integration. | ||
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| - **Reference Line**: Each road has a reference line to define its shape. | ||
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| - **Interconnectivity**: Roads can connect for realistic traffic flow. | ||
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🛠️ Refactor suggestion
Expand OpenDRIVE section with regional variations.
The OpenDRIVE section should address how different regional standards are handled:
- Traffic sign variations across regions
- Road marking differences
- Lane width standards
- Speed limit representations
This would help address the country-specific requirements from issue #376.
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Actionable comments posted: 1
🧹 Outside diff range and nitpick comments (4)
carla_traffic_rules.md (4)
79-79: Clarify "hidden maps" reference.The term "hidden maps" for Town 8 & 9 needs more context. Consider explaining:
- Why these maps are hidden
- Who can access them
- Their specific purpose in the Leaderboard challenge
54-89: Consider adding visual aids for maps.The maps section would benefit from:
- Screenshots or diagrams showing key features of each map
- Links to detailed map documentation
- Scale information for each map
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98-118: Enhance technical specifications.Consider adding:
- Examples of OpenDRIVE road network configurations
- Conversion formulas between different speed units (m/s to km/h or mph)
- Detailed explanation of how CARLA interprets OpenDRIVE specifications
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1-123: Clean up markdown formatting.Multiple lines contain trailing spaces. While this doesn't affect the rendered output, it's good practice to remove them for consistency.
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📜 Review details
Configuration used: CodeRabbit UI
Review profile: CHILL
📒 Files selected for processing (1)
carla_traffic_rules.md(1 hunks)
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🪛 LanguageTool
carla_traffic_rules.md
[uncategorized] ~6-~6: Possible missing preposition found.
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- Introduction
- [Key Traffic Principles and Complex Interact...
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Context: ...les, creating a flexible environment to test driving behaviors and interactions without stri...
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[style] ~81-~81: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
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🔇 Additional comments (1)
carla_traffic_rules.md (1)
3-12: LGTM! Well-structured table of contents.
The document follows a clear, hierarchical structure with properly formatted section links.
🧰 Tools
🪛 LanguageTool
[uncategorized] ~6-~6: Possible missing preposition found.
Context: ...
- Introduction
- [Key Traffic Principles and Complex Interact...
(AI_HYDRA_LEO_MISSING_TO)
carla_traffic_rules.md
Outdated
| ## Introduction | ||
|
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| CARLA (Car Learning to Act) is an open-source simulator for testing and developing self-driving car systems. | ||
|
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| It includes essential traffic rules, creating a flexible environment to test driving behaviors and interactions without strictly adhering to the traffic laws of any specific country. | ||
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| ## Key Traffic Principles and Complex Interactions | ||
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| - **Traffic Signals**: Vehicles must stop at red lights and go on green. | ||
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| - **Stop Signs**: Vehicles must stop at stop signs and yield to pedestrians | ||
| and other cars. | ||
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| - **Lane Management**: Cars should remain in their designated lanes. | ||
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| - **Speed Limits**: Different speed limits in various areas of the map allow | ||
| testing of speed control and adherence to traffic laws. | ||
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| - **Pedestrian Rights**: Vehicles must yield to pedestrians at crosswalks, | ||
| which is vital for pedestrian detection and ensuring safe stops. | ||
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| - **Intersection Management**: Vehicles must navigate intersections | ||
| effectively, managing stop lights and stop signs while yielding when | ||
| necessary to keep traffic moving. | ||
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| - **Roundabout Navigation**: Vehicles should yield to cars already in the | ||
| roundabout. This tests their ability to navigate circular roads and merge | ||
| correctly. | ||
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| - **Crosswalk Behavior**: Vehicles need to detect and stop for pedestrians | ||
| at crosswalks, highlighting the importance of pedestrian safety. | ||
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| - **Bicycle Lane Navigation**: Vehicles should be able to detect and safely | ||
| navigate around cyclists in traffic. | ||
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| - **Parking Maneuvers**: Vehicles are tested on their ability to park in | ||
| tight spaces, simulating real-life parking challenges. |
There was a problem hiding this comment.
🛠️ Refactor suggestion
Add country-specific regulations and variations.
While the principles are well-documented, the following aspects mentioned in issue #376 are missing:
- Country-specific traffic regulations and their variations in CARLA
- Differences in sign positioning and road markings across regions
- Speed measurement variations (km/h vs. mph)
Consider adding a new subsection addressing these regional variations to help users understand how CARLA handles different traffic rule systems.
Would you like me to help draft content for the country-specific regulations section?
🧰 Tools
🪛 LanguageTool
[misspelling] ~18-~18: This word is normally spelled with a hyphen.
Context: ...les, creating a flexible environment to test driving behaviors and interactions without stri...
(EN_COMPOUNDS_TEST_DRIVING)
🪛 Markdownlint
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There was a problem hiding this comment.
Actionable comments posted: 4
🧹 Outside diff range and nitpick comments (6)
carla_traffic_rules.md (3)
113-115: Enhance units section with conversion references.While using meters and m/s as standard units is good, consider adding:
- Common conversion factors (e.g., km/h to m/s)
- Speed limit examples in both metric and imperial units
- A note about how CARLA handles unit conversions internally
This would help users working with different measurement systems.
56-87: Enhance town descriptions with technical specifications.Consider adding for each town:
- Map dimensions
- Number of intersections/traffic lights
- Typical speed limits
- Special features (e.g., number of lanes, types of junctions)
This technical information would help users choose appropriate maps for their testing scenarios.
🧰 Tools
🪛 LanguageTool
[style] ~79-~79: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
🪛 Markdownlint
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1-121: Clean up markdown formatting.Please address the following formatting issues:
- Remove trailing spaces at the end of lines (detected in multiple locations)
- Vary the sentence structure in town descriptions to avoid repetitive patterns
- Ensure consistent line endings throughout the document
Consider using a markdown linter in your editor to catch these issues automatically.
🧰 Tools
🪛 LanguageTool
[style] ~79-~79: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
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doc/research/paf24/general/carla_traffic_rules.md (3)
48-69: Improve readability of map descriptions.Consider varying sentence structure to make the descriptions more engaging. For example:
- **Town 1**: A small town with T-junctions and bridges, focusing on intersection management and lane discipline. + **Town 1**: Featuring T-junctions and bridges, this small town emphasizes intersection management and lane discipline.🧰 Tools
🪛 LanguageTool
[style] ~52-~52: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ion and environmental awareness.
- Town 3: A larger urban area with roundabou...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~54-~54: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...tion and adaptive speed control.
- Town 4: A small town with a figure-eight r...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~56-~56: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ion and pedestrian interactions.
- Town 5: An urban environment featuring mul...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~58-~58: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d commercial driving strategies.
- Town 6: A low-density town with unique jun...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~60-~60: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ation and slip road utilization.
- Town 7: A rural community with unmarked ro...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~62-~62: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...nd parking in residential areas.
- Town 8 & Town 9: Secret maps used for the ...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~64-~64: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with diverse j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~66-~66: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ation skills in complex traffic.
- Town 11: A minimally decorated map for tes...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~68-~68: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ve areas with fewer visual cues.
- Town 12: A large map inspired by Amarillo,...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
74-83: Expand OpenDRIVE section with regional considerations.Include information about:
- How OpenDRIVE handles different regional road standards
- Support for various traffic sign systems
- Configuration of region-specific road markings
92-96: Add references to regional traffic standards.Include links to:
- Regional traffic rule documentation
- International traffic sign conventions
- Speed limit standards by region
📜 Review details
Configuration used: CodeRabbit UI
Review profile: CHILL
📒 Files selected for processing (2)
carla_traffic_rules.md(1 hunks)doc/research/paf24/general/carla_traffic_rules.md(1 hunks)
🧰 Additional context used
🪛 LanguageTool
carla_traffic_rules.md
[style] ~79-~79: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
doc/research/paf24/general/carla_traffic_rules.md
[style] ~52-~52: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ion and environmental awareness.
- Town 3: A larger urban area with roundabou...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~54-~54: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...tion and adaptive speed control.
- Town 4: A small town with a figure-eight r...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~56-~56: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ion and pedestrian interactions.
- Town 5: An urban environment featuring mul...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~58-~58: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d commercial driving strategies.
- Town 6: A low-density town with unique jun...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~60-~60: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ation and slip road utilization.
- Town 7: A rural community with unmarked ro...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~62-~62: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...nd parking in residential areas.
- Town 8 & Town 9: Secret maps used for the ...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~64-~64: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with diverse j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~66-~66: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ation skills in complex traffic.
- Town 11: A minimally decorated map for tes...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
[style] ~68-~68: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...ve areas with fewer visual cues.
- Town 12: A large map inspired by Amarillo,...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
🪛 Markdownlint
carla_traffic_rules.md
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🔇 Additional comments (2)
carla_traffic_rules.md (2)
3-12: Well-structured document organization!
The table of contents provides a clear hierarchy and all sections are properly organized, making the document easy to navigate.
16-18:
Add missing country-specific traffic regulations.
While the introduction mentions that CARLA doesn't strictly adhere to specific country laws, the document should still address the following requirements from issue #376:
- Country-specific traffic regulations and their variations
- Regional differences in sign positioning and road markings
- Speed measurement variations (km/h vs. mph)
This information is crucial for users implementing region-specific autonomous driving systems.
| ## Table of Contents | ||
|
|
||
| - [Table of Contents](#table-of-contents) | ||
| - [Introduction](#introduction) | ||
| - [Key Traffic Principles and Complex Interactions](#key-traffic-principles-and-complex-interactions) | ||
| - [CARLA Maps and Their Traffic Scenarios](#carla-maps-and-their-traffic-scenarios) | ||
| - [Overview of CARLA Maps](#overview-of-carla-maps) | ||
| - [Rural and Highway Scenarios](#rural-and-highway-scenarios) | ||
| - [Road Network Creation with ASAM OpenDRIVE®](#road-network-creation-with-asam-opendrive) | ||
| - [Units of Measurement](#units-of-measurement) | ||
| - [References](#references) | ||
|
|
There was a problem hiding this comment.
🛠️ Refactor suggestion
Add sections for regional traffic regulations.
To fully address issue #376, the Table of Contents should include sections for:
- Regional Traffic Standards
- Country-specific regulations
- Traffic sign variations
- Speed measurement units (km/h vs. mph)
- Road marking differences
| ## Introduction | ||
|
|
||
| CARLA (Car Learning to Act) is an open-source simulator specifically designed for testing and developing autonomous driving systems. It incorporates essential traffic rules to create a flexible environment. This flexibility allows users to modify traffic regulations and design custom maps, enabling | ||
| the evaluation of driving behaviors and interactions without strictly adhering to the traffic laws of any specific country. | ||
|
|
There was a problem hiding this comment.
🛠️ Refactor suggestion
Expand introduction to address regional variations.
The introduction should:
- Explain how CARLA handles different regional traffic standards
- Clarify which country's traffic rules serve as the baseline
- Describe how users can customize rules for their region
| ## Key Traffic Principles and Complex Interactions | ||
|
|
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| - **Traffic Signals**: Vehicles must stop at red lights and proceed on green, facilitating the testing of traffic light detection and timing adjustments. | ||
|
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| - **Stop Signs**: Vehicles are required to halt at stop signs, yielding to pedestrians and other vehicles, which is essential for ensuring safety in traffic scenarios. | ||
|
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| - **Lane Management**: Cars are expected to stay within designated lanes, aiding the development of lane-keeping and lane-following algorithms. | ||
|
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| - **Speed Limits**: Varying speed limits across different map zones allow for the testing of speed regulation and adherence to traffic laws. | ||
|
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| - **Pedestrian Rights**: Vehicles must yield to pedestrians at crosswalks, which is crucial for pedestrian detection and ensuring safe braking. | ||
|
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| - **Intersection Management**: Vehicles must effectively navigate intersections, managing stop lights and stop signs while yielding as necessary to maintain traffic flow. | ||
|
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| - **Roundabout Navigation**: Vehicles are required to yield to cars already within the roundabout, supporting testing of circular navigation and merging strategies. | ||
|
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| - **Crosswalk Behavior**: Vehicles must detect and stop for pedestrians at crosswalks, highlighting the importance of pedestrian safety. | ||
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| - **Bicycle Lane Navigation**: Vehicles should be able to detect and navigate around cyclists, ensuring safe interactions in mixed traffic environments. | ||
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| - **Parking Maneuvers**: Vehicles are tested on their ability to maneuver in tight parking spaces, simulating real-life parking constraints. | ||
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🛠️ Refactor suggestion
Add regional variations to traffic principles.
Each principle should address common regional variations. For example:
- Traffic Signals: Different signal patterns/colors by region
- Speed Limits: Unit variations (km/h vs. mph) and typical ranges
- Lane Management: Left vs. right-hand driving
- Stop Signs: Design variations across regions
| ## Units of Measurement | ||
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| To ensure consistency across tests, CARLA employs standardized units: | ||
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| - **Speed**: Measured in meters per second (m/s). | ||
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| - **Distance**: Measured in meters. | ||
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There was a problem hiding this comment.
🛠️ Refactor suggestion
Enhance units section with conversion information.
Add details about:
- How CARLA handles unit conversions internally
- Converting between m/s and regional units (km/h, mph)
- Configuring preferred units for simulation
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Actionable comments posted: 4
🧹 Outside diff range and nitpick comments (2)
doc/research/paf24/general/carla_traffic_rules.md (2)
99-111: Expand OpenDRIVE section with regional variations.The OpenDRIVE section should address how different regional standards are handled:
- Traffic sign variations across regions
- Road marking differences
- Lane width standards
- Speed limit representations
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1-124: Fix formatting issues.Please remove trailing spaces from multiple lines throughout the document to comply with markdown formatting standards.
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📒 Files selected for processing (1)
doc/research/paf24/general/carla_traffic_rules.md(1 hunks)
🧰 Additional context used
🪛 LanguageTool
doc/research/paf24/general/carla_traffic_rules.md
[style] ~82-~82: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
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🔇 Additional comments (1)
doc/research/paf24/general/carla_traffic_rules.md (1)
50-98: LGTM! Comprehensive coverage of CARLA maps.
The maps section provides excellent detail about each map's purpose and features, effectively covering various testing scenarios from basic to complex environments.
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🪛 LanguageTool
[style] ~82-~82: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
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| ## Introduction | ||
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| CARLA (Car Learning to Act) is an open-source simulator for testing and developing autonomous driving systems. It integrates traffic rules to create a flexible environment, letting users adjust regulations and design custom maps to evaluate driving behaviors without following specific national laws. | ||
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There was a problem hiding this comment.
🛠️ Refactor suggestion
Enhance introduction with regional standards information.
The introduction should clarify:
- Which country's traffic rules serve as the baseline
- How CARLA handles different regional traffic standards
- How users can customize rules for their specific region
| ## Key Traffic Principles and Complex Interactions | ||
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| - **Traffic Signals**: Vehicles must stop at red lights and go on green. | ||
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| - **Stop Signs**: Vehicles must stop at stop signs and yield to pedestrians | ||
| and other cars. | ||
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| - **Lane Management**: Cars should remain in their designated lanes. | ||
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| - **Speed Limits**: Different speed limits in various areas of the map allow | ||
| testing of speed control and adherence to traffic laws. | ||
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| - **Pedestrian Rights**: Vehicles must yield to pedestrians at crosswalks, | ||
| which is vital for pedestrian detection and ensuring safe stops. | ||
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| - **Intersection Management**: Vehicles must navigate intersections | ||
| effectively, managing stop lights and stop signs while yielding when | ||
| necessary to keep traffic moving. | ||
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| - **Roundabout Navigation**: Vehicles should yield to cars already in the | ||
| roundabout. This tests their ability to navigate circular roads and merge | ||
| correctly. | ||
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| - **Crosswalk Behavior**: Vehicles need to detect and stop for pedestrians | ||
| at crosswalks, highlighting the importance of pedestrian safety. | ||
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| - **Bicycle Lane Navigation**: Vehicles should be able to detect and safely | ||
| navigate around cyclists in traffic. | ||
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| - **Parking Maneuvers**: Vehicles are tested on their ability to park in | ||
| tight spaces, simulating real-life parking challenges. | ||
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There was a problem hiding this comment.
🛠️ Refactor suggestion
Expand traffic principles with regional variations.
Each principle should address common regional differences. For example:
- Traffic Signals: Different signal patterns/colors by region
- Speed Limits: Unit variations (km/h vs. mph)
- Lane Management: Left vs. right-hand driving
- Stop Signs: Design variations across regions
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| ## Units of Measurement | ||
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| To keep tests consistent, CARLA uses standardized units: | ||
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| - **Speed**: Measured in meters per second (m/s). | ||
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| - **Distance**: Measured in meters. | ||
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There was a problem hiding this comment.
🛠️ Refactor suggestion
Enhance units section with regional conversions.
Expand this section to include:
- How CARLA handles unit conversions internally
- Converting between m/s and regional units (km/h, mph)
- Configuring preferred units for simulation
There was a problem hiding this comment.
Actionable comments posted: 1
🧹 Outside diff range and nitpick comments (1)
doc/research/paf24/general/carla_traffic_rules.md (1)
14-17: Enhance introduction with baseline standards information.The introduction should clarify:
- Which country's traffic rules serve as the baseline
- How CARLA handles different regional traffic standards
- How users can customize rules for their region
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doc/research/paf24/general/carla_traffic_rules.md(1 hunks)
🧰 Additional context used
🪛 LanguageTool
doc/research/paf24/general/carla_traffic_rules.md
[uncategorized] ~6-~6: Possible missing preposition found.
Context: ...
- Introduction
- [Key Traffic Principles and Complex Interact...
(AI_HYDRA_LEO_MISSING_TO)
[style] ~82-~82: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
🔇 Additional comments (1)
doc/research/paf24/general/carla_traffic_rules.md (1)
50-98: LGTM! Comprehensive coverage of CARLA maps.
The maps section provides excellent detail about each environment and its specific testing scenarios. The progression from basic to complex scenarios is well-structured.
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🪛 LanguageTool
[style] ~82-~82: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
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| ## Table of Contents | ||
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| - [Introduction](#introduction) | ||
| - [Key Traffic Principles and Complex Interactions](#key-traffic-principles-and-complex-interactions) | ||
| - [CARLA Maps and Their Traffic Scenarios](#carla-maps-and-their-traffic-scenarios) | ||
| - [Overview of CARLA Maps](#overview-of-carla-maps) | ||
| - [Rural and Highway Scenarios](#rural-and-highway-scenarios) | ||
| - [Custom Maps with ASAM OpenDRIVE®](#custom-maps-with-asam-opendrive) | ||
| - [Units of Measurement](#units-of-measurement) | ||
| - [References](#references) | ||
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🛠️ Refactor suggestion
Add regional traffic standards section to Table of Contents.
To fully address issue #376, consider adding a new section for regional traffic standards that covers:
- Country-specific regulations
- Traffic sign variations and positioning
- Speed measurement units (km/h vs. mph)
- Road marking differences
🧰 Tools
🪛 LanguageTool
[uncategorized] ~6-~6: Possible missing preposition found.
Context: ...
- Introduction
- [Key Traffic Principles and Complex Interact...
(AI_HYDRA_LEO_MISSING_TO)
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I just stubled upon this Doc:
https://carla.readthedocs.io/en/latest/adv_traffic_manager/
There is a section about Vehicle behaviour considerations:
"Junction priority does not follow traffic regulations. The TM uses its own priority system at junctions. The resolution of this restriction is a work in progress. In the meantime, some issues may arise, for example, vehicles inside a roundabout yielding to a vehicle trying to get in."
Although this is not strictly speaking a road rule definition. But we certainly have to keep this in mind and probably adjust our driving style accordingly.
In short. Maybe this should be a part of the traffic rules research file created in this pr.
If we do not want this to be part of this Pull Request. We should open a new issue with mentioned contents and concerns.
|
@vinzenzm, i added a note regarding the inconsistent traffic rules in order to finalize this PR. |
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Actionable comments posted: 0
🧹 Outside diff range and nitpick comments (4)
doc/research/paf24/general/carla_traffic_rules.md (4)
19-51: Add concrete examples for each traffic principle.While the principles are well-defined, adding specific examples would make them more actionable. For instance:
- For intersection management: Include common scenarios like unprotected left turns
- For roundabout navigation: Specify entry/exit protocols
- For bicycle lane navigation: Detail safe passing distances
This would help developers better understand how to implement these rules in their autonomous systems.
84-86: Improve sentence variety in town descriptions.Consider rephrasing to avoid repetitive sentence beginnings. For example:
- **Town 10**: An inner-city area with various junctions and pedestrian - activity, testing skills in complex traffic situations. + **Town 10**: Complex traffic situations arise in this inner-city area, + which features various junctions and significant pedestrian activity.🧰 Tools
🪛 LanguageTool
[style] ~84-~84: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
52-100: Enhance map descriptions with specific traffic rules.For each map, consider adding:
- Applicable speed limits
- Special traffic rules or restrictions
- Unique traffic patterns or challenges
This would help users understand which maps are best suited for testing specific traffic rule scenarios.
🧰 Tools
🪛 LanguageTool
[style] ~84-~84: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
1-126: Document structure is solid but needs regional traffic rules content.The document provides a comprehensive overview of CARLA's traffic rules. However, to fully address issue #376, consider:
- Adding a new section on regional variations in traffic rules
- Including specific examples for each traffic principle
- Detailing map-specific traffic rules and challenges
This would create a more complete reference for users implementing autonomous driving systems across different regions.
Would you like help drafting the regional variations section?
🧰 Tools
🪛 LanguageTool
[style] ~84-~84: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
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📒 Files selected for processing (1)
doc/research/paf24/general/carla_traffic_rules.md(1 hunks)
🧰 Additional context used
🪛 LanguageTool
doc/research/paf24/general/carla_traffic_rules.md
[style] ~84-~84: Three successive sentences begin with the same word. Consider rewording the sentence or use a thesaurus to find a synonym.
Context: ...d for the Leaderboard challenge.
- Town 10: An inner-city area with various j...
(ENGLISH_WORD_REPEAT_BEGINNING_RULE)
Added doc about carla traffic rules.
Description
Added documentation about traffic rules in the CARLA simulation environment. This change aims to enhance understanding of traffic behaviors and principles emphasized in CARLA.
Fixes #376
Type of change
Please delete options that are not relevant.
Does this PR introduce a breaking change?
No, this change does not introduce any breaking changes. The existing functionality remains usable.
Most important changes
The most important changes are in the documentation files that explain the traffic rules in CARLA. Reviewers should focus on ensuring the clarity and accuracy of the traffic principles outlined in the documentation.
Checklist:
Summary by CodeRabbit