32b94d43a666a0aacd814273640d22ec17460a5e,cistar-dev/cistar/controllers/velocity_controllers.py,FollowerStopper,get_action,#FollowerStopper#Any#,51

Before Change

        if not lead_id: // no car ahead
            return self.acc_max

        lead_pos = env.get_x_by_id(lead_id)
        lead_vel = env.vehicles[lead_id]["speed"]
        lead_length = env.vehicles[lead_id]["length"]

        this_pos = env.get_x_by_id(self.veh_id)
        this_vel = env.vehicles[self.veh_id]["speed"]

        deltaV = lead_vel - this_vel
        deltaX0 = np.array([4.5, 5.25, 6]) // initial values

After Change

    def get_action(self, env):
        this_lane = env.vehicles[self.veh_id]["lane"]

        lead_id = env.vehicles[self.veh_id]["leader"]
        if not lead_id: // no car ahead
            return self.acc_max

        lead_pos = env.vehicles[lead_id]["absolute_position"]
        lead_vel = env.vehicles[lead_id]["speed"]
        lead_length = env.vehicles[lead_id]["length"]

        this_pos = env.vehicles[self.veh_id]["absolute_position"]
        this_vel = env.vehicles[self.veh_id]["speed"]

        deltaV = lead_vel - this_vel
        deltaX0 = np.array([4.5, 5.25, 6]) // initial values

Instances