11aecadfacf1c4e95fac567afd007e2135f2c86b,cistar-dev/cistar/controllers/base_controller.py,BaseController,safe_action,#BaseController#Any#,38

Before Change

         USE THIS INSTEAD OF GET_ACTION for computing the actual controls.
        Prevents crashes. 
        
        return min(self.get_action(env), self.safe_velocity(env))

    def safe_velocity(self, env):
        Finds maximum velocity such that if the lead vehicle breaks
        with max acceleration, we can bring the following vehicle to rest

After Change

        if this_vel + self.get_action(env)*time_step > safe_velocity:
            return (safe_velocity - this_vel)/time_step
        else:
            return self.get_action(env)


    def safe_velocity(self, env):
        Finds maximum velocity such that if the lead vehicle breaks

Instances