feat(NPCVehicleCognitionStep.cs): add distance-check for prediction-c…

…ontrol Signed-off-by: kazushi67 <[email protected]>
autowarefoundation · Jan 15, 2025 · ca7ca7b · ca7ca7b
1 parent 60ab38e
commit ca7ca7b
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleCognitionStep.cs b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleCognitionStep.cs
@@ -1104,6 +1104,16 @@ public void Execute(
                 States = states
             }.Execute();
 
+            foreach (var state in states)
+            {
+                if ((state.Vehicle.transform.position - egoTransform.position).magnitude <= 200F){
+                    state.Vehicle.outerControl = true;
+                } else {
+                    state.Vehicle.outerControl = false;
+                }
+            }
+
+
             Profiler.EndSample();
         }