Created
February 16, 2018 00:44
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| if (car_ahead) | |
| { | |
| cout << "Car Ahead!!!\n\n\n\n\n\n" | |
| << endl; | |
| if (!car_left && lane > 0) // no left-car, yes left-lane | |
| { | |
| lane--; // Change lane left | |
| } | |
| else if (!car_right && lane != 2) // no right-car, yes right-lane | |
| { | |
| lane++; // Change lane right | |
| } | |
| else | |
| { | |
| speed_diff -= max_acl; // else slow down | |
| } | |
| } | |
| else | |
| { | |
| if (lane != 1) // not in center lane | |
| { | |
| if ((lane == 0 && !car_right) || (lane == 2 && !car_left)) // left-right is clear | |
| { | |
| lane = 1; // Back to center. | |
| } | |
| } | |
| if (ref_vel < max_vel) | |
| { | |
| speed_diff += max_acl; | |
| } | |
| } |
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