def _is_arrive_destination(vehicle):
        """
        Args:
            vehicle: The BaseVehicle instance.

        Returns:
            flag: Whether this vehicle arrives its destination.
        """
        long, lat = vehicle.navigation.final_lane.local_coordinates(vehicle.position)
        flag = (vehicle.navigation.final_lane.length - 5 < long < vehicle.navigation.final_lane.length + 5) and (
            vehicle.navigation.get_current_lane_width() / 2 >= lat >=
            (0.5 - vehicle.navigation.get_current_lane_num()) * vehicle.navigation.get_current_lane_width()
        )
        return flag

        Args:
            vehicle: The BaseVehicle instance.

        Returns:
            flag: Whether this vehicle arrives its destination.
        
metadrive/envs/metadrive_env.py