Module examples.generator.CCRb
scenariogeneration https://github.com/pyoscx/scenariogeneration
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Copyright (c) 2022 The scenariogeneration Authors.
example of how to write the EUNCAP2020 CCRb tests in a parametrized maner
Some features used:
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ScenarioGenerator
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(ScenarioGenerator).naming
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(ScenarioGenerator).generate_all_roads
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(ScenarioGenerator).parameters
Classes
class Scenario
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Expand source code
class Scenario(ScenarioGenerator): def __init__(self): ScenarioGenerator.__init__(self) # set a numerical value as ending to all scenarios self.naming = "numerical" # only one road is used, so all roads does not have to be generated self.generate_all_roads = False # parameters for the scenario self.parameters["distance"] = [12, 40] self.parameters["decel"] = [-2, -6] def road(self, **kwargs): road = xodr.create_road( [xodr.Line(500)], id=1, left_lanes=2, right_lanes=2 ) odr = xodr.OpenDrive("myroad") odr.add_road(road) odr.adjust_roads_and_lanes() return odr def scenario(self, **kwargs): # create empty catalog catalog = xosc.Catalog() # add straight road road = xosc.RoadNetwork(roadfile=self.road_file) # create empty paramdeclaration paramdec = xosc.ParameterDeclarations() egoname = "Ego" targetname = "Target1" ### create vehicles ego_width = 2 target_width = 1.8 bb = xosc.BoundingBox(ego_width, 5, 1.8, 2.0, 0, 0.9) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) white_veh = xosc.Vehicle( "car_white", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10 ) white_veh.add_property_file("../models/car_white.osgb") white_veh.add_property("model_id", "0") bb = xosc.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) red_veh = xosc.Vehicle( "car_red", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10 ) red_veh.add_property_file("../models/car_red.osgb") red_veh.add_property("model_id", "2") ## create entities entities = xosc.Entities() entities.add_scenario_object(egoname, white_veh) entities.add_scenario_object(targetname, red_veh) # create init (0 starting speed) init = xosc.Init() step_time = xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ) # caluclate correct offset based on target vehicle width cal_offset = 0 egospeed = xosc.AbsoluteSpeedAction(0, step_time) egostart = xosc.TeleportAction( xosc.LanePosition(25, cal_offset, -1, 1) ) targetspeed = xosc.AbsoluteSpeedAction(0, step_time) targetstart = xosc.TeleportAction( xosc.LanePosition(25 + kwargs["distance"], 0, -1, 1) ) init.add_init_action(egoname, egospeed) init.add_init_action(egoname, egostart) init.add_init_action(targetname, targetspeed) init.add_init_action(targetname, targetstart) # create start trigger trigger = xosc.ValueTrigger( "starttrigger", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan), ) # accelerate cars to wanted velocity eventego = xosc.Event("egospeedchange", xosc.Priority.overwrite) eventego.add_trigger(trigger) ego_action = xosc.AbsoluteSpeedAction( 50 / 3.6, xosc.TransitionDynamics( xosc.DynamicsShapes.linear, xosc.DynamicsDimension.time, acceleration_time, ), ) eventego.add_action("newspeed", ego_action) event_tar = xosc.Event("targetspeedchange", xosc.Priority.overwrite) event_tar.add_trigger(trigger) target_action = xosc.LongitudinalDistanceAction( egoname, distance=-kwargs["distance"], freespace=False ) event_tar.add_action("targetspeed", target_action) # trigger here could be changed to speed but tested for esmini at the point where speed condition was not implemented target_slowingdown_trigger = xosc.ValueTrigger( "slowingdowntrigger", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(6, xosc.Rule.greaterThan), ) target_slowingdown_action = xosc.AbsoluteSpeedAction( 0, xosc.TransitionDynamics( xosc.DynamicsShapes.linear, xosc.DynamicsDimension.rate, abs(kwargs["decel"]), ), ) event_tar_slowdown = xosc.Event( "target slowing down", xosc.Priority.overwrite ) event_tar_slowdown.add_trigger(target_slowingdown_trigger) event_tar_slowdown.add_action( "slowdownaction", target_slowingdown_action ) # create maneuvers/maneuvergroups ego_man = xosc.Maneuver("ego man") ego_man.add_event(eventego) tar_man = xosc.Maneuver("target man") tar_man.add_event(event_tar) tar_man.add_event(event_tar_slowdown) egomangr = xosc.ManeuverGroup("egomangr") egomangr.add_actor(egoname) egomangr.add_maneuver(ego_man) tarmangr = xosc.ManeuverGroup("tarmangr") tarmangr.add_actor(targetname) tarmangr.add_maneuver(tar_man) # create act act = xosc.Act( "ccrm act", xosc.ValueTrigger( "starttrigger", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), ), ) act.add_maneuver_group(egomangr) act.add_maneuver_group(tarmangr) # create story story = xosc.Story("mystory") story.add_act(act) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger( "stop_simulation", 2, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition( acceleration_time + np.ceil( np.sqrt(2 * kwargs["distance"] / abs(kwargs["decel"])) ) + kwargs["distance"] / 50, xosc.Rule.greaterThan, ), "stop", ), ) sb.add_story(story) ## create and return the scenario sce = xosc.Scenario( "CCRb, distance: " + str(kwargs["distance"]) + ", decelleration: " + str(kwargs["decel"]), "Mandolin", paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog, ) return sce
ScenarioTemplate is a class that should be inherited by a Scenario class in order to generate xodr and xosc files based on the submodules xodr and xosc
Two main uses, in your generation class define self.parameters as either as: - a dict of lists, where the lists are the values you want to sweep over, all permutations of these sets will be generated - a list of dicts, where the dicts are identical and each element in the list is one scenario
Attributes
road_file
:str
- name of the roadfile
parameters
:dict[list], list[dicts]
- parameter sets to be used
naming
:str
- two options "numerical" or "parameter"
generate_all_roads
:bool
- will only generate unique roads
number_of_parallel_writings
:int
- parallelize the writing of the xml files, default: 1
basename
:str
- basename of the scenariofiles, default: name of file
encoding
:str
- encoding of the outputs, default: utf-8
Ancestors
Inherited members