Module examples.generator.CCRb

scenariogeneration https://github.com/pyoscx/scenariogeneration

This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.

Copyright (c) 2022 The scenariogeneration Authors.

example of how to write the EUNCAP2020 CCRb tests in a parametrized maner

Some features used:

  • ScenarioGenerator

  • (ScenarioGenerator).naming

  • (ScenarioGenerator).generate_all_roads

  • (ScenarioGenerator).parameters

Expand source code 
"""
  scenariogeneration
  https://github.com/pyoscx/scenariogeneration
 
  This Source Code Form is subject to the terms of the Mozilla Public
  License, v. 2.0. If a copy of the MPL was not distributed with this
  file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
  Copyright (c) 2022 The scenariogeneration Authors.
  
    example of how to write the EUNCAP2020 CCRb tests in a parametrized maner

    Some features used:

    - ScenarioGenerator

    - (ScenarioGenerator).naming

    - (ScenarioGenerator).generate_all_roads

    - (ScenarioGenerator).parameters


"""
from scenariogeneration import xosc, prettyprint
import numpy as np
import os


acceleration_time = 5


from scenariogeneration import xodr
from scenariogeneration import xosc, prettyprint
from scenariogeneration import ScenarioGenerator


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


if __name__ == "__main__":
    sce = Scenario()
    # s.print_permutations()
    files = sce.generate("CCRb_scenarios")

    # uncomment the following lines to display the scenario using esmini
    # from scenariogeneration import esmini
    # esmini(sce,os.path.join('esmini'))

Classes

class Scenario

ScenarioTemplate is a class that should be inherited by a Scenario class in order to generate xodr and xosc files based on pyoscx and pyodrx

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 of lists, or list of 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 (no parallelization)

basename (str): basename of the scenariofiles,
    Default: name of file

encoding (str): encoding of the outputs
    Default:
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

Ancestors

Inherited members