Module examples.generator.generate_with_expanded_permutations

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

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Copyright (c) 2022 The scenariogeneration Authors.

Example of creating OpenSCENARIO and OpenDRIVE files with a combination of fixed parameter sets and parameter permutations that will generate the scenarios and roads

Example usage: when very precise permutations of a scenario is wanted with additional parameter sweeps

This example demonstrates how expand_permutations works with fixed parameter sets.

Given: parameters = [ {'road_curvature': 0.001, 'speed': 10}, {'road_curvature': 0.002, 'speed': 20} ]

expand_permutations = [
    {'initial_distance': [40, 50, 60], 'line_length': [100, 200]}
]

The result will be 12 scenarios (2 base scenarios × 3 distances × 2 lengths):

| Scenario | road_curvature | speed | initial_distance | line_length |
|----------|----------------|-------|------------------|-------------|
| 1        | 0.001          | 10    | 40               | 100         |
| 2        | 0.001          | 10    | 40               | 200         |
| 3        | 0.001          | 10    | 50               | 100         |
| 4        | 0.001          | 10    | 50               | 200         |
| 5        | 0.001          | 10    | 60               | 100         |
| 6        | 0.001          | 10    | 60               | 200         |
| 7        | 0.002          | 20    | 40               | 100         |
| 8        | 0.002          | 20    | 40               | 200         |
| 9        | 0.002          | 20    | 50               | 100         |
| 10       | 0.002          | 20    | 50               | 200         |
| 11       | 0.002          | 20    | 60               | 100         |
| 12       | 0.002          | 20    | 60               | 200         |

Classes

class Scenario
Expand source code 
class Scenario(ScenarioGenerator):
    def __init__(self):
        ScenarioGenerator.__init__(self)
        self.parameters = []
        d1 = {}
        d1["road_curvature"] = 0.001
        d1["speed"] = 10

        d2 = {}
        d2["road_curvature"] = 0.002
        d2["speed"] = 20

        self.parameters.append(d1)
        self.parameters.append(d2)

        d3 = {}
        d3["initial_distance"] = [40, 50, 60]
        d3["line_length"] = [100, 200]
        self.expand_permutations.append(d3)

        self.naming = "parameter"

    def road(self, **kwargs):
        road = xodr.create_road(
            [
                xodr.Spiral(0.0000000001, kwargs["road_curvature"], 100),
                xodr.Arc(kwargs["road_curvature"], 50),
                xodr.Spiral(kwargs["road_curvature"], 0.0000000001, 100),
                xodr.Line(kwargs["line_length"]),
            ],
            id=0,
            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):
        road = xosc.RoadNetwork(self.road_file)
        egoname = "Ego"
        entities = xosc.Entities()
        entities.add_scenario_object(
            egoname, xosc.CatalogReference("VehicleCatalog", "car_white")
        )

        catalog = xosc.Catalog()
        catalog.add_catalog("VehicleCatalog", "../xosc/Catalogs/Vehicles")

        init = xosc.Init()

        init.add_init_action(
            egoname,
            xosc.TeleportAction(
                xosc.LanePosition(kwargs["initial_distance"], 0, -2, 0)
            ),
        )
        init.add_init_action(
            egoname,
            xosc.AbsoluteSpeedAction(
                kwargs["speed"],
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
                ),
            ),
        )

        event = xosc.Event("my event", xosc.Priority.override)
        event.add_action(
            "lane change",
            xosc.AbsoluteLaneChangeAction(
                -1,
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.sinusoidal,
                    xosc.DynamicsDimension.time,
                    4,
                ),
            ),
        )
        event.add_trigger(
            xosc.ValueTrigger(
                "start_trigger ",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(4, xosc.Rule.greaterThan),
            )
        )

        man = xosc.Maneuver("maneuver")
        man.add_event(event)

        sb = xosc.StoryBoard(
            init,
            stoptrigger=xosc.ValueTrigger(
                "start_trigger ",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(13, xosc.Rule.greaterThan),
                "stop",
            ),
        )
        sb.add_maneuver(man, egoname)
        sce = xosc.Scenario(
            "my scenario",
            "atingber",
            xosc.ParameterDeclarations(),
            entities,
            sb,
            road,
            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
excluded_permutations : list[dict]
list of parameter dicts to exclude from generation
expand_permutations : list[dict[list]]
list of dicts where each dict has lists as values, all combinations of these lists will be expanded and combined with the other permutations

Ancestors

Inherited members