Module examples.xosc.multi_conditional_different_actions
scenariogeneration https://github.com/pyoscx/scenariogeneration
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Copyright (c) 2022 The scenariogeneration Authors.
An example showing how to setup a choise for one vehicle depending on what is happening around it, using multi conditions with different rules
for different behaviour change speed_of_outer_car
Some features used: - ConditionGroup
-
TimeToCollisionCondition
-
TimeHeadwayCondition
-
AbsoluteSpeedAction
-
AbsoluteLaneChangeAction
-
Rule
Classes
class Scenario
-
Expand source code
class Scenario(ScenarioGenerator): def __init__(self): super().__init__() self.open_scenario_version = 2 def scenario(self, **kwargs): ### create catalogs catalog = xosc.Catalog() catalog.add_catalog("VehicleCatalog", "../xosc/Catalogs/Vehicles") ### create road road = xosc.RoadNetwork( roadfile="../xodr/e6mini.xodr", scenegraph="../models/e6mini.osgb" ) ### create parameters paramdec = xosc.ParameterDeclarations() ## create entities egoname = "Ego" speedyname = "speedy_gonzales" targetname = "Target" entities = xosc.Entities() entities.add_scenario_object( egoname, xosc.CatalogReference("VehicleCatalog", "car_white") ) entities.add_scenario_object( speedyname, xosc.CatalogReference("VehicleCatalog", "car_blue") ) entities.add_scenario_object( targetname, xosc.CatalogReference("VehicleCatalog", "car_yellow") ) ### create init init = xosc.Init() init.add_init_action( egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)) ) init.add_init_action( egoname, xosc.AbsoluteSpeedAction( 15, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) # change speed of this to have different outcome init.add_init_action( speedyname, xosc.TeleportAction(xosc.LanePosition(10, 0, -3, 0)) ) init.add_init_action( speedyname, xosc.AbsoluteSpeedAction( speed_of_outer_car, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) init.add_init_action( targetname, xosc.TeleportAction(xosc.LanePosition(100, 0, -2, 0)) ) init.add_init_action( targetname, xosc.AbsoluteSpeedAction( 10, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) ### create the "optional" slowdown event slowdown_event = xosc.Event("speedchange", xosc.Priority.overwrite) slowdown_event.add_action( "speedaction", xosc.AbsoluteSpeedAction( 9, xosc.TransitionDynamics( xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 1, ), ), ) # create two trigger conditions ttc_cond = xosc.TimeToCollisionCondition( 3, xosc.Rule.lessThan, entity=targetname ) headway_cond = xosc.TimeHeadwayCondition( speedyname, 1, xosc.Rule.lessThan ) headway_trigger = xosc.EntityTrigger( "trigger", 0, xosc.ConditionEdge.none, headway_cond, egoname ) collision_trigger = xosc.EntityTrigger( "trigger", 0, xosc.ConditionEdge.none, ttc_cond, egoname ) # create the "and" logic sc_group = xosc.ConditionGroup() sc_group.add_condition(collision_trigger) sc_group.add_condition(headway_trigger) slowdown_event.add_trigger(sc_group) # create the optional lanechange event lane_change_event = xosc.Event("lanechange", xosc.Priority.overwrite) lane_change_event.add_action( "lanechangeaction", xosc.AbsoluteLaneChangeAction( -3, xosc.TransitionDynamics( xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 3, ), ), ) # create two separate condition groups headway_cond_2 = xosc.TimeHeadwayCondition( speedyname, 1, xosc.Rule.greaterThan ) headway_trigger_2 = xosc.EntityTrigger( "trigger", 0, xosc.ConditionEdge.none, headway_cond_2, egoname ) ttc_cond_2 = xosc.TimeToCollisionCondition( 3, xosc.Rule.lessThan, entity=targetname ) collision_trigger_2 = xosc.EntityTrigger( "trigger", 0, xosc.ConditionEdge.none, ttc_cond_2, egoname ) lc_group = xosc.ConditionGroup() lc_group.add_condition(headway_trigger_2) lc_group.add_condition(collision_trigger_2) lane_change_event.add_trigger(lc_group) ## create the storyboard man = xosc.Maneuver("slow down maneuver") man.add_event(slowdown_event) man.add_event(lane_change_event) sb = xosc.StoryBoard( init, xosc.ValueTrigger( "stop_simulation", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(20, xosc.Rule.greaterThan), "stop", ), ) sb.add_maneuver(man, egoname) ## create the scenario sce = xosc.Scenario( "adaptspeed_example", "User", paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog, osc_minor_version=self.open_scenario_version, ) 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