Module examples.xosc.multi_conditional_or_triggers

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

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Copyright (c) 2022 The scenariogeneration Authors.

An example showing how a "or logic" for conditions can be created, and one action can be triggered on different conditions

Some features used:

  • ConditionGroup

  • Trigger

  • TimeToCollisionCondition

  • TimeHeadwayCondition

  • AbsoluteSpeedAction

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
                ),
            ),
        )

        init.add_init_action(
            speedyname, xosc.TeleportAction(xosc.LanePosition(10, 0, -3, 0))
        )
        init.add_init_action(
            speedyname,
            xosc.AbsoluteSpeedAction(
                30,
                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 action

        event = xosc.Event("speedchange", xosc.Priority.overwrite)
        event.add_action(
            "speedaction",
            xosc.AbsoluteSpeedAction(
                10,
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 3
                ),
            ),
        )

        # create two trigger conditions
        trig_cond1 = xosc.TimeToCollisionCondition(
            2, xosc.Rule.lessThan, entity=targetname
        )
        trig_cond2 = xosc.TimeHeadwayCondition(
            speedyname, 1, xosc.Rule.greaterThan
        )

        collision_trigger = xosc.EntityTrigger(
            "trigger", 0, xosc.ConditionEdge.none, trig_cond1, egoname
        )
        headway_trigger = xosc.EntityTrigger(
            "trigger", 0, xosc.ConditionEdge.none, trig_cond2, egoname
        )

        # create two separate condition groups

        col_group = xosc.ConditionGroup()
        col_group.add_condition(collision_trigger)

        head_group = xosc.ConditionGroup()
        head_group.add_condition(headway_trigger)

        # create trigger and add the two conditiongroups (or logic)
        trigger = xosc.Trigger()
        trigger.add_conditiongroup(col_group)
        trigger.add_conditiongroup(head_group)

        event.add_trigger(trigger)

        ## create the storyboard
        man = xosc.Maneuver("mymaneuver")
        man.add_event(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