Module examples.xosc.multiple_maneuvers
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.
An example setting up multiple vehicles triggering on eachother and running in parallel
Some features used:
-
AbsoluteLaneChangeAction
-
TimeHeadwayCondition
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.
An example setting up multiple vehicles triggering on eachother and running in parallel
Some features used:
- AbsoluteLaneChangeAction
- TimeHeadwayCondition
"""
import os
from scenariogeneration import xosc, prettyprint, ScenarioGenerator
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"
redname = "Target1"
yelname = "Target2"
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference("VehicleCatalog", "car_white")
)
entities.add_scenario_object(
redname, xosc.CatalogReference("VehicleCatalog", "car_red")
)
entities.add_scenario_object(
yelname, xosc.CatalogReference("VehicleCatalog", "car_yellow")
)
### create init
init = xosc.Init()
step_time = xosc.TransitionDynamics(
xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
)
init.add_init_action(egoname, xosc.AbsoluteSpeedAction(30, step_time))
init.add_init_action(
egoname, xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0))
)
init.add_init_action(redname, xosc.AbsoluteSpeedAction(40, step_time))
init.add_init_action(
redname, xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0))
)
init.add_init_action(yelname, xosc.AbsoluteSpeedAction(30, step_time))
init.add_init_action(
yelname, xosc.TeleportAction(xosc.LanePosition(35, 0, -4, 0))
)
### create an event for the red car
r_trigcond = xosc.TimeHeadwayCondition(redname, 0.1, xosc.Rule.greaterThan)
r_trigger = xosc.EntityTrigger(
"redtrigger", 0.2, xosc.ConditionEdge.rising, r_trigcond, egoname
)
r_event = xosc.Event("first_lane_change", xosc.Priority.overwrite)
r_event.add_trigger(r_trigger)
r_event.add_action(
"lane_change_red",
xosc.AbsoluteLaneChangeAction(
-4,
xosc.TransitionDynamics(
xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 4
),
),
)
## create the act for the red car
r_man = xosc.Maneuver("red_maneuver")
r_man.add_event(r_event)
r_mangr = xosc.ManeuverGroup("mangroup_red")
r_mangr.add_actor(redname)
r_mangr.add_maneuver(r_man)
act = xosc.Act(
"red_act",
xosc.ValueTrigger(
"starttrigger",
0,
xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan),
),
)
act.add_maneuver_group(r_mangr)
## create an event for the yellow car
y_trigcond = xosc.TimeHeadwayCondition(redname, 0.5, xosc.Rule.greaterThan)
y_trigger = xosc.EntityTrigger(
"yellow_trigger", 0, xosc.ConditionEdge.rising, y_trigcond, yelname
)
y_event = xosc.Event("yellow_lanechange", xosc.Priority.overwrite)
y_event.add_trigger(y_trigger)
y_event.add_action(
"lane_change_yellow",
xosc.AbsoluteLaneChangeAction(
-3,
xosc.TransitionDynamics(
xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 2
),
),
)
## create the act for the yellow car
y_man = xosc.Maneuver("yellow_maneuver")
y_man.add_event(y_event)
y_mangr = xosc.ManeuverGroup("yellow_mangroup")
y_mangr.add_actor(yelname)
y_mangr.add_maneuver(y_man)
y_starttrigger = xosc.ValueTrigger(
"starttrigger",
0,
xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan),
)
# y_act = xosc.Act('my_act',y_starttrigger)
act.add_maneuver_group(y_mangr)
## create the story
story = xosc.Story("mystory")
story.add_act(act)
# story.add_act(y_act)
## create the storyboard
sb = xosc.StoryBoard(
init,
xosc.ValueTrigger(
"stop_simulation",
0,
xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(10, xosc.Rule.greaterThan),
"stop",
),
)
sb.add_story(story)
## create the scenario
sce = xosc.Scenario(
"adaptspeed_example",
"Mandolin",
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog,
osc_minor_version=self.open_scenario_version,
)
return sce
if __name__ == "__main__":
sce = Scenario()
# Print the resulting xml
prettyprint(sce.scenario().get_element())
# write the OpenSCENARIO file as xosc using current script name
sce.generate(".")
# 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): 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" redname = "Target1" yelname = "Target2" entities = xosc.Entities() entities.add_scenario_object( egoname, xosc.CatalogReference("VehicleCatalog", "car_white") ) entities.add_scenario_object( redname, xosc.CatalogReference("VehicleCatalog", "car_red") ) entities.add_scenario_object( yelname, xosc.CatalogReference("VehicleCatalog", "car_yellow") ) ### create init init = xosc.Init() step_time = xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ) init.add_init_action(egoname, xosc.AbsoluteSpeedAction(30, step_time)) init.add_init_action( egoname, xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0)) ) init.add_init_action(redname, xosc.AbsoluteSpeedAction(40, step_time)) init.add_init_action( redname, xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0)) ) init.add_init_action(yelname, xosc.AbsoluteSpeedAction(30, step_time)) init.add_init_action( yelname, xosc.TeleportAction(xosc.LanePosition(35, 0, -4, 0)) ) ### create an event for the red car r_trigcond = xosc.TimeHeadwayCondition(redname, 0.1, xosc.Rule.greaterThan) r_trigger = xosc.EntityTrigger( "redtrigger", 0.2, xosc.ConditionEdge.rising, r_trigcond, egoname ) r_event = xosc.Event("first_lane_change", xosc.Priority.overwrite) r_event.add_trigger(r_trigger) r_event.add_action( "lane_change_red", xosc.AbsoluteLaneChangeAction( -4, xosc.TransitionDynamics( xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 4 ), ), ) ## create the act for the red car r_man = xosc.Maneuver("red_maneuver") r_man.add_event(r_event) r_mangr = xosc.ManeuverGroup("mangroup_red") r_mangr.add_actor(redname) r_mangr.add_maneuver(r_man) act = xosc.Act( "red_act", xosc.ValueTrigger( "starttrigger", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), ), ) act.add_maneuver_group(r_mangr) ## create an event for the yellow car y_trigcond = xosc.TimeHeadwayCondition(redname, 0.5, xosc.Rule.greaterThan) y_trigger = xosc.EntityTrigger( "yellow_trigger", 0, xosc.ConditionEdge.rising, y_trigcond, yelname ) y_event = xosc.Event("yellow_lanechange", xosc.Priority.overwrite) y_event.add_trigger(y_trigger) y_event.add_action( "lane_change_yellow", xosc.AbsoluteLaneChangeAction( -3, xosc.TransitionDynamics( xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 2 ), ), ) ## create the act for the yellow car y_man = xosc.Maneuver("yellow_maneuver") y_man.add_event(y_event) y_mangr = xosc.ManeuverGroup("yellow_mangroup") y_mangr.add_actor(yelname) y_mangr.add_maneuver(y_man) y_starttrigger = xosc.ValueTrigger( "starttrigger", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), ) # y_act = xosc.Act('my_act',y_starttrigger) act.add_maneuver_group(y_mangr) ## create the story story = xosc.Story("mystory") story.add_act(act) # story.add_act(y_act) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger( "stop_simulation", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(10, xosc.Rule.greaterThan), "stop", ), ) sb.add_story(story) ## create the scenario sce = xosc.Scenario( "adaptspeed_example", "Mandolin", paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog, osc_minor_version=self.open_scenario_version, ) return sceAncestors
Inherited members