Module examples.xosc.parallel_distance_actions
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.
Simple example showing how one vehicle triggers two different actions based on different distance related triggers
Some features used:
-
ReachPositionCondition
-
RelativeDistanceCondition
-
RelativeLaneChangeAction
-
AbsoluteSpeedAction
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.
Simple example showing how one vehicle triggers two different actions based on different distance related triggers
Some features used:
- ReachPositionCondition
- RelativeDistanceCondition
- RelativeLaneChangeAction
- AbsoluteSpeedAction
"""
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"
egoref = "Egofake"
targetname = "Target"
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference("VehicleCatalog", "car_white")
)
entities.add_scenario_object(
targetname, xosc.CatalogReference("VehicleCatalog", "car_yellow")
)
### create init
init = xosc.Init()
init.add_init_action(
egoname, xosc.TeleportAction(xosc.LanePosition(10, 0, -4, 0))
)
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
20,
xosc.TransitionDynamics(
xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
),
),
)
init.add_init_action(
targetname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0))
)
init.add_init_action(
targetname,
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(
xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
),
),
)
## do lanechange
lc_cond = xosc.ReachPositionCondition(xosc.LanePosition(40, 0, -4, 0), 1)
lc_event = xosc.Event("lanechange", xosc.Priority.parallel)
lc_event.add_action(
"lanechangeaction",
xosc.RelativeLaneChangeAction(
-1,
targetname,
xosc.TransitionDynamics(
xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 3
),
),
)
lc_event.add_trigger(
xosc.EntityTrigger(
"lanechangetrigger", 0, xosc.ConditionEdge.none, lc_cond, egoname
)
)
event = xosc.Event("speedchange", xosc.Priority.parallel)
event.add_action(
"speedaction",
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(
xosc.DynamicsShapes.linear, xosc.DynamicsDimension.time, 3
),
),
)
trig_cond = xosc.RelativeDistanceCondition(
5, xosc.Rule.lessThan, xosc.RelativeDistanceType.lateral, targetname
)
event.add_trigger(
xosc.EntityTrigger(
"trigger", 0, xosc.ConditionEdge.none, trig_cond, egoname
)
)
man = xosc.Maneuver("mymaneuver")
man.add_event(lc_event)
man.add_event(event)
## create the storyboard
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
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" egoref = "Egofake" targetname = "Target" entities = xosc.Entities() entities.add_scenario_object( egoname, xosc.CatalogReference("VehicleCatalog", "car_white") ) entities.add_scenario_object( targetname, xosc.CatalogReference("VehicleCatalog", "car_yellow") ) ### create init init = xosc.Init() init.add_init_action( egoname, xosc.TeleportAction(xosc.LanePosition(10, 0, -4, 0)) ) init.add_init_action( egoname, xosc.AbsoluteSpeedAction( 20, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) init.add_init_action( targetname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)) ) init.add_init_action( targetname, xosc.AbsoluteSpeedAction( 10, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) ## do lanechange lc_cond = xosc.ReachPositionCondition(xosc.LanePosition(40, 0, -4, 0), 1) lc_event = xosc.Event("lanechange", xosc.Priority.parallel) lc_event.add_action( "lanechangeaction", xosc.RelativeLaneChangeAction( -1, targetname, xosc.TransitionDynamics( xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 3 ), ), ) lc_event.add_trigger( xosc.EntityTrigger( "lanechangetrigger", 0, xosc.ConditionEdge.none, lc_cond, egoname ) ) event = xosc.Event("speedchange", xosc.Priority.parallel) event.add_action( "speedaction", xosc.AbsoluteSpeedAction( 10, xosc.TransitionDynamics( xosc.DynamicsShapes.linear, xosc.DynamicsDimension.time, 3 ), ), ) trig_cond = xosc.RelativeDistanceCondition( 5, xosc.Rule.lessThan, xosc.RelativeDistanceType.lateral, targetname ) event.add_trigger( xosc.EntityTrigger( "trigger", 0, xosc.ConditionEdge.none, trig_cond, egoname ) ) man = xosc.Maneuver("mymaneuver") man.add_event(lc_event) man.add_event(event) ## create the storyboard 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 sceAncestors
Inherited members