Module examples.xosc.speed_profile

An example showing how to create a trajector based on polyline Also shows how to create a vehicle from start

Some features used:

  • SpeedProfileAction

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"
        targetname = "Target"

        entities = xosc.Entities()
        entities.add_scenario_object(
            egoname, xosc.CatalogReference("VehicleCatalog", "car_white")
        )
        entities.add_scenario_object(
            targetname, xosc.CatalogReference("VehicleCatalog", "car_red")
        )

        ### create init

        init = xosc.Init()
        step_time = xosc.TransitionDynamics(
            xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 0
        )

        egospeed = xosc.AbsoluteSpeedAction(20, step_time)
        egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0))

        targetspeed = xosc.AbsoluteSpeedAction(30, step_time)
        targetstart = xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0))

        init.add_init_action(egoname, egospeed)
        init.add_init_action(egoname, egostart)
        init.add_init_action(targetname, targetspeed)
        init.add_init_action(targetname, targetstart)

        ### create an event
        ego_event = xosc.Event("ego_speed_change", xosc.Priority.overwrite)
        ego_event.add_trigger(
            xosc.ValueTrigger(
                "sim_time_trigger",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan),
            )
        )
        ego_speed_change = xosc.SpeedProfileAction(
            [20, 30, 25, 40], xosc.FollowingMode.follow, [0, 5, 10, 20]
        )
        ego_event.add_action("ego_speed_change", ego_speed_change)
        ego_man = xosc.Maneuver("ego_speed").add_event(ego_event)
        ## create the storyboard
        sb = xosc.StoryBoard(
            init,
            xosc.ValueTrigger(
                "sim_time_trigger",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(30, xosc.Rule.greaterThan),
                "stop",
            ),
        )
        sb.add_maneuver(ego_man, actors=egoname)

        ## create the scenario
        sce = xosc.Scenario(
            "speed_profile_example",
            "Mandolin",
            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