Module examples.xosc.syncronize_straight_example

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

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Copyright (c) 2022 The scenariogeneration Authors.

Example of a synchronizing two vehicles at one point

Some features used:

  • AbsoluteSynchronizeAction

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_red")
        )
        entities.add_scenario_object(
            targetname, xosc.CatalogReference("VehicleCatalog", "car_blue")
        )

        ### 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(
                10,
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
                ),
            ),
        )

        init.add_init_action(
            targetname, xosc.TeleportAction(xosc.LanePosition(30, 0, -3, 0))
        )
        init.add_init_action(
            targetname,
            xosc.AbsoluteSpeedAction(
                20,
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
                ),
            ),
        )

        ## target action

        tar_action = xosc.SynchronizeAction(
            egoname,
            xosc.LanePosition(200, 0, -1, 0),
            xosc.LanePosition(200, 0, -2, 0),
            target_tolerance_master=1,
            target_tolerance=1,
            final_speed=xosc.RelativeSpeedToMaster(
                10,
                xosc.SpeedTargetValueType.delta,
                xosc.TargetTimeSteadyState(10),
            ),
        )

        tar_event = xosc.Event("target_event", xosc.Priority.overwrite)
        tar_event.add_trigger(
            xosc.ValueTrigger(
                "ego_start",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(3, xosc.Rule.greaterThan),
            )
        )
        tar_event.add_action("tar_action", tar_action)

        tar_man = xosc.Maneuver("target_man")
        tar_man.add_event(tar_event)

        tar_man_gr = xosc.ManeuverGroup("target_man_gr")
        tar_man_gr.add_maneuver(tar_man)
        tar_man_gr.add_actor(targetname)

        ## act
        act = xosc.Act(
            "myact",
            xosc.ValueTrigger(
                "start",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan),
            ),
        )

        act.add_maneuver_group(tar_man_gr)
        ## create the storyboard
        sb = xosc.StoryBoard(
            init,
            xosc.ValueTrigger(
                "stop_simulation",
                0,
                xosc.ConditionEdge.rising,
                xosc.SimulationTimeCondition(20, xosc.Rule.greaterThan),
                "stop",
            ),
        )
        sb.add_act(act)

        ## 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