Module examples.xosc.trajectory_example

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

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Copyright (c) 2022 The scenariogeneration Authors.

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

Some features used:

  • RelativeLanePosition

  • Polyline

  • Trajectory

  • TimeHeadwayCondition

  • FollowTrajectoryAction

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()

        paramdec.add_parameter(
            xosc.Parameter(
                "$HostVehicle", xosc.ParameterType.string, "car_white"
            )
        )
        paramdec.add_parameter(
            xosc.Parameter(
                "$TargetVehicle", xosc.ParameterType.string, "car_red"
            )
        )

        bb = xosc.BoundingBox(2, 5, 1.8, 2.0, 0, 0.9)
        fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
        ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
        white_veh = xosc.Vehicle(
            "car_white", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10
        )

        white_veh.add_property_file("../models/car_white.osgb")
        white_veh.add_property("model_id", "0")

        bb = xosc.BoundingBox(1.8, 4.5, 1.5, 1.3, 0, 0.8)
        fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
        ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
        red_veh = xosc.Vehicle(
            "car_red", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10
        )

        red_veh.add_property_file("../models/car_red.osgb")
        red_veh.add_property("model_id", "2")

        ## create entities

        egoname = "Ego"
        targetname = "Target"

        entities = xosc.Entities()
        entities.add_scenario_object(egoname, white_veh)
        entities.add_scenario_object(targetname, red_veh)

        ### create init

        init = xosc.Init()
        step_time = xosc.TransitionDynamics(
            xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
        )

        egospeed = xosc.AbsoluteSpeedAction(30, step_time)
        egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0))

        targetspeed = xosc.AbsoluteSpeedAction(40, 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

        trigcond = xosc.TimeHeadwayCondition(
            targetname, 0.4, xosc.Rule.greaterThan
        )

        trigger = xosc.EntityTrigger(
            "mytesttrigger", 0.2, xosc.ConditionEdge.rising, trigcond, egoname
        )

        event = xosc.Event("myfirstevent", xosc.Priority.overwrite)
        event.add_trigger(trigger)

        positionlist = []
        positionlist.append(xosc.RelativeLanePosition(0, targetname, 0, ds=0))
        positionlist.append(
            xosc.RelativeLanePosition(0, targetname, 0.5, ds=20)
        )
        positionlist.append(
            xosc.RelativeLanePosition(0, targetname, -0.5, ds=40)
        )
        positionlist.append(
            xosc.RelativeLanePosition(0, targetname, -1, ds=60)
        )

        polyline = xosc.Polyline([0, 0.5, 1, 1.5], positionlist)

        traj = xosc.Trajectory("my_trajectory", False)
        traj.add_shape(polyline)

        trajact = xosc.FollowTrajectoryAction(
            traj,
            xosc.FollowingMode.position,
            xosc.ReferenceContext.relative,
            1,
            0,
        )

        event.add_action("newspeed", trajact)

        ## create the act
        man = xosc.Maneuver("my_maneuver")
        man.add_event(event)

        mangr = xosc.ManeuverGroup("mangroup")
        mangr.add_actor("$owner")
        mangr.add_maneuver(man)
        starttrigger = xosc.ValueTrigger(
            "starttrigger",
            0,
            xosc.ConditionEdge.rising,
            xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan),
        )
        act = xosc.Act("my_act", starttrigger)
        act.add_maneuver_group(mangr)

        ## create the story
        storyparam = xosc.ParameterDeclarations()
        storyparam.add_parameter(
            xosc.Parameter("$owner", xosc.ParameterType.string, targetname)
        )
        story = xosc.Story("mystory", storyparam)
        story.add_act(act)

        ## create the storyboard
        sb = xosc.StoryBoard(init)
        sb.add_story(story)

        ## create the scenario
        sce = xosc.Scenario(
            "trajectory_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