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CutOutMultipleBlockingTargets
更新时间：2024-05-11 GMT+08:00
CutOutMultipleBlockingTargets
简述：主车Ego与同车道前方33.33m的头车lead_vehicle都按照初始速度16.667mps匀速行驶，正前方约500m处有一个行人target_blocking1，约515m处有一个障碍车辆target_blocking2，lead_vehicle在与行人target_blocking1距离小于50m时往左变道避障，10000s后激活Ego的controller，40s后停止场景（激活时间与场景停止时间可修改）。
osc2.0场景
import standard
scenario CutOutMultipleBlockingTargets:
# map
map: map
map.set_map_file("./ALKS_Road.xodr")
# parameter
Ego_InitPosition_LaneId: string = "-4"
Ego_InitSpeed_Ve0: speed = 16.66666667mps
LeadVehicle_InitDistance_dx0: length = 38.33333333m
Ego_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: 5.0m, t: 0.0m)
Ego_InitPosition: pose_3d with:
keep(it.odr_point == Ego_Odr)
Blocking1_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: 500.0m, t: 0.0m)
Blocking1_InitPosition: pose_3d with:
keep(it.odr_point == Blocking1_Odr)
Blocking2_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: 515.0m, t: 0.0m)
Blocking2_InitPosition: pose_3d with:
keep(it.odr_point == Blocking2_Odr)
LeadVehicle_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: LeadVehicle_InitDistance_dx0, t: 0.0m)
LeadVehicle_InitPosition: pose_3d with:
keep(it.odr_point == LeadVehicle_Odr)
FrontOfLead_Distance_dx0_f: length = 50.0m
Lateral_Velocity_Vy: speed = 2.0mps
m_direction : distance_direction = longitudinal
m_mode : distance_mode = bounding_boxes
m_rate_profile: dynamics_shape = linear
m_side: lane_change_side = left
Duration: time = 40s
# entity
Ego_Name: string = "Audi_A3_2009_black"
LeadVehicle_Name: string = "Audi_A3_2009_red"
TargetBlocking2_Name: string = "Audi_A3_2009_blue"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
target_blocking1: person with:
keep(it.name == "Christian")
keep(it.model == "male_adult")
target_blocking2: vehicle with:
keep(it.name == TargetBlocking2_Name)
lead_vehicle: vehicle with:
keep(it.name == LeadVehicle_Name)
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed_Ve0)
target_blocking1.assign_init_position(position: Blocking1_InitPosition)
target_blocking2.assign_init_position(position: Blocking2_InitPosition)
lead_vehicle.assign_init_position(position: LeadVehicle_InitPosition)
lead_vehicle.assign_init_speed(Ego_InitSpeed_Ve0)
serial:
# act1: ActivateALKSControllerAct
wait elapsed(10000s)
Ego.activate_controller(true, true) # lateral, longitudinal
serial:
# act2: CutOutAct
wait lead_vehicle.object_distance(reference: target_blocking1, direction: m_direction, mode: m_mode) < FrontOfLead_Distance_dx0_f
lead_vehicle.change_lane(number_of_lanes: 1, side: m_side, reference: lead_vehicle, rate_peak: Lateral_Velocity_Vy, rate_profile: m_rate_profile)
转化结果
<OpenSCENARIO>
<FileHeader author="Octopus/Simulation" date="2022-10-29T01:26:41" description="" revMajor="1" revMinor="0"/>
<CatalogLocations>
<VehicleCatalog>
<Directory path="Distros/Current/Config/Players/Vehicles"/>
</VehicleCatalog>
<ControllerCatalog>
<Directory path="Distros/Current/Config/Players/driverCfg.xml"/>
</ControllerCatalog>
<PedestrianCatalog>
<Directory path="Distros/Current/Config/Players/Pedestrians"/>
</PedestrianCatalog>
<MiscObjectCatalog>
<Directory path="Distros/Current/Config/Players/Objects"/>
</MiscObjectCatalog>
</CatalogLocations>
<RoadNetwork>
<LogicFile filepath="./ALKS_Road.xodr"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
<Vehicle name="Audi_A3_2009_black" vehicleCategory="car">
<BoundingBox>
<Center x="1.5" y="0" z="0.9"/>
<Dimensions height="2.1" length="4.5" width="1.8"/>
</BoundingBox>
<Performance maxAcceleration="8" maxDeceleration="8" maxSpeed="60"/>
<Axles>
<FrontAxle maxSteering="0.5" positionX="3.1" positionZ="0.3" trackWidth="1.8" wheelDiameter="0.6"/>
<RearAxle maxSteering="0" positionX="0" positionZ="0.3" trackWidth="1.8" wheelDiameter="0.6"/>
</Axles>
<Properties>
<Property name="control" value="external"/>
</Properties>
</Vehicle>
<ObjectController>
<Controller name="DefaultDriver">
<Properties/>
</Controller>
</ObjectController>
</ScenarioObject>
<ScenarioObject name="lead_vehicle">
<Vehicle name="Audi_A3_2009_red" vehicleCategory="car">
<BoundingBox>
<Center x="1.5" y="0" z="0.9"/>
<Dimensions height="2.1" length="4.5" width="1.8"/>
</BoundingBox>
<Performance maxAcceleration="8" maxDeceleration="8" maxSpeed="60"/>
<Axles>
<FrontAxle maxSteering="0.5" positionX="3.1" positionZ="0.3" trackWidth="1.8" wheelDiameter="0.6"/>
<RearAxle maxSteering="0" positionX="0" positionZ="0.3" trackWidth="1.8" wheelDiameter="0.6"/>
</Axles>
<Properties/>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="target_blocking1">
<Pedestrian mass="80" model="male_adult" name="Christian" pedestrianCategory="pedestrian">
<BoundingBox>
<Center x="1.5" y="0" z="0.9"/>
<Dimensions height="2.1" length="4.5" width="1.8"/>
</BoundingBox>
<Properties/>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="target_blocking2">
<Vehicle name="Audi_A3_2009_blue" vehicleCategory="car">
<BoundingBox>
<Center x="1.5" y="0" z="0.9"/>
<Dimensions height="2.1" length="4.5" width="1.8"/>
</BoundingBox>
<Performance maxAcceleration="8" maxDeceleration="8" maxSpeed="60"/>
<Axles>
<FrontAxle maxSteering="0.5" positionX="3.1" positionZ="0.3" trackWidth="1.8" wheelDiameter="0.6"/>
<RearAxle maxSteering="0" positionX="0" positionZ="0.3" trackWidth="1.8" wheelDiameter="0.6"/>
</Axles>
<Properties/>
</Vehicle>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<Private entityRef="Ego">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition laneId="-4" offset="0" roadId="0" s="5"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsDimension="time" dynamicsShape="step" value="0"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="16.66666667"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
<Private entityRef="lead_vehicle">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition laneId="-4" offset="0" roadId="0" s="38.33333333"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsDimension="time" dynamicsShape="step" value="0"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="16.66666667"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
<Private entityRef="target_blocking1">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition laneId="-4" offset="0" roadId="0" s="500"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="target_blocking2">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition laneId="-4" offset="0" roadId="0" s="515"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="CutOutMultipleBlockingTargetsStory">
<Act name="Ego_activate_controller_7_act">
<ManeuverGroup maximumExecutionCount="1" name="Ego_activate_controller_7_maneuvers">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="Ego"/>
</Actors>
<Maneuver name="Ego_activate_controller_7_maneuver">
<Event maximumExecutionCount="1" name="Ego_activate_controller_7_event" priority="overwrite">
<Action name="Ego_activate_controller_7">
<PrivateAction>
<ActivateControllerAction lateral="true" longitudinal="true"/>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="Ego_activate_controller_7_condition_1">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="0"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="Ego_activate_controller_7_condition">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="10000"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Act>
<Act name="lead_vehicle_change_lane_1_act">
<ManeuverGroup maximumExecutionCount="1" name="lead_vehicle_change_lane_1_maneuvers">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="lead_vehicle"/>
</Actors>
<Maneuver name="lead_vehicle_change_lane_1_maneuver">
<Event maximumExecutionCount="1" name="lead_vehicle_change_lane_1_event" priority="overwrite">
<Action name="lead_vehicle_change_lane_1">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsDimension="rate" dynamicsShape="linear" value="2"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="lead_vehicle" value="1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="lead_vehicle_change_lane_1_condition">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="lead_vehicle"/>
</TriggeringEntities>
<EntityCondition>
<DistanceCondition alongRoute="true" freespace="true" rule="lessThan" value="50">
<Position>
<RelativeObjectPosition dx="0" dy="0" dz="0" entityRef="target_blocking1">
<Orientation h="0" p="0" r="0" type="absolute"/>
</RelativeObjectPosition>
</Position>
</DistanceCondition>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="lead_vehicle_change_lane_1_condition_1">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="0"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="story_end">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="40"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
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