更新时间：2024-05-13 GMT+08:00
场景样例 Scenario Examples
具体场景 Concrete Scenario
具体场景样例
import standard
scenario my_scenario:
# Road Network
map: map
map.set_map_file("./road.xodr")
# Parameter Declarations
m_z: length = 5.0m
LeadVehicle_InitDistance: length = 20.0m
Ego_InitSpeed: speed = 16.66666667mps
delay1: time = 20s
delay2: time = 5s
Swerve_Offset: length = -1.0m
Swerve_MaxLateralAcc: speed = 0.3mps
m_sinusoidal: dynamics_shape = sinusoidal
m_right: side_left_right = right
m_odr: odr_point = map.create_odr_point(road_id: '0', lane_id: '-4', s: 5.0m, t: 0.0m)
Ego_InitPosition: pose_3d with:
keep(it.odr_point == m_odr)
m_xyz: xyz_point = map.create_xyz_point(x: 0.0m, y: 10.0m,z: m_z)
person_InitPosition: pose_3d with:
keep(it.xyz_point == m_xyz)
m_mode: distance_mode = reference_points
m_direction: distance_direction = euclidianDistance
m_profile: dynamics_shape = step
m_side: lane_change_side = same
# Entities
Ego_name: string = "Audi_A3_2009_black"
Side_vehicle_name: string = "Audi_A3_2009_red"
Ego_controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_name)
keep(it.initial_bm == Ego_controller)
lead_vehicle: vehicle with:
keep(it.name == Side_vehicle_name)
woman: person with:
keep(it.name == "Christian")
keep(it.model == "female_adult")
# Storyboard
do parallel:
# InitActions
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed)
lead_vehicle.assign_init_position() with:
lane(lane: 0, side_of: Ego, side: m_right)
position(LeadVehicle_InitDistance, ahead_of: Ego)
lead_vehicle.assign_init_speed() with:
speed(same_as: Ego)
woman.assign_init_position(person_InitPosition)
# Story
serial:
# action 1: ActivateALKSController
wait elapsed(delay1)
Ego.activate_controller(true, true)
serial:
# action 2: SwerveAction
wait elapsed(delay2)
lead_vehicle.lane_offset(Swerve_Offset, Swerve_MaxLateralAcc, m_sinusoidal)
serial:
wait lead_vehicle.object_distance(reference: Ego, direction: m_direction, mode: m_mode) < 5m
parallel:
Ego.change_lane(side:m_side, reference: lead_vehicle, side:m_side, rate_profile: m_profile, rate_peak: 0.3mps)
lead_vehicle.change_speed(target: 0.2mps, rate_profile: m_sinusoidal, rate_peak: -0.1mpss)
逻辑场景 Logical Scenario
逻辑场景样例
import standard
scenario my_scenario:
# Road Network
map: map
map.set_map_file("./road.xodr")
# Parameter Declarations
m_z: length = [0.0m..5.0m]
LeadVehicle_InitDistance: length = 20.0m
Ego_InitSpeed: speed = 16.66666667mps
delay1: time = [10s, 20s, 60s]
delay2: time = 5s
Swerve_Offset: length = -1.0m
Swerve_MaxLateralAcc: speed = 0.3mps
m_sinusoidal: dynamics_shape = [linear, sinusoidal]
m_right: side_left_right = [left, right]
m_odr: odr_point = map.create_odr_point(road_id: '0', lane_id: '-4', s: 5.0m, t: 0.0m)
Ego_InitPosition: pose_3d with:
keep(it.odr_point == m_odr)
m_xyz: xyz_point = map.create_xyz_point(x: 0.0m, y: 10.0m,z: m_z)
person_InitPosition: pose_3d with:
keep(it.xyz_point == m_xyz)
m_mode: distance_mode = reference_points
m_direction: distance_direction = euclidianDistance
m_profile: dynamics_shape = [step, linear]
m_side: lane_change_side = [same, right]
# Entities
Ego_name: string = "Audi_A3_2009_black"
Side_vehicle_name: string = "Audi_A3_2009_red"
Ego_controller: string = ["DefaultDriver", "ComfortableDriver"]
Ego: vehicle with:
keep(it.name == Ego_name)
keep(it.initial_bm == Ego_controller)
lead_vehicle: vehicle with:
keep(it.name == Side_vehicle_name)
woman: person with:
keep(it.name == "Christian")
keep(it.model == "female_adult")
# Storyboard
do parallel:
# InitActions
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed)
lead_vehicle.assign_init_position() with:
lane(lane: 0, side_of: Ego, side: m_right)
position(LeadVehicle_InitDistance, ahead_of: Ego)
lead_vehicle.assign_init_speed() with:
speed(same_as: Ego)
woman.assign_init_position(person_InitPosition)
# Story
serial:
# action 1: ActivateALKSController
wait elapsed(delay1)
Ego.activate_controller(true, true)
serial:
# action 2: SwerveAction
wait elapsed(delay2)
lead_vehicle.lane_offset(Swerve_Offset, Swerve_MaxLateralAcc, m_sinusoidal)
serial:
wait lead_vehicle.object_distance(reference: Ego, direction: m_direction, mode: m_mode) < 5m
parallel:
Ego.change_lane(side:m_side, reference: lead_vehicle, side:m_side, rate_profile: m_profile, rate_peak: 0.3mps)
lead_vehicle.change_speed(target: 0.2mps, rate_profile: m_sinusoidal, rate_peak: -0.1mpss)
父主题： 动态场景
