文档首页/
自动驾驶云服务 Octopus/
用户指南/
仿真服务/
Open SCENARIO2.0场景说明/
动态场景/
代码样例 Code Examples/
参数声明 Parameter Declarations/
逻辑场景 Logical scenario
更新时间:2024-09-06 GMT+08:00
逻辑场景 Logical scenario
逻辑场景的参数声明通过:范围型[最小值..最大值] 和枚举型[值1, 值2] 的方式来实现泛化:
- 范围型支持float和scalar类型
- 枚举型支持int, float, bool, str, enum和scalar类型,且需要保证枚举列表中的元素均为相同类型.
例1:范围型
m_value: float = [2.0..3.0] v: speed = [5mps..10mps] delay: time = [40s..60s] m_a: acceleration = [0.00mpss..0.03mpss]
例2:枚举型
m_ id: int = [-1, 2] m_value: float = [2.0, 3.0] m_on_road: bool = [true, false] Ego_name: string = ["Audi_A3_2009_black", "Audi_A3_2009_red"] m_shape: dynamics_shape = [linear, sinusoidal] m_side: side_left_right = [left, right] v: speed = [5mps, 7mps, 10mps] m_a: acceleration = [0.01mpss, 0.03mpss] delay: time = [40s, 60s, 100s]
- 通过泛化参数,可以实现实体entity 、动作act ,以及修饰器modifier 的泛化.
- Struct类型不能直接泛化,而是通过泛化参数来进行泛化.
例1:entity泛化
Ego_name: string = ["Audi_A3_2009_black", "Audi_A3_2009_red"] Ego_controller: string = "DefaultDriver" Ego: vehicle with: keep(it.name == Ego_name) keep(it.initial_bm == Ego_controller)
例2:act泛化
m_lateral: bool = [true, false] m_speed: speed = [5mps..15mps] m_rate_profile: dynamics_shape = linear Ego.activate_controller(m_lateral, true) Ego.change_speed(target: m_speed, rate_peak: 0.0mpss, rate_profile: m_rate_profile)
例3:modifier泛化
m_speed: speed = [5mps..15mps] Ego.assign_init_speed() with: speed(speed: m_speed)
例4:Struct类型泛化
m_lane_id: int = [-1, 2] m_odr: odr_point = map.create_odr_point(road_id: '0', lane_id:m_lane_id, s: 5.0m, t: 0.0m) m_x: distance = [2m..7.5m] m_position_3d: position_3d = map.create_xyz_point(x: m_x, y: 10.0m ,z: 0.0m) m_pose_3d: pose_3d with: keep(it.odr_point == m_odr)