更新时间：2024-07-23 GMT+08:00
ALKS样例
根据官方提供的ALKS样例，提供了一些osc2.0的场景（osc文件）及其适用于仿真器A的转化结果（xosc文件）。考虑到仿真器A的支持程度，建议在转换时选择osc1.0版本。
FreeDriving
简述：主车Ego按照初始速度匀速行驶，10000s后激活controller，300s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 FreeDriving:
# map
map: map
map.set_map_file("./ALKS_Road_Different_Curvatures.xodr")
# parameter
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)
Ego_InitSpeed_Ve0: speed = 16.66666667mps
Duration: time = 300s
# entity
Ego_Name: string = "Audi_A3_2009_black"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed_Ve0)
# act1: ActivateALKSControllerAct
serial:
wait elapsed(10000s)
Ego.activate_controller(true, true) # args: lateral, longitudinal
转化结果
<OpenSCENARIO >
<FileHeader author="Octopus/Simulation" date="2022-10-28T07:45:48" 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_Different_Curvatures.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 >
</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 >
</Actions >
</Init >
<Story name="FreeDrivingStory" >
<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 >
</Story >
<StopTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="story_end" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="300"/ >
</ByValueCondition >
</Condition >
</ConditionGroup >
</StopTrigger >
</Storyboard > </OpenSCENARIO>
FullyBlockingTarget
简述：主车Ego按照初始速度匀速行驶，正前方495m处有一位行人，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 FullyBlockingTarget:
# map
map: map
map.set_map_file("./ALKS_Road.xodr")
# parameter
Ego_InitPosition_LaneId: string = '-4'
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)
TargetBlocking_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: 500.0m, t: 0.0m)
TargetBlocking_InitPosition: pose_3d with:
keep(it.odr_point == TargetBlocking_Odr)
Ego_InitSpeed_Ve0: speed = 16.66666667mps
Duration: time = 40s
# entity
Ego_Name: string = "Audi_A3_2009_black"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
TargetBlocking: person with:
keep(it.name == "Christian")
keep(it.model == "male_adult")
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed_Ve0)
TargetBlocking.assign_init_position(position: TargetBlocking_InitPosition)
# act1: ActivateALKSControllerAct
serial:
wait elapsed(10000s)
Ego.activate_controller(true, true) # args: lateral, longitudinal
转化结果
<OpenSCENARIO >
<FileHeader author="Octopus/Simulation" date="2022-10-28T07:58:37" 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="TargetBlocking" >
<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 >
</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="TargetBlocking" >
<PrivateAction >
<TeleportAction >
<Position >
<LanePosition laneId="-4" offset="0" roadId="0" s="500"/ >
</Position >
</TeleportAction >
</PrivateAction >
</Private >
</Actions >
</Init >
<Story name="FullyBlockingTargetStory" >
<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 >
</Story >
<StopTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="story_end" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="40"/ >
</ByValueCondition >
</Condition >
</ConditionGroup >
</StopTrigger >
</Storyboard > </OpenSCENARIO>
PartiallyBlockingTarget
简述：主车Ego按照初始速度匀速行驶，斜前方495米处有一位行人，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 PartiallyBlockingTarget:
# map
map: map
map.set_map_file("./ALKS_Road.xodr")
# parameter
Ego_InitPosition_LaneId: string = '-4'
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)
TargetBlocking_InitPosition_Offset: length = -1.5m
TargetBlocking_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: 500.0m, t: TargetBlocking_InitPosition_Offset)
TargetBlocking_InitPosition: pose_3d with:
keep(it.odr_point == TargetBlocking_Odr)
Ego_InitSpeed_Ve0: speed = 16.66666667mps
Duration: time = 40s
# entity
Ego_Name: string = "Audi_A3_2009_black"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
TargetBlocking: person with:
keep(it.name == "Christian")
keep(it.model == "male_adult")
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed_Ve0)
TargetBlocking.assign_init_position(position: TargetBlocking_InitPosition)
# act1: ActivateALKSControllerAct
serial:
wait elapsed(10000s)
Ego.activate_controller(true, true) # args: lateral, longitudinal
转化结果
<OpenSCENARIO >
<FileHeader author="Octopus/Simulation" date="2022-10-28T08:09:41" 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="TargetBlocking" >
<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 >
</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="16.67"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Private >
<Private entityRef="TargetBlocking" >
<PrivateAction >
<TeleportAction >
<Position >
<LanePosition laneId="-4" offset="-1.5" roadId="0" s="500"/ >
</Position >
</TeleportAction >
</PrivateAction >
</Private >
</Actions >
</Init >
<Story name="PartiallyBlockingTargetStory" >
<Act name="Ego_activate_controller_act" >
<ManeuverGroup maximumExecutionCount="1" name="Ego_activate_controller_maneuvers" >
<Actors selectTriggeringEntities="false" >
<EntityRef entityRef="Ego"/ >
</Actors >
<Maneuver name="Ego_activate_controller_maneuver" >
<Event maximumExecutionCount="1" name="Ego_activate_controller_event" priority="overwrite" >
<Action name="Ego_activate_controller" >
<PrivateAction >
<ActivateControllerAction lateral="true" longitudinal="true"/ >
</PrivateAction >
</Action >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="Ego_activate_controller_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_condition" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="10000"/ >
</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>
FollowLeadVehicleEmergencyBrake
简述：主车Ego和正前方33.33m的头车lead_vehicle按照相同的初始速度匀速行驶，前车突然刹车，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 FollowLeadVehicleEmergencyBrake:
# map
map: map
map.set_map_file("./ALKS_Road.xodr")
# parameter
Ego_InitPosition_LaneId: string = '-4'
m_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 == m_odr)
Ego_InitSpeed_Ve0: speed = 16.66666667mps
LeadVehicle_InitDistance_dx0: length = 33.33333333m
LeadVehicle_BrakeRate_Gx_max: acceleration = 6.0mpss
m_rate_profile: dynamics_shape = linear
Duration: time = 40s
# entity
Ego_Name: string = "Audi_A3_2009_black"
LeadVehicle_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 == LeadVehicle_Name)
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed_Ve0)
lead_vehicle.assign_init_position() with:
lane(same_as: Ego)
position(LeadVehicle_InitDistance_dx0, ahead_of: Ego)
lead_vehicle.assign_init_speed(Ego_InitSpeed_Ve0)
# act1: ActivateALKSControllerAct
serial:
wait elapsed(10000s)
Ego.activate_controller(true, true) # args: lateral, longitudinal
# act2: BrakeAct
# VaryingSpeedEvent
serial:
wait elapsed(10s)
lead_vehicle.change_speed(target: 0.0mps, rate_profile: m_rate_profile, rate_peak: LeadVehicle_BrakeRate_Gx_max)
转化结果
<OpenSCENARIO >
<FileHeader author="Octopus/Simulation" date="2022-10-28T08:12:34" 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 >
</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 >
<RelativeLanePosition dLane="0" ds="33.33333333" entityRef="Ego"/ >
</Position >
</TeleportAction >
</PrivateAction >
<PrivateAction >
<LongitudinalAction >
<SpeedAction >
<SpeedActionDynamics dynamicsDimension="time" dynamicsShape="step" value="0"/ >
<SpeedActionTarget >
<AbsoluteTargetSpeed value="16.66666667"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Private >
</Actions >
</Init >
<Story name="FollowLeadVehicleEmergencyBrakeStory" >
<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_speed_1_act" >
<ManeuverGroup maximumExecutionCount="1" name="lead_vehicle_change_speed_1_maneuvers" >
<Actors selectTriggeringEntities="false" >
<EntityRef entityRef="lead_vehicle"/ >
</Actors >
<Maneuver name="lead_vehicle_change_speed_1_maneuver" >
<Event maximumExecutionCount="1" name="lead_vehicle_change_speed_1_event" priority="overwrite" >
<Action name="lead_vehicle_change_speed_1" >
<PrivateAction >
<LongitudinalAction >
<SpeedAction >
<SpeedActionDynamics dynamicsDimension="rate" dynamicsShape="linear" value="6"/ >
<SpeedActionTarget >
<AbsoluteTargetSpeed value="0"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Action >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="lead_vehicle_change_speed_1_condition_1" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="0"/ >
</ByValueCondition >
</Condition >
</ConditionGroup >
</StartTrigger >
</Event >
</Maneuver >
</ManeuverGroup >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="lead_vehicle_change_speed_1_condition" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="10"/ >
</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>
CutInNoCollision
简述：主车Ego按照初始速度16.667mps匀速行驶，前方85m右1车道的切入车辆cut_in_vehicle以慢于Ego5.55mps的速度行驶，当两车距离小于30m时，cut_in_vehicle开始以15mps为目标加速（加速动态受到加速度值CutInVehicle_SpeedChange_RatePeak的影响，此处ALKS设置的默认加速度为0.0mps，可以根据需要更改），同时变道切入Ego所在车道，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 CutInNoCollision:
# map
map: map
map.set_map_file('./ALKS_Road.xodr')
# parameter
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)
Ego_InitSpeed_Ve0: speed = 16.66666667mps
CutInVehicle_InitPosition_RelativeLaneId: int = 1 # -1 for right, 1 for left
CutInVehicle_HeadwayDistanceTrigger_dx0: length = 30.0m
CutInVehicle_LaneChange_MaxLateralVelocity_Vy: speed = 2.0mps
CutInVehicle_SpeedChange_RatePeak: acceleration = 0.0mpss
CutInVehicle_Acceleration_Target: speed = 15.0mps
m_right: side_left_right = right
m_direction: distance_direction = longitudinal
m_mode: distance_mode = bounding_boxes
m_side: lane_change_side = same
m_rate_profile_lane: dynamics_shape = linear
m_rate_profile_speed: dynamics_shape = linear
Duration: time = 40s
# entity
Ego_Name: string = "Audi_A3_2009_black"
CutInVehicle_Name: string = "Audi_A3_2009_red"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
cut_in_vehicle: vehicle with:
keep(it.name == CutInVehicle_Name)
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(target: Ego_InitSpeed_Ve0)
cut_in_vehicle.assign_init_position() with:
lane(lane: CutInVehicle_InitPosition_RelativeLaneId, side_of: Ego, side: m_right)
position(distance: 85.0m, ahead_of: Ego)
cut_in_vehicle.assign_init_speed(11.1111mps)
# story
serial:
# act1: ActivateALKSControllerAct
wait elapsed(10000s)
Ego.activate_controller(lateral: true, longitudinal: true)
serial:
# act2: CutInAct
wait cut_in_vehicle.object_distance(reference: Ego, direction: m_direction, mode: m_mode) < CutInVehicle_HeadwayDistanceTrigger_dx0
parallel:
cut_in_vehicle.change_lane(side: m_side, reference: Ego, rate_peak: CutInVehicle_LaneChange_MaxLateralVelocity_Vy, rate_profile: m_rate_profile_lane)
cut_in_vehicle.change_speed(target: CutInVehicle_Acceleration_Target, rate_peak: CutInVehicle_SpeedChange_RatePeak, rate_profile: m_rate_profile_speed)
转化结果
<OpenSCENARIO >
<FileHeader author="Octopus/Simulation" date="2022-10-28T08:55:16" 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="cut_in_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 >
</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="16.67"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Private >
<Private entityRef="cut_in_vehicle" >
<PrivateAction >
<TeleportAction >
<Position >
<RelativeLanePosition dLane="-1" ds="85" entityRef="Ego"/ >
</Position >
</TeleportAction >
</PrivateAction >
<PrivateAction >
<LongitudinalAction >
<SpeedAction >
<SpeedActionDynamics dynamicsDimension="time" dynamicsShape="step" value="0"/ >
<SpeedActionTarget >
<AbsoluteTargetSpeed value="11.11"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Private >
</Actions >
</Init >
<Story name="CutInNoCollisionStory" >
<Act name="Ego_activate_controller_act" >
<ManeuverGroup maximumExecutionCount="1" name="Ego_activate_controller_maneuvers" >
<Actors selectTriggeringEntities="false" >
<EntityRef entityRef="Ego"/ >
</Actors >
<Maneuver name="Ego_activate_controller_maneuver" >
<Event maximumExecutionCount="1" name="Ego_activate_controller_event" priority="overwrite" >
<Action name="Ego_activate_controller" >
<PrivateAction >
<ActivateControllerAction lateral="true" longitudinal="true"/ >
</PrivateAction >
</Action >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="Ego_activate_controller_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_condition" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="10000"/ >
</ByValueCondition >
</Condition >
</ConditionGroup >
</StartTrigger >
</Act >
<Act name="cut_in_vehicle_change_lane_act" >
<ManeuverGroup maximumExecutionCount="1" name="cut_in_vehicle_change_lane_maneuvers" >
<Actors selectTriggeringEntities="false" >
<EntityRef entityRef="cut_in_vehicle"/ >
</Actors >
<Maneuver name="cut_in_vehicle_change_lane_maneuver" >
<Event maximumExecutionCount="1" name="cut_in_vehicle_change_lane_event" priority="overwrite" >
<Action name="cut_in_vehicle_change_lane" >
<PrivateAction >
<LateralAction >
<LaneChangeAction >
<LaneChangeActionDynamics dynamicsDimension="rate" dynamicsShape="linear" value="2"/ >
<LaneChangeTarget >
<RelativeTargetLane entityRef="Ego" value="0"/ >
</LaneChangeTarget >
</LaneChangeAction >
</LateralAction >
</PrivateAction >
</Action >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="cut_in_vehicle_change_lane_condition" >
<ByEntityCondition >
<TriggeringEntities triggeringEntitiesRule="any" >
<EntityRef entityRef="cut_in_vehicle"/ >
</TriggeringEntities >
<EntityCondition >
<DistanceCondition alongRoute="true" freespace="true" rule="lessThan" value="30" >
<Position >
<RelativeObjectPosition dx="0" dy="0" dz="0" entityRef="Ego" >
<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="cut_in_vehicle_change_lane_condition_1" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="0"/ >
</ByValueCondition >
</Condition >
</ConditionGroup >
</StartTrigger >
</Act >
<Act name="cut_in_vehicle_change_speed_act" >
<ManeuverGroup maximumExecutionCount="1" name="cut_in_vehicle_change_speed_maneuvers" >
<Actors selectTriggeringEntities="false" >
<EntityRef entityRef="cut_in_vehicle"/ >
</Actors >
<Maneuver name="cut_in_vehicle_change_speed_maneuver" >
<Event maximumExecutionCount="1" name="cut_in_vehicle_change_speed_event" priority="overwrite" >
<Action name="cut_in_vehicle_change_speed" >
<PrivateAction >
<LongitudinalAction >
<SpeedAction >
<SpeedActionDynamics dynamicsDimension="rate" dynamicsShape="linear" value="0"/ >
<SpeedActionTarget >
<AbsoluteTargetSpeed value="15"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Action >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="cut_in_vehicle_change_speed_condition" >
<ByEntityCondition >
<TriggeringEntities triggeringEntitiesRule="any" >
<EntityRef entityRef="cut_in_vehicle"/ >
</TriggeringEntities >
<EntityCondition >
<DistanceCondition alongRoute="true" freespace="true" rule="lessThan" value="30" >
<Position >
<RelativeObjectPosition dx="0" dy="0" dz="0" entityRef="Ego" >
<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="cut_in_vehicle_change_speed_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>
CutInUnavoidableCollision
简述：主车Ego按照初始速度16.667mps匀速行驶，前方55m右1车道的切入车辆cut_in_vehicle以慢于Ego5.55mps的速度行驶，当两车距离小于10m时，cut_in_vehicle开始以15mps为目标加速，同时变道切入Ego所在车道，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 CutInUnavoidableCollision:
# map
map: map
map.set_map_file("./ALKS_Road.xodr")
# parameter
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)
Ego_InitSpeed_Ve0: speed = 16.66666667mps
CutInVehicle_InitPosition_RelativeLaneId: int = 1 # -1 for right, 1 for left
CutInVehicle_HeadwayDistanceTrigger_dx0: length = 10.0m
CutInVehicle_LaneChange_MaxLateralVelocity_Vy: speed = 3.0mps
CutInVehicle_SpeedChange_RatePeak: acceleration = 0.0mpss
CutInVehicle_Acceleration_Target: speed = 15.0mps
CutInVehicle_SpeedChange_RateProfile: dynamics_shape = linear
m_right: side_left_right = right
m_direction: distance_direction = longitudinal
m_mode: distance_mode = bounding_boxes
m_side: lane_change_side = same
m_rate_profile_lane: dynamics_shape = linear
m_rate_profile_speed: dynamics_shape = linear
Duration: time = 40s
# entity
Ego_Name: string = "Audi_A3_2009_black"
CutInVehicle_Name: string = "Audi_A3_2009_red"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
cut_in_vehicle: vehicle with:
keep(it.name == CutInVehicle_Name)
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed_Ve0)
cut_in_vehicle.assign_init_position() with:
lane(lane: CutInVehicle_InitPosition_RelativeLaneId, side_of: Ego, side: m_right)
position(distance: 55.0m, ahead_of: Ego)
cut_in_vehicle.assign_init_speed(11.1111mps)
# story
serial:
# act1: ActivateALKSControllerAct
wait elapsed(10000s)
Ego.activate_controller(true, true) # lateral, longitudinal # act 1: ActivateALKSControllerStory
serial:
# act2: CutInAct
wait cut_in_vehicle.object_distance(reference: Ego, direction: m_direction, mode: m_mode) < CutInVehicle_HeadwayDistanceTrigger_dx0
parallel:
cut_in_vehicle.change_lane(side: m_side, reference: Ego, rate_peak: CutInVehicle_LaneChange_MaxLateralVelocity_Vy, rate_profile: m_rate_profile_lane)
cut_in_vehicle.change_speed(target: CutInVehicle_Acceleration_Target, rate_peak: CutInVehicle_SpeedChange_RatePeak, rate_profile: m_rate_profile_speed)
转化结果
<OpenSCENARIO >
<FileHeader author="Octopus/Simulation" date="2022-10-28T09:18:33" 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="cut_in_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 >
</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="cut_in_vehicle" >
<PrivateAction >
<TeleportAction >
<Position >
<RelativeLanePosition dLane="-1" ds="55" entityRef="Ego"/ >
</Position >
</TeleportAction >
</PrivateAction >
<PrivateAction >
<LongitudinalAction >
<SpeedAction >
<SpeedActionDynamics dynamicsDimension="time" dynamicsShape="step" value="0"/ >
<SpeedActionTarget >
<AbsoluteTargetSpeed value="11.1111"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Private >
</Actions >
</Init >
<Story name="CutInUnavoidableCollisionStory" >
<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="cut_in_vehicle_change_lane_act" >
<ManeuverGroup maximumExecutionCount="1" name="cut_in_vehicle_change_lane_maneuvers" >
<Actors selectTriggeringEntities="false" >
<EntityRef entityRef="cut_in_vehicle"/ >
</Actors >
<Maneuver name="cut_in_vehicle_change_lane_maneuver" >
<Event maximumExecutionCount="1" name="cut_in_vehicle_change_lane_event" priority="overwrite" >
<Action name="cut_in_vehicle_change_lane" >
<PrivateAction >
<LateralAction >
<LaneChangeAction >
<LaneChangeActionDynamics dynamicsDimension="rate" dynamicsShape="linear" value="3"/ >
<LaneChangeTarget >
<RelativeTargetLane entityRef="Ego" value="0"/ >
</LaneChangeTarget >
</LaneChangeAction >
</LateralAction >
</PrivateAction >
</Action >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="cut_in_vehicle_change_lane_condition" >
<ByEntityCondition >
<TriggeringEntities triggeringEntitiesRule="any" >
<EntityRef entityRef="cut_in_vehicle"/ >
</TriggeringEntities >
<EntityCondition >
<DistanceCondition alongRoute="true" freespace="true" rule="lessThan" value="10" >
<Position >
<RelativeObjectPosition dx="0" dy="0" dz="0" entityRef="Ego" >
<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="cut_in_vehicle_change_lane_condition_1" >
<ByValueCondition >
<SimulationTimeCondition rule="greaterThan" value="0"/ >
</ByValueCondition >
</Condition >
</ConditionGroup >
</StartTrigger >
</Act >
<Act name="cut_in_vehicle_change_speed_act" >
<ManeuverGroup maximumExecutionCount="1" name="cut_in_vehicle_change_speed_maneuvers" >
<Actors selectTriggeringEntities="false" >
<EntityRef entityRef="cut_in_vehicle"/ >
</Actors >
<Maneuver name="cut_in_vehicle_change_speed_maneuver" >
<Event maximumExecutionCount="1" name="cut_in_vehicle_change_speed_event" priority="overwrite" >
<Action name="cut_in_vehicle_change_speed" >
<PrivateAction >
<LongitudinalAction >
<SpeedAction >
<SpeedActionDynamics dynamicsDimension="rate" dynamicsShape="linear" value="0"/ >
<SpeedActionTarget >
<AbsoluteTargetSpeed value="15"/ >
</SpeedActionTarget >
</SpeedAction >
</LongitudinalAction >
</PrivateAction >
</Action >
<StartTrigger >
<ConditionGroup >
<Condition conditionEdge="rising" delay="0" name="cut_in_vehicle_change_speed_condition" >
<ByEntityCondition >
<TriggeringEntities triggeringEntitiesRule="any" >
<EntityRef entityRef="cut_in_vehicle"/ >
</TriggeringEntities >
<EntityCondition >
<DistanceCondition alongRoute="true" freespace="true" rule="lessThan" value="10" >
<Position >
<RelativeObjectPosition dx="0" dy="0" dz="0" entityRef="Ego" >
<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="cut_in_vehicle_change_speed_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>
CutOutFullyBlocking
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_blocking，lead_vehicle在与行人距离小于50m时往左变道躲避行人，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 CutOutFullyBlocking:
# 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)
Blocking_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: 500.0m, t: 0.0m)
Blocking_InitPosition: pose_3d with:
keep(it.odr_point == Blocking_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"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
target_blocking: person with:
keep(it.name == "Christian")
keep(it.model == "male_adult")
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_blocking.assign_init_position(position: Blocking_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_blocking, 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="2022-10-29T01:31:30" 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_blocking">
<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>
</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_blocking">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition laneId="-4" offset="0" roadId="0" s="500"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="CutOutFullyBlockingStory">
<Act name="Ego_activate_controller_4_act">
<ManeuverGroup maximumExecutionCount="1" name="Ego_activate_controller_4_maneuvers">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="Ego"/>
</Actors>
<Maneuver name="Ego_activate_controller_4_maneuver">
<Event maximumExecutionCount="1" name="Ego_activate_controller_4_event" priority="overwrite">
<Action name="Ego_activate_controller_4">
<PrivateAction>
<ActivateControllerAction lateral="true" longitudinal="true"/>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="Ego_activate_controller_4_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_4_condition">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="10000"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Act>
<Act name="lead_vehicle_change_lane_act">
<ManeuverGroup maximumExecutionCount="1" name="lead_vehicle_change_lane_maneuvers">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="lead_vehicle"/>
</Actors>
<Maneuver name="lead_vehicle_change_lane_maneuver">
<Event maximumExecutionCount="1" name="lead_vehicle_change_lane_event" priority="overwrite">
<Action name="lead_vehicle_change_lane">
<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_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_blocking">
<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_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>
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>
ForwardDetectionRange
简述：主车Ego按照初始速度16.667mps匀速行驶，右前方（偏移5.25m）约500m处有一个行人target_blocking，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 ForwardDetectionRange:
# map
map: map
map.set_map_file("./ALKS_Road.xodr")
# parameter
Ego_InitPosition_LaneId: string = "-4"
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)
Ego_InitSpeed_Ve0: speed = 16.66666667mps
TargetBlocking_InitPosition_Offset: length = -5.25m
TargetBlocking_Odr: odr_point = map.create_odr_point(road_id: '0', lane_id: Ego_InitPosition_LaneId, s: 500.0m, t: TargetBlocking_InitPosition_Offset)
TargetBlocking_InitPosition: pose_3d with:
keep(it.odr_point == TargetBlocking_Odr)
m_vehicle_catalog: catalog = vehicle_catalog
m_target_blocking_catalog: catalog = pedestrian_catalog
Duration: time = 40s
# entity
Ego_Name: string = "Audi_A3_2009_black"
Ego_Controller: string = "DefaultDriver"
Ego: vehicle with:
keep(it.name == Ego_Name)
keep(it.initial_bm == Ego_Controller)
target_blocking: person with:
keep(it.name == "Christian")
keep(it.model == "male_adult")
# storyboard
do parallel(duration: Duration):
# init
Ego.assign_init_position(position: Ego_InitPosition)
Ego.assign_init_speed(Ego_InitSpeed_Ve0)
target_blocking.assign_init_position(position: TargetBlocking_InitPosition)
# story
serial:
# act 1: ActivateALKSControllerStory
wait elapsed(10000s)
Ego.activate_controller(true, true) # lateral, longitudinal
转化结果
<OpenSCENARIO>
<FileHeader author="Octopus/Simulation" date="2022-10-29T01:46:19" 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="target_blocking">
<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>
</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="target_blocking">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition laneId="-4" offset="-5.25" roadId="0" s="500"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="ForwardDetectionRangeStory">
<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>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="story_end">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="40"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
逻辑场景（以CutOutMultipleBlockingTargets为例）
逻辑场景的ALKS样例，本文只介绍CutOutMultipleBlockingTargets，更多参数介绍，请查看官方文档。
osc2.0场景
import standard
scenario CutOutMultipleBlockingTargets:
# map
map: map
map.set_map_file("./ALKS_Road.xodr")
# parameter
Ego_InitPosition_LaneId: string = ['-4', '-1']
Ego_InitSpeed_Ve0: speed = [20mps, 40mps, 60mps, 80mps]
LeadVehicle_InitDistance_dx0: length = [40m..80m]
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 = [0.1mps..1.0mps]
m_direction : distance_direction = longitudinal
m_mode : distance_mode = bounding_boxes
m_rate_profile: dynamics_shape = [step, linear]
m_dimension: dynamics_dimension = rate
m_side: lane_change_side = [left, right]
Duration: time = [30s, 40s, 50s]
# entity
Ego_Name: string = ["Audi_A3_2009_black", "Audi_A3_2009_red"]
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, dimension: m_dimension)
父主题： 附录（Appendix）
