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CutInNoCollision
更新时间：2024-05-13 GMT+08:00
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>
父主题： ALKS样例
