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