junction
简述:地图场景为交叉口。lead_vehicle和主车Ego一前一后分别以LeadVehicle_TargetSpeed_Ve0和Ego_TargetSpeed_Ve0的初始速度向交叉口行驶,Ego设定了目标在右转车道上的目标点Target_position,仿真开始后激活Ego控制器(控制器会影响Ego去往Target_position的寻路算法,但目前仿真器B尚不支持寻路动作acquire_position)。另一路段上有一辆车vehicle1,也以LeadVehicle_TargetSpeed_Ve0的速度朝交叉口行驶。控制器有时会根据环境车的位置更改主车Ego的速度。
地图文件(odr)
scenario Junction: m_scene: scenery lane_num: int = [2, 3, 4] bikeway: bool = false sidewalk: bool = false junction_type: junction_type = ["crossroad", "T-junction"] junction_1: junction with: keep(it.lane_num == lane_num) keep(it.bikeway == bikeway) keep(it.sidewalk == sidewalk) keep(it.junction_type == junction_type)
场景文件(osc)
import standard scenario Junction: # map map: map map.set_map_file("./junction.odr") # parameter Ego_TargetSpeed_Ve0: speed = [50kph..60kph] Ego_InitPosition_RoadId: string = '1' Ego_InitPosition_LaneId: string = ['-1', '-2'] Ego_InitPosition_s: length = [0m..100m] Ego_Odr: odr_point = map.create_odr_point(road_id: Ego_InitPosition_RoadId, lane_id: Ego_InitPosition_LaneId, s: Ego_InitPosition_s, t: 0.0m) Ego_InitPosition: pose_3d with: keep(it.odr_point == Ego_Odr) Target_xyz: xyz_point = map.create_xyz_point(x: 225m, y: -100m ,z: 0.0m) Target_position: pose_3d with: keep(it.xyz_point == Target_xyz) LeadVehicle_TargetSpeed_Ve0: speed = 45kph Vehicle1_Odr: odr_point = map.create_odr_point(road_id: '2', lane_id: '2', s: 100.0m, t: 0.0m) m_orientation: orientation_3d with: keep(it.roll == 0.0rad) keep(it.pitch == 0.0rad) keep(it.yaw == -1.57rad) Vehicle1_InitPosition: pose_3d with: keep(it.odr_point == Vehicle1_Odr) keep(it.orientation == m_orientation) m_profile: dynamics_shape = [sinusoidal, linear, step] m_rate_peak: acceleration = [5kmphps, 10kmphps] Duration: time = [100s, 120s] # entity Ego: vehicle with: keep(it.name == "Saimo") keep(it.initial_bm == "默认驾驶员") lead_vehicle: vehicle with: keep(it.name == "Saimo") keep(it.initial_bm == "默认驾驶员") vehicle1: vehicle with: keep(it.name == "Saimo") keep(it.initial_bm == "默认驾驶员") # storyboard do parallel(duration: Duration): # init Ego.assign_init_position(position: Ego_InitPosition) Ego.assign_init_speed(Ego_TargetSpeed_Ve0) lead_vehicle.assign_init_position() with: lane(same_as: Ego) position(distance: 30.0m, ahead_of: Ego) lead_vehicle.assign_init_speed(LeadVehicle_TargetSpeed_Ve0) vehicle1.assign_init_position(position: Vehicle1_InitPosition) vehicle1.assign_init_speed(LeadVehicle_TargetSpeed_Ve0) Ego.activate_controller(true, true) Ego.acquire_position(target: Target_position)