Improved Scenic scenarios

carla-simulator · Oct 23, 2024 · 2616d21 · 2616d21
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diff --git a/Docs/CHANGELOG.md b/Docs/CHANGELOG.md
@@ -12,7 +12,11 @@
 * [CARLA ScenarioRunner 0.9.5](#carla-scenariorunner-095)
 * [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
 
-## Upcoming
+
+## CARLA ScenarioRunner 0.10
+* Updated the scenarios to match the limitations of CARLA 0.10. This means moving them to Town10HD_Opt and updating the blueprints to the available ones.
+* Added Scenic examples to the repo, and updated the [available ones in their repo](https://github.com/BerkeleyLearnVerify/Scenic/tree/main/examples/carla/Carla_Challenge) to match the new release.
+
 * Improvements to the CarlaDataProvider:
  - Added `spawn_actor` for a blueprint based actor creation similar to `World.spawn_actor`
 

diff --git a/srunner/examples/ControlLoss.xml b/srunner/examples/ControlLoss.xml
@@ -1,48 +1,6 @@
 <?xml version="1.0"?>
 <scenarios>
-    <scenario name="ControlLoss_1" type="ControlLoss" town="Town01">
-        <ego_vehicle x="392.5" y="195" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_2" type="ControlLoss" town="Town01">
-        <ego_vehicle x="-2.0" y="160" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_3" type="ControlLoss" town="Town01">
-        <ego_vehicle x="168.9" y="59.8" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_4" type="ControlLoss" town="Town02">
-        <ego_vehicle x="27" y="110" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_5" type="ControlLoss" town="Town02">
-        <ego_vehicle x="54.8" y="307.2" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_6" type="ControlLoss" town="Town02">
-        <ego_vehicle x="57.4" y="191.7" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_7" type="ControlLoss" town="Town03">
-        <ego_vehicle x="15" y="207.5" z="2" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_8" type="ControlLoss" town="Town03">
-        <ego_vehicle x="-74" y="-12" z="0.1" yaw="270" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_9" type="ControlLoss" town="Town03">
-        <ego_vehicle x="-85.1" y="-87.4" z="0.3" yaw="89" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_10" type="ControlLoss" town="Town04">
-        <ego_vehicle x="218.4" y="193" z="0" yaw="338" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_11" type="ControlLoss" town="Town04">
-        <ego_vehicle x="-40.4" y="-229.5" z="0" yaw="131" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_12" type="ControlLoss" town="Town04">
-        <ego_vehicle x="-45" y="37.2" z="11" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_13" type="ControlLoss" town="Town05">
-        <ego_vehicle x="90.9" y="-66" z="0" yaw="67" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_14" type="ControlLoss" town="Town05">
-        <ego_vehicle x="-54.7" y="110.9" z="0.1" yaw="90" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_15" type="ControlLoss" town="Town05">
-        <ego_vehicle x="119.1" y="-142.7" z="0.1" yaw="-170" model="vehicle.lincoln.mkz_2017" />
+    <scenario name="ControlLoss_1" type="ControlLoss" town="Town10HD_Opt">
+        <ego_vehicle x="-17" y="140" z="0.5" yaw="0" model="vehicle.lincoln.mkz" />
     </scenario>
 </scenarios>
diff --git a/srunner/scenic/carlaChallenge1.scenic b/srunner/scenic/carlaChallenge1.scenic
@@ -31,9 +31,9 @@ ego = new Car at start,
     with blueprint EGO_MODEL,
     with behavior EgoBehavior(EGO_SPEED)
 
-debris1 = new Debris following roadDirection for Range(10, 20)
+debris1 = new Debris following roadDirection from start for Range(10, 20)
 debris2 = new Debris following roadDirection from debris1 for Range(5, 10)
 debris3 = new Debris following roadDirection from debris2 for Range(5, 10)
 
 require (distance to intersection) > 50
-terminate when (distance from debris3 to ego) > 10 and (distance to start) > 50
+terminate when (distance to start) > 50
diff --git a/srunner/scenic/carlaChallenge2.scenic b/srunner/scenic/carlaChallenge2.scenic
@@ -12,11 +12,11 @@ model srunner.scenic.models.model
 
 ## CONSTANTS
 EGO_MODEL = "vehicle.lincoln.mkz"
-EGO_SPEED = 10
+EGO_SPEED = 7
 EGO_BRAKING_THRESHOLD = 12
 
-LEAD_CAR_SPEED = 10
-LEADCAR_BRAKING_THRESHOLD = 10
+LEAD_CAR_SPEED = 8
+LEADCAR_BRAKING_THRESHOLD = 15
 
 BRAKE_ACTION = 1.0
 
@@ -46,12 +46,12 @@ lane = Uniform(*network.lanes)
 
 obstacle = new Trash on lane.centerline
 
-leadCar = new Car following roadDirection from obstacle for Range(-50, -30),
+leadCar = new Car following roadDirection from obstacle for Range(-60, -50),
         with behavior LeadingCarBehavior(LEAD_CAR_SPEED)
 
 ego = new Car following roadDirection from leadCar for Range(-15, -10),
         with blueprint EGO_MODEL,
         with behavior EgoBehavior(EGO_SPEED)
 
-require (distance to intersection) > 50
+require (distance to intersection) > 60
 terminate when ego.speed < 0.1 and (distance to obstacle) < 30
diff --git a/srunner/scenic/carlaChallenge3_dynamic.scenic b/srunner/scenic/carlaChallenge3_dynamic.scenic
@@ -12,11 +12,11 @@ model srunner.scenic.models.model
 
 ## CONSTANTS
 EGO_MODEL = "vehicle.lincoln.mkz"
-EGO_SPEED = 6
-SAFETY_DISTANCE = 10
+EGO_SPEED = 7
+SAFETY_DISTANCE = 17
 BRAKE_INTENSITY = 1.0
 
-PEDESTRIAN_MIN_SPEED = 2.0
+PEDESTRIAN_MIN_SPEED = 15
 THRESHOLD = 30
 
 # EGO BEHAVIOR: Follow lane and brake when reaches threshold distance to obstacle
@@ -48,10 +48,10 @@ vending_machine = new VendingMachine right of vending_spot by 3,
     with heading -90 deg relative to vending_spot.heading,
     with regionContainedIn None
 
-ego = new Car following roadDirection from spot for Range(-50, -40),
+ego = new Car following roadDirection from spot for Range(-40, -35),
     with blueprint EGO_MODEL,
     with behavior EgoBehavior(EGO_SPEED)
 
 require (distance to intersection) > 50
 require (ego.laneSection._slowerLane is None)
-terminate when (distance to spot) > 30
+terminate when (distance to spot) > 40
diff --git a/srunner/scenic/carlaChallenge3_static.scenic b/srunner/scenic/carlaChallenge3_static.scenic
@@ -12,7 +12,7 @@ model srunner.scenic.models.model
 
 ## CONSTANTS
 EGO_MODEL = "vehicle.lincoln.mkz"
-EGO_SPEED = 10
+EGO_SPEED = 8
 EGO_BRAKING_THRESHOLD = 12
 
 BRAKE_ACTION = 1.0

diff --git a/srunner/scenic/carlaChallenge4.scenic b/srunner/scenic/carlaChallenge4.scenic
@@ -1,52 +1,47 @@
-""" Scenario Description
-Traffic Scenario 04.
-Obstacle avoidance without prior action.
-The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
-emergency brake or an avoidance maneuver.
-"""
-
-## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('assets/Town10HD_Opt.xodr')
 param carla_map = 'Town10HD_Opt'
 model srunner.scenic.models.model
 
-## CONSTANTS
 EGO_MODEL = "vehicle.lincoln.mkz"
-BICYCLE_MIN_SPEED = 1.5
-THRESHOLD = 18
+PEDESTRIAN_MIN_SPEED = 15
+THRESHOLD = 25
 BRAKE_ACTION = 1.0
-SAFETY_DISTANCE = 10
+SAFETY_DISTANCE = 25
 
-## DEFINING BEHAVIORS
 behavior EgoBehavior(trajectory):
     try:
-        do FollowTrajectoryBehavior(trajectory = trajectory)
+        do FollowTrajectoryBehavior(target_speed=7, trajectory=trajectory)
+        terminate
 
     interrupt when withinDistanceToObjsInLane(self, SAFETY_DISTANCE):
         take SetBrakeAction(BRAKE_ACTION)
 
-behavior BicycleBehavior(speed=3, threshold=15):
+behavior PedestrianBehavior(speed=1, threshold=15):
     do CrossingBehavior(ego, speed, threshold)
 
 ## DEFINING SPATIAL RELATIONS
 # make sure to put '*' to uniformly randomly select from all elements of the list
 intersec = Uniform(*network.intersections)
 startLane = Uniform(*intersec.incomingLanes)
-maneuver = Uniform(*startLane.maneuvers)
-ego_trajectory = [maneuver.startLane, maneuver.connectingLane, maneuver.endLane]
+
+# Get the ego manuever
+maneuvers = filter(lambda i: i.type != ManeuverType.STRAIGHT, startLane.maneuvers)
+maneuver = Uniform(*maneuvers)
+trajectory = [maneuver.startLane, maneuver.connectingLane, maneuver.endLane]
 
 spot = new OrientedPoint in maneuver.startLane.centerline
 ego = new Car at spot,
     with blueprint EGO_MODEL,
-    with behavior EgoBehavior(trajectory = ego_trajectory)
+    with behavior EgoBehavior(trajectory=trajectory)
 
-spotBicycle = new OrientedPoint in maneuver.endLane.centerline,
+spotPedestrian = new OrientedPoint in maneuver.endLane.centerline,
     facing roadDirection
-bicycle = new Bicycle at spotBicycle offset by 3.5@0,
-    with heading 90 deg relative to spotBicycle.heading,
-    with behavior BicycleBehavior(BICYCLE_MIN_SPEED, THRESHOLD),
+Pedestrian = new Pedestrian at spotPedestrian offset by 3.5@0,
+    with heading 90 deg relative to spotPedestrian.heading,
+    with behavior PedestrianBehavior(PEDESTRIAN_MIN_SPEED, THRESHOLD),
     with regionContainedIn None
 
+require (maneuver.endLane.sections[0]._slowerLane is None)
 require 10 <= (distance to intersec) <= 15
-require 10 <= (distance from bicycle to intersec) <= 15
-terminate when (distance to spot) > 50
+require 10 <= (distance from Pedestrian to intersec) <= 20
+terminate when (distance to intersec) >= 30
diff --git a/srunner/scenic/carlaChallenge5.scenic b/srunner/scenic/carlaChallenge5.scenic
@@ -7,9 +7,9 @@ param carla_map = 'Town10HD_Opt'
 model srunner.scenic.models.model
 
 #CONSTANTS
-EGO_SPEED = 10
-SLOW_CAR_SPEED = 6
-EGO_TO_BICYCLE = 10
+EGO_SPEED = 8
+SLOW_CAR_SPEED = 3
+EGO_TO_BICYCLE = 25
 DIST_THRESHOLD = 15
 
 #EGO BEHAVIOR: Follow lane, then perform a lane change
@@ -20,7 +20,7 @@ behavior EgoBehavior(leftpath, origpath=[]):
         do FollowLaneBehavior(EGO_SPEED)
 
     interrupt when withinDistanceToAnyObjs(self, DIST_THRESHOLD) and not laneChangeCompleted:
-        do LaneChangeBehavior(laneSectionToSwitch=leftpath, target_speed=10)
+        do LaneChangeBehavior(laneSectionToSwitch=leftpath, target_speed=8)
         laneChangeCompleted = True
 
 #OTHER BEHAVIOR

diff --git a/srunner/scenic/carlaChallenge7.scenic b/srunner/scenic/carlaChallenge7.scenic
@@ -8,47 +8,49 @@ param map = localPath('assets/Town10HD_Opt.xodr')
 param carla_map = 'Town10HD_Opt'
 model srunner.scenic.models.model
 
-DELAY_TIME_1 = 1 # the delay time for ego
-DELAY_TIME_2 = 40 # the delay time for the slow car
-FOLLOWING_DISTANCE = 13 # normally 10, 40 when DELAY_TIME is 25, 50 to prevent collisions
+EGO_MODEL = "vehicle.lincoln.mkz"
 
-DISTANCE_TO_INTERSECTION1 = Uniform(15, 20) * -1
-DISTANCE_TO_INTERSECTION2 = Uniform(10, 15) * -1
-SAFETY_DISTANCE = 20
+SAFETY_DISTANCE = 15
 BRAKE_INTENSITY = 1.0
-
+DISTANCE_TO_INTERSECTION = Uniform(10, 15) * -1
 
 behavior CrossingCarBehavior(trajectory):
-    while True:
-        do FollowTrajectoryBehavior(trajectory = trajectory)
+    do FollowTrajectoryBehavior(trajectory=trajectory)
+    wait
 
 behavior EgoBehavior(trajectory):
-    
+
     try:
-        do FollowTrajectoryBehavior(trajectory=trajectory)
+        do FollowTrajectoryBehavior(target_speed=7, trajectory=trajectory)
+        terminate
     interrupt when withinDistanceToAnyObjs(self, SAFETY_DISTANCE):
         take SetBrakeAction(BRAKE_INTENSITY)
 
-
-spawnAreas = []
 fourWayIntersection = filter(lambda i: i.is4Way, network.intersections)
 intersec = Uniform(*fourWayIntersection)
 
+# Get the ego manuever
 startLane = Uniform(*intersec.incomingLanes)
-straight_maneuvers = filter(lambda i: i.type == ManeuverType.STRAIGHT, startLane.maneuvers)
-straight_maneuver = Uniform(*straight_maneuvers)
-ego_trajectory = [straight_maneuver.startLane, straight_maneuver.connectingLane, straight_maneuver.endLane]
+ego_maneuvers = filter(lambda i: i.type == ManeuverType.STRAIGHT, startLane.maneuvers)
+ego_maneuver = Uniform(*ego_maneuvers)
+ego_trajectory = [ego_maneuver.startLane, ego_maneuver.connectingLane, ego_maneuver.endLane]
+
+# Get the adversary maneuver
+other_maneuvers = filter(lambda i: i.type == ManeuverType.STRAIGHT, ego_maneuver.conflictingManeuvers)
+other_maneuver = Uniform(*other_maneuvers)
+other_trajectory = [other_maneuver.startLane, other_maneuver.connectingLane, other_maneuver.endLane]
 
-conflicting_straight_maneuvers = filter(lambda i: i.type == ManeuverType.STRAIGHT, straight_maneuver.conflictingManeuvers)
-csm = Uniform(*conflicting_straight_maneuvers)
-crossing_startLane = csm.startLane
-crossing_car_trajectory = [csm.startLane, csm.connectingLane, csm.endLane]
+## OBJECT PLACEMENT
+other_spwPt = new OrientedPoint in other_maneuver.startLane.centerline
+ego_spwPt = new OrientedPoint in ego_maneuver.startLane.centerline
 
-ego_spwPt = startLane.centerline[-1]
-csm_spwPt = crossing_startLane.centerline[-1]
+ego = new Car at ego_spwPt,
+    with blueprint EGO_MODEL,
+    with behavior EgoBehavior(trajectory=ego_trajectory)
 
-ego = new Car following roadDirection from ego_spwPt for DISTANCE_TO_INTERSECTION1,
-        with behavior EgoBehavior(trajectory = ego_trajectory)
+crossing_car = new Truck at other_spwPt,
+    with blueprint 'vehicle.ambulance.ford',
+    with behavior CrossingCarBehavior(other_trajectory)
 
-crossing_car = new Car following roadDirection from csm_spwPt for DISTANCE_TO_INTERSECTION2,
-                with behavior CrossingCarBehavior(crossing_car_trajectory)
+require 10 <= (distance to intersec) <= 15
+terminate when (distance to ego_spwPt) >= 40
diff --git a/srunner/scenic/carlaChallenge8.scenic b/srunner/scenic/carlaChallenge8.scenic
@@ -30,6 +30,7 @@ require monitor TrafficLights()
 ## DEFINING BEHAVIORS
 behavior AdversaryBehavior(trajectory):
     do FollowTrajectoryBehavior(trajectory=trajectory)
+    wait
 
 behavior EgoBehavior(speed, trajectory):
     try:
@@ -76,6 +77,4 @@ adversary = new Car at adv_spawn_pt,
     with behavior AdversaryBehavior(adv_trajectory)
 
 require (ego_start_section.laneToLeft == adv_end_section)  # make sure the ego and adversary are spawned in opposite lanes
-require 25 <= (distance to intersec) <= 30
-require 15 <= (distance from adversary to intersec) <= 20
 terminate when (distance to ego_spawn_pt) > 70