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Supporting several additional OpenScenario 1.0 tags (#1014)
* Update: more tags supported * fix bug of add new tags * Rename VehicleLateralDistance.xosc and add import * Update Changelog and openscenario_support for new tags * delete redundant collision_delay * fix: remove useless logs and add traffic signal parser --------- Co-authored-by: xiaofei <[email protected]> Co-authored-by: jsc <[email protected]> Co-authored-by: 肖飞 <[email protected]> Co-authored-by: lei <[email protected]>
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<?xml version="1.0" encoding="UTF-8"?> | ||
<OpenSCENARIO> | ||
<FileHeader revMajor="1" revMinor="0" date="2020-03-20T12:00:00" description="CARLA:FollowLeadingVehicle" author=""/> | ||
<ParameterDeclarations> | ||
<ParameterDeclaration name="leadingSpeed" parameterType="double" value="5.0"/> | ||
</ParameterDeclarations> | ||
<CatalogLocations/> | ||
<RoadNetwork> | ||
<LogicFile filepath="Town01"/> | ||
<SceneGraphFile filepath=""/> | ||
</RoadNetwork> | ||
<Entities> | ||
<ScenarioObject name="hero"> | ||
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> | ||
<ParameterDeclarations/> | ||
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> | ||
<BoundingBox> | ||
<Center x="1.5" y="0.0" z="0.9"/> | ||
<Dimensions width="2.1" length="4.5" height="1.8"/> | ||
</BoundingBox> | ||
<Axles> | ||
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> | ||
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> | ||
</Axles> | ||
<Properties> | ||
<Property name="type" value="ego_vehicle"/> | ||
<Property name="color" value="0,0,255"/> | ||
</Properties> | ||
</Vehicle> | ||
</ScenarioObject> | ||
<ScenarioObject name="adversary"> | ||
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> | ||
<ParameterDeclarations/> | ||
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> | ||
<BoundingBox> | ||
<Center x="1.5" y="0.0" z="0.9"/> | ||
<Dimensions width="2.1" length="4.5" height="1.8"/> | ||
</BoundingBox> | ||
<Axles> | ||
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> | ||
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> | ||
</Axles> | ||
<Properties> | ||
<Property name="type" value="simulation"/> | ||
<Property name="color" value="255,0,0"/> | ||
</Properties> | ||
</Vehicle> | ||
</ScenarioObject> | ||
<ScenarioObject name="adversary2"> | ||
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> | ||
<ParameterDeclarations/> | ||
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> | ||
<BoundingBox> | ||
<Center x="1.5" y="0.0" z="0.9"/> | ||
<Dimensions width="2.1" length="4.5" height="1.8"/> | ||
</BoundingBox> | ||
<Axles> | ||
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> | ||
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> | ||
</Axles> | ||
<Properties> | ||
<Property name="type" value="simulation"/> | ||
<Property name="color" value="255,0,0"/> | ||
</Properties> | ||
</Vehicle> | ||
</ScenarioObject> | ||
<ScenarioObject name="adversary3"> | ||
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> | ||
<ParameterDeclarations/> | ||
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> | ||
<BoundingBox> | ||
<Center x="1.5" y="0.0" z="0.9"/> | ||
<Dimensions width="2.1" length="4.5" height="1.8"/> | ||
</BoundingBox> | ||
<Axles> | ||
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> | ||
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> | ||
</Axles> | ||
<Properties> | ||
<Property name="type" value="simulation"/> | ||
<Property name="color" value="255,0,0"/> | ||
</Properties> | ||
</Vehicle> | ||
</ScenarioObject> | ||
</Entities> | ||
<Storyboard> | ||
<Init> | ||
<Actions> | ||
<GlobalAction> | ||
<EnvironmentAction> | ||
<Environment name="Environment1"> | ||
<TimeOfDay animation="false" dateTime="2020-03-20T12:00:00"/> | ||
<Weather cloudState="free"> | ||
<Sun intensity="0.85" azimuth="0" elevation="1.31"/> | ||
<Fog visualRange="100000.0"/> | ||
<Precipitation precipitationType="dry" intensity="0.0"/> | ||
</Weather> | ||
<RoadCondition frictionScaleFactor="1.0"/> | ||
</Environment> | ||
</EnvironmentAction> | ||
</GlobalAction> | ||
<GlobalAction> | ||
<EntityAction entityRef="adversary2"> | ||
<AddEntityAction> | ||
<Position> | ||
<RelativeRoadPosition entityRef="hero" ds="120" dt="-1.0"/> | ||
</Position> | ||
</AddEntityAction> | ||
</EntityAction> | ||
</GlobalAction> | ||
<GlobalAction> | ||
<EntityAction entityRef="adversary3"> | ||
<AddEntityAction> | ||
<Position> | ||
<RelativeRoadPosition entityRef="adversary2" ds="30" dt="0.0"/> | ||
</Position> | ||
</AddEntityAction> | ||
</EntityAction> | ||
</GlobalAction> | ||
<Private entityRef="hero"> | ||
<PrivateAction> | ||
<TeleportAction> | ||
<Position> | ||
<RoadPosition roadId="4" s="48.58" t="2.75"/> | ||
</Position> | ||
</TeleportAction> | ||
</PrivateAction> | ||
<PrivateAction> | ||
<ControllerAction> | ||
<AssignControllerAction> | ||
<Controller name="HeroAgent"> | ||
<Properties> | ||
<Property name="module" value="external_control"/> | ||
</Properties> | ||
</Controller> | ||
</AssignControllerAction> | ||
<OverrideControllerValueAction> | ||
<Throttle value="0" active="false"/> | ||
<Brake value="0" active="false"/> | ||
<Clutch value="0" active="false"/> | ||
<ParkingBrake value="0" active="false"/> | ||
<SteeringWheel value="0" active="false"/> | ||
<Gear number="0" active="false"/> | ||
</OverrideControllerValueAction> | ||
</ControllerAction> | ||
</PrivateAction> | ||
</Private> | ||
<Private entityRef="adversary"> | ||
<PrivateAction> | ||
<TeleportAction> | ||
<Position> | ||
<RelativeRoadPosition entityRef="hero" ds="50" dt="-1.0"/> | ||
</Position> | ||
</TeleportAction> | ||
</PrivateAction> | ||
</Private> | ||
</Actions> | ||
</Init> | ||
<Story name="MyStory"> | ||
<Act name="Behavior"> | ||
<ManeuverGroup name="ManeuverSequence" maximumExecutionCount="1"> | ||
<Actors selectTriggeringEntities="false"> | ||
<EntityRef entityRef="adversary"/> | ||
</Actors> | ||
<Maneuver name="FollowLeadingVehicleManeuver"> | ||
<Event name="LeadingVehicleKeepsVelocity" priority="overwrite"> | ||
<Action name="LeadingVehicleKeepsVelocity"> | ||
<PrivateAction> | ||
<LongitudinalAction> | ||
<SpeedAction> | ||
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> | ||
<SpeedActionTarget> | ||
<AbsoluteTargetSpeed value="$leadingSpeed"/> | ||
</SpeedActionTarget> | ||
</SpeedAction> | ||
</LongitudinalAction> | ||
</PrivateAction> | ||
</Action> | ||
<StartTrigger> | ||
<ConditionGroup> | ||
<Condition name="StartConditionLeadingVehicleKeepsVelocity" delay="0" conditionEdge="rising"> | ||
<ByEntityCondition> | ||
<TriggeringEntities triggeringEntitiesRule="any"> | ||
<EntityRef entityRef="hero"/> | ||
</TriggeringEntities> | ||
<EntityCondition> | ||
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="longitudinal" value="20.0" freespace="true" rule="lessThan"/> | ||
</EntityCondition> | ||
</ByEntityCondition> | ||
</Condition> | ||
</ConditionGroup> | ||
</StartTrigger> | ||
</Event> | ||
<Event name="LeadingVehicleWaits" priority="overwrite"> | ||
<Action name="LeadingVehicleWaits"> | ||
<PrivateAction> | ||
<LongitudinalAction> | ||
<SpeedAction> | ||
<SpeedActionDynamics dynamicsShape="step" value="10" dynamicsDimension="time"/> | ||
<SpeedActionTarget> | ||
<AbsoluteTargetSpeed value="0.0"/> | ||
</SpeedActionTarget> | ||
</SpeedAction> | ||
</LongitudinalAction> | ||
</PrivateAction> | ||
</Action> | ||
<StartTrigger> | ||
<ConditionGroup> | ||
<Condition name="AfterLeadingVehicleKeepsVelocity" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="LeadingVehicleKeepsVelocity" state="endTransition"/> | ||
</ByValueCondition> | ||
</Condition> | ||
</ConditionGroup> | ||
</StartTrigger> | ||
</Event> | ||
</Maneuver> | ||
</ManeuverGroup> | ||
<StartTrigger> | ||
<ConditionGroup> | ||
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> | ||
<ByEntityCondition> | ||
<TriggeringEntities triggeringEntitiesRule="any"> | ||
<EntityRef entityRef="hero"/> | ||
</TriggeringEntities> | ||
<EntityCondition> | ||
<TraveledDistanceCondition value="1.0"/> | ||
</EntityCondition> | ||
</ByEntityCondition> | ||
</Condition> | ||
<Condition name="StartTime" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<SimulationTimeCondition value="0" rule="greaterThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
</ConditionGroup> | ||
</StartTrigger> | ||
<StopTrigger> | ||
<ConditionGroup> | ||
<Condition name="EndCondition" delay="0" conditionEdge="rising"> | ||
<ByEntityCondition> | ||
<TriggeringEntities triggeringEntitiesRule="any"> | ||
<EntityRef entityRef="hero"/> | ||
</TriggeringEntities> | ||
<EntityCondition> | ||
<TraveledDistanceCondition value="200.0"/> | ||
</EntityCondition> | ||
</ByEntityCondition> | ||
</Condition> | ||
</ConditionGroup> | ||
</StopTrigger> | ||
</Act> | ||
</Story> | ||
<StopTrigger> | ||
<ConditionGroup> | ||
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> | ||
<ByValueCondition> | ||
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> | ||
</ByValueCondition> | ||
</Condition> | ||
</ConditionGroup> | ||
</StopTrigger> | ||
</Storyboard> | ||
</OpenSCENARIO> |
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