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Supporting several additional OpenScenario 1.0 tags #1014

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merged 8 commits into from
Sep 12, 2023
Merged

Supporting several additional OpenScenario 1.0 tags #1014

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5a5d42d
Update: more tags supported
May 4, 2023
6203378
fix bug of add new tags
May 23, 2023
64add7e
Merge pull request #2 from guardstrikelab/feature/fix_tags_bug
XiaoFei9704 May 23, 2023
b085ab6
Rename VehicleLateralDistance.xosc and add import
XiaoFei9704 May 23, 2023
cc57bf4
Update Changelog and openscenario_support for new tags
XiaoFei9704 May 23, 2023
e2c4aa9
delete redundant collision_delay
XiaoFei9704 May 23, 2023
27d63d5
fix: remove useless logs and add traffic signal parser
charles-lei Aug 13, 2023
835ae75
Merge branch 'master' into feature/new_tags_support
synkrotron Sep 9, 2023
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7 changes: 6 additions & 1 deletion Docs/CHANGELOG.md
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Expand Up @@ -18,7 +18,12 @@
* SignalizedJunctionLeftTurn has been remade. It now has an actor flow on which the ego has to merge into, instead of a single vehicle.
* The BackgroundActivity has been readded to the routes, which the objective of creating the sensation of traffic around the ego
* Add waypoint reached threshold so that the precision of the actor reaching to waypoints can be adjusted based on object types.
* **Supported OpenSCENARIO 2.0 standard.**
* OpenSCENARIO support:
- Added both init and story support for `EntityAction`
- Added story support for `TrafficSignalControllerAction`
- Added both init and story support for `LateralDistanceAction`
- Added support for `TrafficSignalControllerCondition`
* Supported OpenSCENARIO 2.0 standard.

### :bug: Bug Fixes
* Fixed bug at OtherLeadingVehicle scenario causing the vehicles to move faster than intended
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8 changes: 4 additions & 4 deletions Docs/openscenario_support.md
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Expand Up @@ -67,11 +67,11 @@ contains of submodules, which are not listed, the support status applies to all

| GlobalAction | Init support | Story support | Notes |
| ---------------------------------------- | ---------------------------------------- | ---------------------------------------- | ---------------------------------------- |
| `EntityAction` | ❌ | ❌ | |
| `EntityAction` | ✅ | ✅ | |
| `EnvironmentAction` | ✅ | ❌ | |
| `ParameterAction` | ✅ | ✅ | |
| `InfrastructureAction` `TrafficSignalAction`<br>`TrafficAction` | &#10060; | &#10060; | |
| `InfrastructureAction` `TrafficSignalAction`<br>`TrafficSignalControllerAction` | &#10060; | &#10060; | |
| `InfrastructureAction` `TrafficSignalAction`<br>`TrafficSignalControllerAction` | &#10060; | &#9989; | |
| `InfrastructureAction` `TrafficSignalAction`<br>`TrafficSignalStateAction` | &#10060; | &#9989; | As traffic signals in CARLA towns have no unique ID, they have to be set by providing their position (Example: TrafficSignalStateAction name="pos=x,y" state="green"). The id can also be used for none CARLA town (Example: TrafficSignalStateAction name="id=n" state="green") |

<br>
Expand All @@ -98,7 +98,7 @@ contains of submodules, which are not listed, the support status applies to all
| `ControllerAction` | &#9989; | &#9989; | AssignControllerAction is supported, but a Python module has to be provided for the controller implementation, and in OverrideControllerValueAction all values need to be `False`. |
| `LateralAction`<br> `LaneChangeAction` | &#10060; | &#9989; | Currently all lane changes have a linear dynamicShape, the dynamicDimension is defined as the distance and are relative to the actor itself (RelativeTargetLane). |
| `LateralAction`<br>`LaneOffsetAction` | &#10060; | &#9989; | Currently all type of dynamicShapes are ignored and depend on the controller. This action might not work as intended if the offset is high enough to make the vehicle exit its lane |
| `LateralAction`<br> `LateralDistanceAction` | &#10060; | &#10060; | |
| `LateralAction`<br> `LateralDistanceAction` | &#9989; | &#9989; | |
| `LongitudinalAction`<br> `LongitudinalDistanceAction`| &#10060; | &#9989; |`timeGap` attribute is not supported |
| `LongitudinalAction`<br> `SpeedAction` | &#9989; | &#9989; | |
| `SynchronizeAction` | &#10060; | &#10060; | |
Expand Down Expand Up @@ -149,7 +149,7 @@ The following two tables list the support status for each.
| `StoryboardElementStateCondition` | &#9989; | startTransition, stopTransition, endTransition and completeState are currently supported. |
| `TimeOfDayCondition` | &#9989; | |
| `TrafficSignalCondition` | &#9989; | As traffic signals in CARLA towns have no unique ID, they have to be set by providing their position (Example: TrafficSignalCondition name="pos=x,y" state="green"). The id can also be used for none CARLA town (Example: TrafficSignalCondition name="id=n" state="green") |
| `TrafficSignalControllerCondition` | &#10060; | |
| `TrafficSignalControllerCondition` | &#9989; | |
| `UserDefinedValueCondition` | &#10060; | |

<br>
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294 changes: 294 additions & 0 deletions srunner/examples/InitAddEntityAction.xosc
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@@ -0,0 +1,294 @@
<?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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