diff --git a/ail_vru_uc1_scenario/README.md b/ail_vru_uc1_scenario/README.md index 87f1b66f..f6df7f11 100644 --- a/ail_vru_uc1_scenario/README.md +++ b/ail_vru_uc1_scenario/README.md @@ -8,6 +8,12 @@ This **CARMA Config** includes the docker-compose and configuration file setup f This CARMA Configuration Image creates a **AIL** (Anything-In-the-Loop) scenario which includes **CARLA**, **SUMO** , **NS3** (CV2X Model), a **Virtual Signal Controller**, **CARMA Streets** and **CARMA Platform**. The scenario configured in this CARMA Config image is meant to highlight the benefits of **Cooperative Perception** or **VRU** (Vulnerable Road User) safety. In this use case, infrastructure sensor infromation is shared with CDA (Cooperative Driving Automation) vehicles via the **SDSM**(J3224 Sensor Data Sharing Message). The scenario takes place in an intersection in **CARLA Town 4** and spawns 1 **CARMA Platform Vehicle** and 1 **CARMA Streets** instance deployed at an intesection. The vehicle attempts to take a left turn while a pedestrian, spawned by **CARLA ScenarioRunner** attempts to cross the street at a signalized intersection. Three large trucks obscure the pedestrian from vehicle's lidar sensor vision. An Infrastructure lidar sensor has an unobscructed view of the pedestrian and shares information with the vehicle via V2X message (SDSM). Using the shared information the vehicle is able to safely avoid the pedestrian. +### Traffic Signal Controller configuration +| Phases | Min Green (s) | Min Green Recall | +| ----------| ----------- |--------- | +| 2,6 | 35 | TRUE | +| 4,8 | 5 | TRUE| + ![Alt text](docs/scenario_diagram.png) ## Simulators diff --git a/ail_vru_uc1_scenario/cdasim_config/evc_sumo/test_4.cfg b/ail_vru_uc1_scenario/cdasim_config/evc_sumo/test_4.cfg index 5553a2e9..6b01f229 100644 Binary files a/ail_vru_uc1_scenario/cdasim_config/evc_sumo/test_4.cfg and b/ail_vru_uc1_scenario/cdasim_config/evc_sumo/test_4.cfg differ