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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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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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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