def get_pedestrian_parameters(): pedestrian_dynamics = rss.RssDynamics() pedestrian_dynamics.alphaLon.accelMax = 2.0 pedestrian_dynamics.alphaLon.brakeMax = -4.0 pedestrian_dynamics.alphaLon.brakeMin = -2.0 pedestrian_dynamics.alphaLon.brakeMinCorrect = -2.0 pedestrian_dynamics.alphaLat.accelMax = 0.001 pedestrian_dynamics.alphaLat.brakeMin = -0.001 pedestrian_dynamics.lateralFluctuationMargin = 0.1 pedestrian_dynamics.responseTime = 0.5 pedestrian_dynamics.maxSpeedOnAcceleration = 10 pedestrian_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0 pedestrian_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4 #not used: pedestrian_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3 pedestrian_dynamics.unstructuredSettings.vehicleMinRadius = 3.5 pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2 pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2 pedestrian_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4 pedestrian_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0 pedestrian_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0 pedestrian_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0 pedestrian_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4 return pedestrian_dynamics
def _get_object_vehicle_dynamics(self): objectRssDynamics = rss.RssDynamics() objectRssDynamics.responseTime = physics.Duration(0.5) objectRssDynamics.alphaLat.accelMax = physics.Acceleration(1.) objectRssDynamics.alphaLat.brakeMin = physics.Acceleration(-1.) objectRssDynamics.alphaLon.accelMax = physics.Acceleration(4.) objectRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.) objectRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.) objectRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.) objectRssDynamics.lateralFluctuationMargin = physics.Distance(0.) return objectRssDynamics
def _get_ego_vehicle_dynamics(self): egoRssDynamics = rss.RssDynamics() egoRssDynamics.responseTime = physics.Duration(0.2) egoRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1) egoRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1) egoRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1) egoRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.) egoRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.) egoRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.) egoRssDynamics.lateralFluctuationMargin = physics.Distance(0.) return egoRssDynamics
def _get_ego_vehicle_dynamics(self): egoRssDynamics = rss.RssDynamics() egoRssDynamics.responseTime = physics.Duration(0.2) egoRssDynamics.maxSpeedOnAcceleration = physics.Speed(0.) egoRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1) egoRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1) egoRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1) egoRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.) egoRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.) egoRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.) egoRssDynamics.lateralFluctuationMargin = physics.Distance(0.) egoRssDynamics.unstructuredSettings = self._getUnstructuedSettings() return egoRssDynamics
def get_default_parameters(): ego_dynamics = rss.RssDynamics() ego_dynamics.alphaLon.accelMax = 3.5 ego_dynamics.alphaLon.brakeMax = -8 ego_dynamics.alphaLon.brakeMin = -4 ego_dynamics.alphaLon.brakeMinCorrect = -3 ego_dynamics.alphaLat.accelMax = 0.2 ego_dynamics.alphaLat.brakeMin = -0.8 ego_dynamics.lateralFluctuationMargin = 0.1 ego_dynamics.responseTime = 0.5 ego_dynamics.maxSpeedOnAcceleration = 100 ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0 ego_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4 ego_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3 ego_dynamics.unstructuredSettings.vehicleMinRadius = 3.5 ego_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2 ego_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4 ego_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0 ego_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0 ego_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0 ego_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4 return ego_dynamics