def _create_behavior(self): """ After invoking this scenario, cyclist will wait for the user controlled vehicle to enter the in the trigger distance region, the cyclist starts crossing the road once the condition meets, ego vehicle has to avoid the crash after a right turn, but continue driving after the road is clear.If this does not happen within 90 seconds, a timeout stops the scenario. """ root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="IntersectionRightTurn") lane_width = self._reference_waypoint.lane_width lane_width = lane_width + (1.10 * lane_width * self._num_lane_changes) if self._ego_route is not None: trigger_distance = InTriggerDistanceToLocationAlongRoute( self.ego_vehicles[0], self._ego_route, self._other_actor_transform.location, 20) else: trigger_distance = InTriggerDistanceToVehicle( self.other_actors[0], self.ego_vehicles[0], 20) actor_velocity = KeepVelocity(self.other_actors[0], self._other_actor_target_velocity) actor_traverse = DriveDistance(self.other_actors[0], 0.30 * lane_width) post_timer_velocity_actor = KeepVelocity( self.other_actors[0], self._other_actor_target_velocity) post_timer_traverse_actor = DriveDistance(self.other_actors[0], 0.70 * lane_width) end_condition = TimeOut(5) # non leaf nodes scenario_sequence = py_trees.composites.Sequence() actor_ego_sync = py_trees.composites.Parallel( "Synchronization of actor and ego vehicle", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) after_timer_actor = py_trees.composites.Parallel( "After timout actor will cross the remaining lane_width", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) # building the tree root.add_child(scenario_sequence) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[0], self._other_actor_transform, name='TransformSetterTS4')) scenario_sequence.add_child(trigger_distance) scenario_sequence.add_child(actor_ego_sync) scenario_sequence.add_child(after_timer_actor) scenario_sequence.add_child(end_condition) scenario_sequence.add_child(ActorDestroy(self.other_actors[0])) actor_ego_sync.add_child(actor_velocity) actor_ego_sync.add_child(actor_traverse) after_timer_actor.add_child(post_timer_velocity_actor) after_timer_actor.add_child(post_timer_traverse_actor) return root
def _create_behavior(self): """ Only behavior here is to wait """ lane_width = self.ego_vehicles[0].get_world().get_map().get_waypoint( self.ego_vehicles[0].get_location()).lane_width lane_width = lane_width + (1.25 * lane_width) # leaf nodes actor_stand = TimeOut(15) actor_removed = ActorDestroy(self.other_actors[0]) end_condition = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_distance_driven) # non leaf nodes root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) scenario_sequence = py_trees.composites.Sequence() # building tree root.add_child(scenario_sequence) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[0], self.transform)) scenario_sequence.add_child(actor_stand) scenario_sequence.add_child(actor_removed) scenario_sequence.add_child(end_condition) return root
def _create_behavior(self): """ Scenario behavior: When close to an intersection, the traffic lights will turn green for both the ego_vehicle and another lane, allowing the background activity to "run" their red light, creating scenarios 7, 8 and 9. If this does not happen within 120 seconds, a timeout stops the scenario """ # Changes traffic lights traffic_hack = TrafficLightManipulator(self.ego_vehicles[0], self.subtype) # finally wait that ego vehicle drove a specific distance wait = DriveDistance(self.ego_vehicles[0], self._ego_distance_to_drive, name="DriveDistance") # Build behavior tree sequence = py_trees.composites.Sequence("SignalJunctionCrossingRoute") sequence.add_child(traffic_hack) sequence.add_child(wait) return sequence
def _create_behavior(self): """ Setup the behavior for NewScenario """ lane_width = self.ego_vehicles[0].get_world().get_map().get_waypoint( self.ego_vehicles[0].get_location()).lane_width lane_width = lane_width + (1.25 * lane_width) # non leaf nodes root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) # scenario_sequence = py_trees.composites.Sequence() num_actors = self._num_actors - 1 while num_actors >= 0: scenario_sequence = py_trees.composites.Sequence() actor_stand = TimeOut(15) actor_removed = ActorDestroy(self.other_actors[num_actors]) end_condition = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_distance_driven) root.add_child(scenario_sequence) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[num_actors], self.transform)) scenario_sequence.add_child(actor_stand) scenario_sequence.add_child(actor_removed) scenario_sequence.add_child(end_condition) num_actors -= 1 return root
def _create_behavior(self): sequence = py_trees.composites.Sequence("Sequence Behavior") parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) parallel.add_child(StopVehicle(self.ego_vehicles[0], 1)) parallel.add_child(StopVehicle(self.ego_vehicles[0], 1)) sequence.add_child(parallel) # match all cars speed parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) parallel.add_child(KeepVelocity(self.ego_vehicles[0], 2, distance=7)) parallel.add_child(KeepVelocity(self.other_actors[0], 2, distance=7)) sequence.add_child(parallel) # turn target speed autopilot for all cars parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) parallel.add_child( WaypointFollower(self.ego_vehicles[0], self._speed, avoid_collision=False)) parallel.add_child( WaypointFollower(self.other_actors[0], self._speed, avoid_collision=False)) sequence.add_child(parallel) driveDistance = DriveDistance(self.ego_vehicles[0], self._drivenDistanceM, name="DriveDistance") sequence.add_child(driveDistance) return sequence
def _create_behavior(self): # endcondition: Check if vehicle reached waypoint _end_distance from here: end_condition = DriveDistance(self.ego_vehicles[0], self._end_distance) # Build behavior tree sequence = py_trees.composites.Sequence("Corl") sequence.add_child(end_condition) return sequence
def _create_behavior(self): """ The behavior tree returned by this method is as follows: The ego vehicle is trying to pass a leading vehicle in the same lane by moving onto the oncoming lane while another vehicle is moving in the opposite direction in the oncoming lane. """ # Leaf nodes actor_source = ActorSource( [ "vehicle.audi.tt", "vehicle.tesla.model3", "vehicle.nissan.micra" ], self._source_transform, self._source_gap, self._blackboard_queue_name, ) actor_sink = ActorSink(self._sink_location, 10) ego_drive_distance = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_drive_distance) waypoint_follower = WaypointFollower( self.other_actors[1], self._opposite_speed, blackboard_queue_name=self._blackboard_queue_name, avoid_collision=True, ) pedestrian_walking = KeepVelocity(self.other_actors[2], 1, distance=300) # Non-leaf nodes parallel_root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) # Building tree parallel_root.add_child(ego_drive_distance) parallel_root.add_child(actor_source) parallel_root.add_child(actor_sink) parallel_root.add_child(waypoint_follower) parallel_root.add_child(pedestrian_walking) scenario_sequence = py_trees.composites.Sequence() scenario_sequence.add_child( ActorTransformSetter(self.other_actors[0], self._first_actor_transform)) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[1], self._second_actor_transform)) # scenario_sequence.add_child( # ActorTransformSetter(self.other_actors[2], # self._third_actor_transform)) scenario_sequence.add_child(parallel_root) scenario_sequence.add_child(ActorDestroy(self.other_actors[0])) scenario_sequence.add_child(ActorDestroy(self.other_actors[1])) scenario_sequence.add_child(ActorDestroy(self.other_actors[2])) return scenario_sequence
def _create_behavior(self): """ The scenario defined after is a "control loss vehicle" scenario. """ sequence = py_trees.composites.Sequence("ControlLoss") sequence.add_child( DriveDistance(self.ego_vehicles[0], self._end_distance)) return sequence
def _create_behavior(self): """ The scenario defined after is a "follow leading vehicle" scenario. After invoking this scenario, it will wait for the user controlled vehicle to enter the start region, then make the other actor to drive towards obstacle. Once obstacle clears the road, make the other actor to drive towards the next intersection. Finally, the user-controlled vehicle has to be close enough to the other actor to end the scenario. If this does not happen within 60 seconds, a timeout stops the scenario """ # let the other actor drive until next intersection driving_to_next_intersection = py_trees.composites.Parallel( "Driving towards Intersection", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) obstacle_clear_road = py_trees.composites.Parallel("Obstalce clearing road", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) obstacle_clear_road.add_child(DriveDistance(self.other_actors[1], 4)) obstacle_clear_road.add_child(KeepVelocity(self.other_actors[1], self._second_actor_speed)) stop_near_intersection = py_trees.composites.Parallel( "Waiting for end position near Intersection", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) stop_near_intersection.add_child(WaypointFollower(self.other_actors[0], 10)) stop_near_intersection.add_child(InTriggerDistanceToNextIntersection(self.other_actors[0], 20)) driving_to_next_intersection.add_child(WaypointFollower(self.other_actors[0], self._first_actor_speed)) driving_to_next_intersection.add_child(InTriggerDistanceToVehicle(self.other_actors[1], self.other_actors[0], 15)) # end condition endcondition = py_trees.composites.Parallel("Waiting for end position", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) endcondition_part1 = InTriggerDistanceToVehicle(self.other_actors[0], self.ego_vehicles[0], distance=20, name="FinalDistance") endcondition_part2 = StandStill(self.ego_vehicles[0], name="FinalSpeed") endcondition.add_child(endcondition_part1) endcondition.add_child(endcondition_part2) # Build behavior tree sequence = py_trees.composites.Sequence("Sequence Behavior") sequence.add_child(ActorTransformSetter(self.other_actors[0], self._first_actor_transform)) sequence.add_child(ActorTransformSetter(self.other_actors[1], self._second_actor_transform)) sequence.add_child(driving_to_next_intersection) sequence.add_child(StopVehicle(self.other_actors[0], self._other_actor_max_brake)) sequence.add_child(TimeOut(3)) sequence.add_child(obstacle_clear_road) sequence.add_child(stop_near_intersection) sequence.add_child(StopVehicle(self.other_actors[0], self._other_actor_max_brake)) sequence.add_child(endcondition) sequence.add_child(ActorDestroy(self.other_actors[0])) sequence.add_child(ActorDestroy(self.other_actors[1])) return sequence
def _create_behavior(self): """ Hero vehicle is turning left in an urban area, at a signalized intersection, while other actor coming straight .The hero actor may turn left either before other actor passes intersection or later, without any collision. After 80 seconds, a timeout stops the scenario. """ sequence = py_trees.composites.Sequence("Sequence Behavior") # Selecting straight path at intersection target_waypoint = generate_target_waypoint( CarlaDataProvider.get_map().get_waypoint( self.other_actors[0].get_location()), 0) # Generating waypoint list till next intersection plan = [] wp_choice = target_waypoint.next(1.0) while not wp_choice[0].is_intersection: target_waypoint = wp_choice[0] plan.append((target_waypoint, RoadOption.LANEFOLLOW)) wp_choice = target_waypoint.next(1.0) # adding flow of actors actor_source = ActorSource(['vehicle.tesla.model3', 'vehicle.audi.tt'], self._other_actor_transform, 15, self._blackboard_queue_name) # destroying flow of actors actor_sink = ActorSink(plan[-1][0].transform.location, 10) # follow waypoints untill next intersection move_actor = WaypointFollower( self.other_actors[0], self._target_vel, plan=plan, blackboard_queue_name=self._blackboard_queue_name, avoid_collision=True) # wait wait = DriveDistance(self.ego_vehicles[0], self._ego_distance) # Behavior tree root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) root.add_child(wait) root.add_child(actor_source) root.add_child(actor_sink) root.add_child(move_actor) sequence.add_child( ActorTransformSetter(self.other_actors[0], self._other_actor_transform)) sequence.add_child(root) sequence.add_child(ActorDestroy(self.other_actors[0])) return sequence
def _create_behavior(self): """ Order of sequence: - car_visible: spawn car at a visible transform - just_drive: drive until in trigger distance to ego_vehicle - accelerate: accelerate to catch up distance to ego_vehicle - lane_change: change the lane - endcondition: drive for a defined distance """ # car_visible behaviour = py_trees.composites.Sequence("CarOn_{}_Lane" .format(self._direction)) car_visible = ActorTransformSetter(self.other_actors[0], self._transform_visible) behaviour.add_child(car_visible) # just_drive just_drive = py_trees.composites.Parallel( "DrivingStraight", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) car_driving = WaypointFollower(self.other_actors[0], self._velocity) just_drive.add_child(car_driving) trigger_distance = InTriggerDistanceToVehicle( self.other_actors[0], self.ego_vehicles[0], self._trigger_distance) just_drive.add_child(trigger_distance) behaviour.add_child(just_drive) # accelerate accelerate = AccelerateToCatchUp(self.other_actors[0], self.ego_vehicles[0], throttle_value=1, delta_velocity=self._delta_velocity, trigger_distance=5, max_distance=500) behaviour.add_child(accelerate) # lane_change if self._direction == 'left': lane_change = LaneChange( self.other_actors[0], speed=None, direction='right', distance_same_lane=5, distance_other_lane=300) behaviour.add_child(lane_change) else: lane_change = LaneChange( self.other_actors[0], speed=None, direction='left', distance_same_lane=5, distance_other_lane=300) behaviour.add_child(lane_change) # endcondition endcondition = DriveDistance(self.other_actors[0], 200) # build tree root = py_trees.composites.Sequence("Behavior", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) root.add_child(behaviour) root.add_child(endcondition) return root
def _create_behavior(self): """ After invoking this scenario, cyclist will wait for the user controlled vehicle to enter the in the trigger distance region, the cyclist starts crossing the road once the condition meets, ego vehicle has to avoid the crash after a turn, but continue driving after the road is clear.If this does not happen within 90 seconds, a timeout stops the scenario. """ sequence = py_trees.composites.Sequence() collision_location = self._collision_wp.transform.location collision_distance = collision_location.distance(self._adversary_transform.location) collision_duration = collision_distance / self._adversary_speed collision_time_trigger = collision_duration + self._reaction_time # On trigger behavior if self._ego_route is not None: sequence.add_child(Scenario4Manager(self._spawn_dist)) # First waiting behavior sequence.add_child(WaitEndIntersection(self.ego_vehicles[0])) # Adversary trigger behavior trigger_adversary = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="TriggerAdversaryStart") trigger_adversary.add_child(InTimeToArrivalToLocation( self.ego_vehicles[0], collision_time_trigger, collision_location)) trigger_adversary.add_child(InTriggerDistanceToLocation( self.ego_vehicles[0], collision_location, self._min_trigger_dist)) sequence.add_child(trigger_adversary) sequence.add_child(HandBrakeVehicle(self.other_actors[0], False)) # Move the adversary. speed_duration = 2.0 * collision_duration speed_distance = 2.0 * collision_distance sequence.add_child(KeepVelocity( self.other_actors[0], self._adversary_speed, True, speed_duration, speed_distance, name="AdversaryCrossing") ) # Remove everything sequence.add_child(ActorDestroy(self.other_actors[0], name="DestroyAdversary")) sequence.add_child(DriveDistance(self.ego_vehicles[0], self._ego_end_distance, name="EndCondition")) return sequence
def _create_behavior(self): """ The scenario defined after is a "control loss vehicle" scenario. After invoking this scenario, it will wait until the vehicle drove a few meters (_start_distance), and then perform a jitter action. Finally, the vehicle has to reach a target point (_end_distance). If this does not happen within 60 seconds, a timeout stops the scenario """ # start condition start_end_parallel = py_trees.composites.Parallel("Jitter", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) start_condition = InTriggerDistanceToLocation(self.ego_vehicles[0], self.first_loc_prev, self._trigger_dist) for _ in range(self._no_of_jitter): # change the current noise to be applied turn = ChangeNoiseParameters(self._current_steer_noise, self._current_throttle_noise, self._noise_mean, self._noise_std, self._dynamic_mean_for_steer, self._dynamic_mean_for_throttle) # Mean value of steering noise # Noise end! put again the added noise to zero. noise_end = ChangeNoiseParameters(self._current_steer_noise, self._current_throttle_noise, 0, 0, 0, 0) jitter_action = py_trees.composites.Parallel("Jitter", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) # Abort jitter_sequence, if the vehicle is approaching an intersection jitter_abort = InTriggerDistanceToNextIntersection(self.ego_vehicles[0], self._abort_distance_to_intersection) # endcondition: Check if vehicle reached waypoint _end_distance from here: end_condition = DriveDistance(self.ego_vehicles[0], self._end_distance) start_end_parallel.add_child(start_condition) start_end_parallel.add_child(end_condition) # Build behavior tree sequence = py_trees.composites.Sequence("ControlLoss") sequence.add_child(ActorTransformSetter(self.other_actors[0], self.first_transform, physics=False)) sequence.add_child(ActorTransformSetter(self.other_actors[1], self.sec_transform, physics=False)) sequence.add_child(ActorTransformSetter(self.other_actors[2], self.third_transform, physics=False)) jitter = py_trees.composites.Sequence("Jitter Behavior") jitter.add_child(turn) jitter.add_child(InTriggerDistanceToLocation(self.ego_vehicles[0], self.sec_loc_prev, self._trigger_dist)) jitter.add_child(turn) jitter.add_child(InTriggerDistanceToLocation(self.ego_vehicles[0], self.third_loc_prev, self._trigger_dist)) jitter.add_child(turn) jitter_action.add_child(jitter) jitter_action.add_child(jitter_abort) sequence.add_child(start_end_parallel) sequence.add_child(jitter_action) sequence.add_child(end_condition) sequence.add_child(noise_end) return sequence
def _create_behavior(self): """ Only behavior here is to wait """ # leaf nodes actor_stand = Idle(15) end_condition = DriveDistance( self.ego_vehicles[0], self._ego_vehicle_distance_driven) # non leaf nodes scenario_sequence = py_trees.composites.Sequence() # building tree scenario_sequence.add_child(actor_stand) for i, _ in enumerate(self.other_actors): scenario_sequence.add_child(ActorDestroy(self.other_actors[i])) scenario_sequence.add_child(end_condition) return scenario_sequence
def _create_behavior(self): """ Scenario behavior: When close to an intersection, the traffic lights will turn green for both the ego_vehicle and another lane, allowing the background activity to "run" their red light. If this does not happen within 120 seconds, a timeout stops the scenario """ # finally wait that ego vehicle drove a specific distance wait = WaitEndIntersection(self.ego_vehicles[0], name="WaitEndIntersection") end_condition = DriveDistance(self.ego_vehicles[0], self._ego_distance_to_drive, name="DriveDistance") # Build behavior tree sequence = py_trees.composites.Sequence( "NoSignalJunctionCrossingRoute") sequence.add_child(wait) sequence.add_child(end_condition) return sequence
def _create_behavior(self): """ The scenario defined after is a "follow leading vehicle" scenario. After invoking this scenario, it will wait for the user controlled vehicle to enter the start region, then make the other actor to drive until reaching the next intersection. Finally, the user-controlled vehicle has to be close enough to the other actor to end the scenario. If this does not happen within 60 seconds, a timeout stops the scenario """ root = py_trees.composites.Parallel( "Running random scenario", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) root.add_child(StandStill(self.ego_vehicles[0], "scenario ended", 3.0)) root.add_child( InTriggerDistanceToLocation(self.ego_vehicles[0], carla.Location(200, -250, 0), 10)) for (scenario, actor_dict) in self.scenario_list: if scenario == "VehiclesAhead": wait_for_trigger = InTriggerDistanceToLocation( self.ego_vehicles[0], actor_dict.trigger.transform.location, 10) start_transform = ActorTransformSetter( self.other_actors[actor_dict.index], actor_dict.start_transform) keep_driving = WaypointFollower( self.other_actors[actor_dict.index], actor_dict.speed, avoid_collision=True) drive = py_trees.composites.Parallel( "Driving for a distance", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) drive_success = DriveDistance( self.other_actors[actor_dict.index], random.randint(50, 100)) drive.add_child(drive_success) drive.add_child(keep_driving) stand = StandStill(self.other_actors[actor_dict.index], "stand still", random.randint(1, 5)) stop = StopVehicle(self.other_actors[actor_dict.index], 1.0) accelerate = AccelerateToVelocity( self.other_actors[actor_dict.index], 1.0, actor_dict.speed) # Build behavior tree sequence = py_trees.composites.Sequence( "VehiclesAhead behavior sequence") sequence.add_child(wait_for_trigger) sequence.add_child(start_transform) # stop_condition = py_trees.composites.Parallel("stop condition", # policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) # stop_condition.add_child(keep_driving) # stop_condition.add_child(drive_success) if actor_dict.stop: sequence.add_child(drive) sequence.add_child(stop) sequence.add_child(accelerate) sequence.add_child(keep_driving) #stop_condition print("lead vehicle stop behavior added") else: sequence.add_child(keep_driving) #stop_condition sequence.add_child( ActorDestroy(self.other_actors[actor_dict.index])) root.add_child(sequence) elif scenario == "StationaryObstaclesAhead": lane_width = self.ego_vehicles[0].get_world().get_map( ).get_waypoint(self.ego_vehicles[0].get_location()).lane_width lane_width = lane_width + (1.25 * lane_width) sequence = py_trees.composites.Sequence( "StationaryObstaclesAhead behavior sequence") # actor_stand = TimeOut(15) # actor_removed = ActorDestroy(self.other_actors[num_actors]) # end_condition = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_distance_driven) sequence.add_child( ActorTransformSetter(self.other_actors[actor_dict.index], actor_dict.start_transform)) sequence.add_child(TimeOut(120)) root.add_child(sequence) elif scenario == "CutIn": sequence = py_trees.composites.Sequence("CarOn_{}_Lane".format( actor_dict.direction)) car_visible = ActorTransformSetter( self.other_actors[actor_dict.index], actor_dict.start_transform) sequence.add_child( InTriggerDistanceToLocation( self.ego_vehicles[0], actor_dict.trigger.transform.location, 10)) sequence.add_child(car_visible) # accelerate accelerate = AccelerateToCatchUp( self.other_actors[actor_dict.index], self.ego_vehicles[0], throttle_value=1, delta_velocity=actor_dict.delta_speed, trigger_distance=actor_dict.trigger_distance, max_distance=100) sequence.add_child(accelerate) # lane_change # lane_change = None if actor_dict.direction == 'left': lane_change = LaneChange( self.other_actors[actor_dict.index], speed=actor_dict.lane_change_speed, direction='right', distance_same_lane=50, distance_other_lane=10) sequence.add_child(lane_change) else: lane_change = LaneChange( self.other_actors[actor_dict.index], speed=actor_dict.lane_change_speed, direction='left', distance_same_lane=50, distance_other_lane=10) sequence.add_child(lane_change) sequence.add_child( WaypointFollower(self.other_actors[actor_dict.index], target_speed=20, avoid_collision=True)) endcondition = DriveDistance( self.other_actors[actor_dict.index], 150) parallel = py_trees.composites.Sequence( "Behavior", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) parallel.add_child(sequence) parallel.add_child(endcondition) root.add_child(parallel) elif scenario == "DynamicObstaclesAhead": lane_width = actor_dict.trigger.lane_width lane_width = lane_width + (1.25 * lane_width * actor_dict.num_lane_changes) start_condition = InTimeToArrivalToVehicle( self.other_actors[actor_dict.index], self.ego_vehicles[0], actor_dict.time_to_reach) # actor_velocity = KeepVelocity(self.other_actors[actor_dict.index], # actor_dict.speed, # name="walker velocity") # actor_drive = DriveDistance(self.other_actors[actor_dict.index], # 0.5 * lane_width, # name="walker drive distance") actor_start_cross_lane = AccelerateToVelocity( self.other_actors[actor_dict.index], 1.0, actor_dict.speed, name="walker crossing lane accelerate velocity") actor_cross_lane = DriveDistance( self.other_actors[actor_dict.index], lane_width, name="walker drive distance for lane crossing ") actor_stop_cross_lane = StopVehicle( self.other_actors[actor_dict.index], 1.0, name="walker stop") ego_pass_machine = DriveDistance( self.ego_vehicles[0], 5, name="ego vehicle passed walker") # actor_remove = ActorDestroy(self.other_actors[actor_dict.index], # name="Destroying walker") scenario_sequence = py_trees.composites.Sequence() keep_velocity_other = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity other") keep_velocity = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity") scenario_sequence.add_child( ActorTransformSetter(self.other_actors[actor_dict.index], actor_dict.start_transform, name='TransformSetterTS3walker', physics=False)) # scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[actor_dict.index], True)) scenario_sequence.add_child(start_condition) # scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[actor_dict.index], False)) # scenario_sequence.add_child(keep_velocity) scenario_sequence.add_child(keep_velocity_other) scenario_sequence.add_child(actor_stop_cross_lane) # keep_velocity.add_child(actor_velocity) # keep_velocity.add_child(actor_drive) keep_velocity_other.add_child(actor_start_cross_lane) # keep_velocity_other.add_child(actor_cross_lane) # keep_velocity_other.add_child(ego_pass_machine) root.add_child(scenario_sequence) return root
def _create_behavior(self): """ Scenario behavior: The other vehicle waits until the ego vehicle is close enough to the intersection and that its own traffic light is red. Then, it will start driving and 'illegally' cross the intersection. After a short distance it should stop again, outside of the intersection. The ego vehicle has to avoid the crash, but continue driving after the intersection is clear. If this does not happen within 120 seconds, a timeout stops the scenario """ crossing_point_dynamic = get_crossing_point(self.ego_vehicles[0]) # start condition startcondition = InTriggerDistanceToLocation( self.ego_vehicles[0], crossing_point_dynamic, self._ego_distance_to_traffic_light, name="Waiting for start position") sync_arrival_parallel = py_trees.composites.Parallel( "Synchronize arrival times", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) location_of_collision_dynamic = get_geometric_linear_intersection( self.ego_vehicles[0], self.other_actors[0]) sync_arrival = SyncArrival(self.other_actors[0], self.ego_vehicles[0], location_of_collision_dynamic) sync_arrival_stop = InTriggerDistanceToNextIntersection( self.other_actors[0], 5) sync_arrival_parallel.add_child(sync_arrival) sync_arrival_parallel.add_child(sync_arrival_stop) # Generate plan for WaypointFollower turn = 0 # drive straight ahead plan = [] # generating waypoints until intersection (target_waypoint) plan, target_waypoint = generate_target_waypoint_list( CarlaDataProvider.get_map().get_waypoint( self.other_actors[0].get_location()), turn) # Generating waypoint list till next intersection wp_choice = target_waypoint.next(5.0) while len(wp_choice) == 1: target_waypoint = wp_choice[0] plan.append((target_waypoint, RoadOption.LANEFOLLOW)) wp_choice = target_waypoint.next(5.0) continue_driving = py_trees.composites.Parallel( "ContinueDriving", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) continue_driving_waypoints = WaypointFollower( self.other_actors[0], self._other_actor_target_velocity, plan=plan, avoid_collision=False) continue_driving_distance = DriveDistance(self.other_actors[0], self._other_actor_distance, name="Distance") continue_driving_timeout = TimeOut(10) continue_driving.add_child(continue_driving_waypoints) continue_driving.add_child(continue_driving_distance) continue_driving.add_child(continue_driving_timeout) # finally wait that ego vehicle drove a specific distance wait = DriveDistance(self.ego_vehicles[0], self._ego_distance_to_drive, name="DriveDistance") # Build behavior tree sequence = py_trees.composites.Sequence("Sequence Behavior") sequence.add_child( ActorTransformSetter(self.other_actors[0], self._other_actor_transform)) sequence.add_child(startcondition) sequence.add_child(sync_arrival_parallel) sequence.add_child(continue_driving) sequence.add_child(wait) sequence.add_child(ActorDestroy(self.other_actors[0])) return sequence
def _create_behavior(self): """ The scenario defined after is a "other leading vehicle" scenario. After invoking this scenario, the user controlled vehicle has to drive towards the moving other actors, then make the leading actor to decelerate when user controlled vehicle is at some close distance. Finally, the user-controlled vehicle has to change lane to avoid collision and follow other leading actor in other lane to end the scenario. If this does not happen within 90 seconds, a timeout stops the scenario or the ego vehicle drives certain distance and stops the scenario. """ # start condition driving_in_same_direction = py_trees.composites.Parallel( "All actors driving in same direction", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) leading_actor_sequence_behavior = py_trees.composites.Sequence( "Decelerating actor sequence behavior") # both actors moving in same direction keep_velocity = py_trees.composites.Parallel( "Trigger condition for deceleration", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) keep_velocity.add_child( WaypointFollower(self.other_actors[0], self._first_vehicle_speed, avoid_collision=True)) keep_velocity.add_child( InTriggerDistanceToVehicle(self.other_actors[0], self.ego_vehicles[0], 55)) # Decelerating actor sequence behavior decelerate = self._first_vehicle_speed / 3.2 leading_actor_sequence_behavior.add_child(keep_velocity) leading_actor_sequence_behavior.add_child( WaypointFollower(self.other_actors[0], decelerate, avoid_collision=True)) # end condition ego_drive_distance = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_drive_distance) # Build behavior tree sequence = py_trees.composites.Sequence("Scenario behavior") parallel_root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) parallel_root.add_child(ego_drive_distance) parallel_root.add_child(driving_in_same_direction) driving_in_same_direction.add_child(leading_actor_sequence_behavior) driving_in_same_direction.add_child( WaypointFollower(self.other_actors[1], self._second_vehicle_speed, avoid_collision=True)) sequence.add_child( ActorTransformSetter(self.other_actors[0], self._first_actor_transform)) sequence.add_child( ActorTransformSetter(self.other_actors[1], self._second_actor_transform)) sequence.add_child(parallel_root) sequence.add_child(ActorDestroy(self.other_actors[0])) sequence.add_child(ActorDestroy(self.other_actors[1])) return sequence
def convert_condition_to_atomic(condition, actor_list): """ Convert an OpenSCENARIO condition into a Behavior/Criterion atomic If there is a delay defined in the condition, then the condition is checked after the delay time passed by, e.g. <Condition name="" delay="5">. Note: Not all conditions are currently supported. """ atomic = None delay_atomic = None condition_name = condition.attrib.get('name') if condition.attrib.get('delay') is not None and str(condition.attrib.get('delay')) != '0': delay = float(condition.attrib.get('delay')) delay_atomic = TimeOut(delay) if condition.find('ByEntityCondition') is not None: trigger_actor = None # A-priori validation ensures that this will be not None triggered_actor = None for triggering_entities in condition.find('ByEntityCondition').iter('TriggeringEntities'): for entity in triggering_entities.iter('EntityRef'): for actor in actor_list: if entity.attrib.get('entityRef', None) == actor.attributes['role_name']: trigger_actor = actor break for entity_condition in condition.find('ByEntityCondition').iter('EntityCondition'): if entity_condition.find('EndOfRoadCondition') is not None: end_road_condition = entity_condition.find('EndOfRoadCondition') condition_duration = float(end_road_condition.attrib.get('duration')) atomic_cls = py_trees.meta.inverter(EndofRoadTest) atomic = atomic_cls( trigger_actor, condition_duration, terminate_on_failure=True, name=condition_name) elif entity_condition.find('CollisionCondition') is not None: collision_condition = entity_condition.find('CollisionCondition') if collision_condition.find('EntityRef') is not None: collision_entity = collision_condition.find('EntityRef') for actor in actor_list: if collision_entity.attrib.get('entityRef', None) == actor.attributes['role_name']: triggered_actor = actor break if triggered_actor is None: raise AttributeError("Cannot find actor '{}' for condition".format( collision_condition.attrib.get('entityRef', None))) atomic_cls = py_trees.meta.inverter(CollisionTest) atomic = atomic_cls(trigger_actor, other_actor=triggered_actor, terminate_on_failure=True, name=condition_name) elif collision_condition.find('ByType') is not None: collision_type = collision_condition.find('ByType').attrib.get('type', None) triggered_type = OpenScenarioParser.actor_types[collision_type] atomic_cls = py_trees.meta.inverter(CollisionTest) atomic = atomic_cls(trigger_actor, other_actor_type=triggered_type, terminate_on_failure=True, name=condition_name) else: atomic_cls = py_trees.meta.inverter(CollisionTest) atomic = atomic_cls(trigger_actor, terminate_on_failure=True, name=condition_name) elif entity_condition.find('OffroadCondition') is not None: off_condition = entity_condition.find('OffroadCondition') condition_duration = float(off_condition.attrib.get('duration')) atomic_cls = py_trees.meta.inverter(OffRoadTest) atomic = atomic_cls( trigger_actor, condition_duration, terminate_on_failure=True, name=condition_name) elif entity_condition.find('TimeHeadwayCondition') is not None: headtime_condition = entity_condition.find('TimeHeadwayCondition') condition_value = float(headtime_condition.attrib.get('value')) condition_rule = headtime_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[condition_rule] condition_freespace = strtobool(headtime_condition.attrib.get('freespace', False)) if condition_freespace: raise NotImplementedError( "TimeHeadwayCondition: freespace attribute is currently not implemented") condition_along_route = strtobool(headtime_condition.attrib.get('alongRoute', False)) for actor in actor_list: if headtime_condition.attrib.get('entityRef', None) == actor.attributes['role_name']: triggered_actor = actor break if triggered_actor is None: raise AttributeError("Cannot find actor '{}' for condition".format( headtime_condition.attrib.get('entityRef', None))) atomic = InTimeToArrivalToVehicle( trigger_actor, triggered_actor, condition_value, condition_along_route, condition_operator, condition_name ) elif entity_condition.find('TimeToCollisionCondition') is not None: ttc_condition = entity_condition.find('TimeToCollisionCondition') condition_rule = ttc_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[condition_rule] condition_value = ttc_condition.attrib.get('value') condition_target = ttc_condition.find('TimeToCollisionConditionTarget') condition_freespace = strtobool(ttc_condition.attrib.get('freespace', False)) if condition_freespace: raise NotImplementedError( "TimeToCollisionCondition: freespace attribute is currently not implemented") condition_along_route = strtobool(ttc_condition.attrib.get('alongRoute', False)) if condition_target.find('Position') is not None: position = condition_target.find('Position') atomic = InTimeToArrivalToOSCPosition( trigger_actor, position, condition_value, condition_along_route, condition_operator) else: for actor in actor_list: if ttc_condition.attrib.get('EntityRef', None) == actor.attributes['role_name']: triggered_actor = actor break if triggered_actor is None: raise AttributeError("Cannot find actor '{}' for condition".format( ttc_condition.attrib.get('EntityRef', None))) atomic = InTimeToArrivalToVehicle( trigger_actor, triggered_actor, condition_value, condition_along_route, condition_operator, condition_name) elif entity_condition.find('AccelerationCondition') is not None: accel_condition = entity_condition.find('AccelerationCondition') condition_value = float(accel_condition.attrib.get('value')) condition_rule = accel_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[condition_rule] atomic = TriggerAcceleration( trigger_actor, condition_value, condition_operator, condition_name) elif entity_condition.find('StandStillCondition') is not None: ss_condition = entity_condition.find('StandStillCondition') duration = float(ss_condition.attrib.get('duration')) atomic = StandStill(trigger_actor, condition_name, duration) elif entity_condition.find('SpeedCondition') is not None: spd_condition = entity_condition.find('SpeedCondition') condition_value = float(spd_condition.attrib.get('value')) condition_rule = spd_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[condition_rule] atomic = TriggerVelocity( trigger_actor, condition_value, condition_operator, condition_name) elif entity_condition.find('RelativeSpeedCondition') is not None: relspd_condition = entity_condition.find('RelativeSpeedCondition') condition_value = float(relspd_condition.attrib.get('value')) condition_rule = relspd_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[condition_rule] for actor in actor_list: if relspd_condition.attrib.get('entityRef', None) == actor.attributes['role_name']: triggered_actor = actor break if triggered_actor is None: raise AttributeError("Cannot find actor '{}' for condition".format( relspd_condition.attrib.get('entityRef', None))) atomic = RelativeVelocityToOtherActor( trigger_actor, triggered_actor, condition_value, condition_operator, condition_name) elif entity_condition.find('TraveledDistanceCondition') is not None: distance_condition = entity_condition.find('TraveledDistanceCondition') distance_value = float(distance_condition.attrib.get('value')) atomic = DriveDistance(trigger_actor, distance_value, name=condition_name) elif entity_condition.find('ReachPositionCondition') is not None: rp_condition = entity_condition.find('ReachPositionCondition') distance_value = float(rp_condition.attrib.get('tolerance')) position = rp_condition.find('Position') atomic = InTriggerDistanceToOSCPosition( trigger_actor, position, distance_value, name=condition_name) elif entity_condition.find('DistanceCondition') is not None: distance_condition = entity_condition.find('DistanceCondition') distance_value = float(distance_condition.attrib.get('value')) distance_rule = distance_condition.attrib.get('rule') distance_operator = OpenScenarioParser.operators[distance_rule] distance_freespace = strtobool(distance_condition.attrib.get('freespace', False)) if distance_freespace: raise NotImplementedError( "DistanceCondition: freespace attribute is currently not implemented") distance_along_route = strtobool(distance_condition.attrib.get('alongRoute', False)) if distance_condition.find('Position') is not None: position = distance_condition.find('Position') atomic = InTriggerDistanceToOSCPosition( trigger_actor, position, distance_value, distance_along_route, distance_operator, name=condition_name) elif entity_condition.find('RelativeDistanceCondition') is not None: distance_condition = entity_condition.find('RelativeDistanceCondition') distance_value = float(distance_condition.attrib.get('value')) distance_freespace = strtobool(distance_condition.attrib.get('freespace', False)) if distance_freespace: raise NotImplementedError( "RelativeDistanceCondition: freespace attribute is currently not implemented") if distance_condition.attrib.get('relativeDistanceType') == "cartesianDistance": for actor in actor_list: if distance_condition.attrib.get('entityRef', None) == actor.attributes['role_name']: triggered_actor = actor break if triggered_actor is None: raise AttributeError("Cannot find actor '{}' for condition".format( distance_condition.attrib.get('entityRef', None))) condition_rule = distance_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[condition_rule] atomic = InTriggerDistanceToVehicle( triggered_actor, trigger_actor, distance_value, condition_operator, name=condition_name) else: raise NotImplementedError( "RelativeDistance condition with the given specification is not yet supported") elif condition.find('ByValueCondition') is not None: value_condition = condition.find('ByValueCondition') if value_condition.find('ParameterCondition') is not None: parameter_condition = value_condition.find('ParameterCondition') arg_name = parameter_condition.attrib.get('parameterRef') value = parameter_condition.attrib.get('value') if value != '': arg_value = float(value) else: arg_value = 0 parameter_condition.attrib.get('rule') if condition_name in globals(): criterion_instance = globals()[condition_name] else: raise AttributeError( "The condition {} cannot be mapped to a criterion atomic".format(condition_name)) atomic = py_trees.composites.Parallel("Evaluation Criteria for multiple ego vehicles") for triggered_actor in actor_list: if arg_name != '': atomic.add_child(criterion_instance(triggered_actor, arg_value)) else: atomic.add_child(criterion_instance(triggered_actor)) elif value_condition.find('SimulationTimeCondition') is not None: simtime_condition = value_condition.find('SimulationTimeCondition') value = float(simtime_condition.attrib.get('value')) rule = simtime_condition.attrib.get('rule') atomic = SimulationTimeCondition(value, success_rule=rule) elif value_condition.find('TimeOfDayCondition') is not None: tod_condition = value_condition.find('TimeOfDayCondition') condition_date = tod_condition.attrib.get('dateTime') condition_rule = tod_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[condition_rule] atomic = TimeOfDayComparison(condition_date, condition_operator, condition_name) elif value_condition.find('StoryboardElementStateCondition') is not None: state_condition = value_condition.find('StoryboardElementStateCondition') element_name = state_condition.attrib.get('storyboardElementRef') element_type = state_condition.attrib.get('storyboardElementType') state = state_condition.attrib.get('state') if state == "startTransition": atomic = OSCStartEndCondition(element_type, element_name, rule="START", name=state + "Condition") elif state == "stopTransition" or state == "endTransition" or state == "completeState": atomic = OSCStartEndCondition(element_type, element_name, rule="END", name=state + "Condition") else: raise NotImplementedError( "Only start, stop, endTransitions and completeState are currently supported") elif value_condition.find('UserDefinedValueCondition') is not None: raise NotImplementedError("ByValue UserDefinedValue conditions are not yet supported") elif value_condition.find('TrafficSignalCondition') is not None: tl_condition = value_condition.find('TrafficSignalCondition') name_condition = tl_condition.attrib.get('name') traffic_light = OpenScenarioParser.get_traffic_light_from_osc_name(name_condition) tl_state = tl_condition.attrib.get('state').upper() if tl_state not in OpenScenarioParser.tl_states: raise KeyError("CARLA only supports Green, Red, Yellow or Off") state_condition = OpenScenarioParser.tl_states[tl_state] atomic = WaitForTrafficLightState( traffic_light, state_condition, name=condition_name) elif value_condition.find('TrafficSignalControllerCondition') is not None: raise NotImplementedError("ByValue TrafficSignalController conditions are not yet supported") else: raise AttributeError("Unknown ByValue condition") else: raise AttributeError("Unknown condition") if delay_atomic is not None and atomic is not None: new_atomic = py_trees.composites.Sequence("delayed sequence") new_atomic.add_child(delay_atomic) new_atomic.add_child(atomic) else: new_atomic = atomic return new_atomic
def convert_condition_to_atomic(condition, actor_list): """ Convert an OpenSCENARIO condition into a Behavior/Criterion atomic If there is a delay defined in the condition, then the condition is checked after the delay time passed by, e.g. <Condition name="" delay="5">. Note: Not all conditions are currently supported. """ atomic = None delay_atomic = None condition_name = condition.attrib.get('name') if condition.attrib.get('delay') is not None and str( condition.attrib.get('delay')) != '0': delay = float(condition.attrib.get('delay')) delay_atomic = TimeOut(delay) if condition.find('ByEntity') is not None: trigger_actor = None # A-priori validation ensures that this will be not None triggered_actor = None for triggering_entities in condition.find('ByEntity').iter( 'TriggeringEntities'): for entity in triggering_entities.iter('Entity'): for actor in actor_list: if entity.attrib.get( 'name', None) == actor.attributes['role_name']: trigger_actor = actor break for entity_condition in condition.find('ByEntity').iter( 'EntityCondition'): if entity_condition.find('EndOfRoad') is not None: raise NotImplementedError( "EndOfRoad conditions are not yet supported") elif entity_condition.find('Collision') is not None: atomic = py_trees.meta.inverter( CollisionTest(trigger_actor, terminate_on_failure=True, name=condition_name)) elif entity_condition.find('Offroad') is not None: raise NotImplementedError( "Offroad conditions are not yet supported") elif entity_condition.find('TimeHeadway') is not None: raise NotImplementedError( "TimeHeadway conditions are not yet supported") elif entity_condition.find('TimeToCollision') is not None: ttc_condition = entity_condition.find('TimeToCollision') condition_rule = ttc_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[ condition_rule] condition_value = ttc_condition.attrib.get('value') condition_target = ttc_condition.find('Target') if condition_target.find('Position'): position = condition_target.find('Position') atomic = InTimeToArrivalToOSCPosition( trigger_actor, position, condition_value, condition_operator) else: for actor in actor_list: if ttc_condition.attrib.get( 'entity', None) == actor.attributes['role_name']: triggered_actor = actor break if triggered_actor is None: raise AttributeError( "Cannot find actor '{}' for condition".format( ttc_condition.attrib.get('entity', None))) atomic = InTimeToArrivalToVehicle( trigger_actor, triggered_actor, condition_value, condition_operator) elif entity_condition.find('Acceleration') is not None: raise NotImplementedError( "Acceleration conditions are not yet supported") elif entity_condition.find('StandStill') is not None: ss_condition = entity_condition.find('StandStill') duration = float(ss_condition.attrib.get('duration')) atomic = StandStill(trigger_actor, condition_name, duration) elif entity_condition.find('Speed') is not None: s_condition = entity_condition.find('Speed') value = float(s_condition.attrib.get('value')) if s_condition.attrib.get('rule') != "greater_than": raise NotImplementedError( "Speed condition with the given specification is not yet supported" ) atomic = AccelerateToVelocity(trigger_actor, value, condition_name) elif entity_condition.find('RelativeSpeed') is not None: raise NotImplementedError( "RelativeSpeed conditions are not yet supported") elif entity_condition.find('TraveledDistance') is not None: distance_condition = entity_condition.find( 'TraveledDistance') distance_value = float( distance_condition.attrib.get('value')) atomic = DriveDistance(trigger_actor, distance_value, name=condition_name) elif entity_condition.find('ReachPosition') is not None: rp_condition = entity_condition.find('ReachPosition') distance_value = float( rp_condition.attrib.get('tolerance')) position = rp_condition.find('Position') atomic = InTriggerDistanceToOSCPosition( trigger_actor, position, distance_value, name=condition_name) elif entity_condition.find('Distance') is not None: distance_condition = entity_condition.find('Distance') distance_value = float( distance_condition.attrib.get('value')) distance_rule = distance_condition.attrib.get('rule') distance_operator = OpenScenarioParser.operators[ distance_rule] if distance_condition.find('Position') is not None: position = distance_condition.find('Position') atomic = InTriggerDistanceToOSCPosition( trigger_actor, position, distance_value, distance_operator, name=condition_name) elif entity_condition.find('RelativeDistance') is not None: distance_condition = entity_condition.find( 'RelativeDistance') distance_value = float( distance_condition.attrib.get('value')) if distance_condition.attrib.get('type') == "inertial": for actor in actor_list: if distance_condition.attrib.get( 'entity', None) == actor.attributes['role_name']: triggered_actor = actor break if triggered_actor is None: raise AttributeError( "Cannot find actor '{}' for condition".format( distance_condition.attrib.get( 'entity', None))) condition_rule = distance_condition.attrib.get('rule') condition_operator = OpenScenarioParser.operators[ condition_rule] atomic = InTriggerDistanceToVehicle( triggered_actor, trigger_actor, distance_value, condition_operator, name=condition_name) else: raise NotImplementedError( "RelativeDistance condition with the given specification is not yet supported" ) elif condition.find('ByState') is not None: state_condition = condition.find('ByState') if state_condition.find('AtStart') is not None: element_type = state_condition.find('AtStart').attrib.get( 'type') element_name = state_condition.find('AtStart').attrib.get( 'name') atomic = OSCStartEndCondition(element_type, element_name, rule="START", name="AtStartCondition") elif state_condition.find('AfterTermination') is not None: element_type = state_condition.find( 'AfterTermination').attrib.get('type') element_name = state_condition.find( 'AfterTermination').attrib.get('name') condition_rule = state_condition.find( 'AfterTermination').attrib.get('rule') atomic = OSCStartEndCondition(element_type, element_name, condition_rule, name="AfterTerminationCondition") elif state_condition.find('Command') is not None: raise NotImplementedError( "ByState Command conditions are not yet supported") elif state_condition.find('Signal') is not None: raise NotImplementedError( "ByState Signal conditions are not yet supported") elif state_condition.find('Controller') is not None: raise NotImplementedError( "ByState Controller conditions are not yet supported") else: raise AttributeError("Unknown ByState condition") elif condition.find('ByValue') is not None: value_condition = condition.find('ByValue') if value_condition.find('Parameter') is not None: parameter_condition = value_condition.find('Parameter') arg_name = parameter_condition.attrib.get('name') value = parameter_condition.attrib.get('value') if value != '': arg_value = float(value) else: arg_value = 0 parameter_condition.attrib.get('rule') if condition_name in globals(): criterion_instance = globals()[condition_name] else: raise AttributeError( "The condition {} cannot be mapped to a criterion atomic" .format(condition_name)) for triggered_actor in actor_list: if arg_name != '': atomic = criterion_instance(triggered_actor, arg_value) else: atomic = criterion_instance(triggered_actor) elif value_condition.find('SimulationTime') is not None: simtime_condition = value_condition.find('SimulationTime') value = float(simtime_condition.attrib.get('value')) rule = simtime_condition.attrib.get('rule') atomic = SimulationTimeCondition(value, success_rule=rule) elif value_condition.find('TimeOfDay') is not None: raise NotImplementedError( "ByValue TimeOfDay conditions are not yet supported") else: raise AttributeError("Unknown ByValue condition") else: raise AttributeError("Unknown condition") if delay_atomic is not None and atomic is not None: new_atomic = py_trees.composites.Sequence("delayed sequence") new_atomic.add_child(delay_atomic) new_atomic.add_child(atomic) else: new_atomic = atomic return new_atomic
def _create_behavior(self): """ After invoking this scenario, cyclist will wait for the user controlled vehicle to enter trigger distance region, the cyclist starts crossing the road once the condition meets, then after 60 seconds, a timeout stops the scenario """ root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="OccludedObjectCrossing") lane_width = self._reference_waypoint.lane_width lane_width = lane_width + (1.25 * lane_width * self._num_lane_changes) dist_to_trigger = 12 + self._num_lane_changes # leaf nodes if self._ego_route is not None: start_condition = InTriggerDistanceToLocationAlongRoute( self.ego_vehicles[0], self._ego_route, self.transform.location, dist_to_trigger) else: start_condition = InTimeToArrivalToVehicle(self.other_actors[0], self.ego_vehicles[0], self._time_to_reach) actor_velocity = KeepVelocity(self.other_actors[0], self._other_actor_target_velocity, name="walker velocity") actor_drive = DriveDistance(self.other_actors[0], 0.5 * lane_width, name="walker drive distance") actor_start_cross_lane = AccelerateToVelocity( self.other_actors[0], 1.0, self._other_actor_target_velocity, name="walker crossing lane accelerate velocity") actor_cross_lane = DriveDistance( self.other_actors[0], lane_width, name="walker drive distance for lane crossing ") actor_stop_crossed_lane = StopVehicle(self.other_actors[0], self._other_actor_max_brake, name="walker stop") ego_pass_machine = DriveDistance(self.ego_vehicles[0], 5, name="ego vehicle passed prop") actor_remove = ActorDestroy(self.other_actors[0], name="Destroying walker") static_remove = ActorDestroy(self.other_actors[1], name="Destroying Prop") end_condition = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_distance_driven, name="End condition ego drive distance") # non leaf nodes scenario_sequence = py_trees.composites.Sequence() keep_velocity_other = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity other") keep_velocity = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity") # building tree root.add_child(scenario_sequence) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[0], self.transform, name='TransformSetterTS3walker', physics=False)) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[1], self.transform2, name='TransformSetterTS3coca', physics=False)) scenario_sequence.add_child( HandBrakeVehicle(self.other_actors[0], True)) scenario_sequence.add_child(start_condition) scenario_sequence.add_child( HandBrakeVehicle(self.other_actors[0], False)) scenario_sequence.add_child(keep_velocity) scenario_sequence.add_child(keep_velocity_other) scenario_sequence.add_child(actor_stop_crossed_lane) scenario_sequence.add_child(actor_remove) scenario_sequence.add_child(static_remove) scenario_sequence.add_child(end_condition) keep_velocity.add_child(actor_velocity) keep_velocity.add_child(actor_drive) keep_velocity_other.add_child(actor_start_cross_lane) keep_velocity_other.add_child(actor_cross_lane) keep_velocity_other.add_child(ego_pass_machine) return root
def _create_behavior(self): """ Hero vehicle is turning right in an urban area, at a signalized intersection, while other actor coming straight from left.The hero actor may turn right either before other actor passes intersection or later, without any collision. After 80 seconds, a timeout stops the scenario. """ location_of_collision_dynamic = get_geometric_linear_intersection( self.ego_vehicles[0], self.other_actors[0]) crossing_point_dynamic = get_crossing_point(self.other_actors[0]) sync_arrival = SyncArrival(self.other_actors[0], self.ego_vehicles[0], location_of_collision_dynamic) sync_arrival_stop = InTriggerDistanceToLocation( self.other_actors[0], crossing_point_dynamic, 5) sync_arrival_parallel = py_trees.composites.Parallel( "Synchronize arrival times", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) sync_arrival_parallel.add_child(sync_arrival) sync_arrival_parallel.add_child(sync_arrival_stop) # Selecting straight path at intersection target_waypoint = generate_target_waypoint( CarlaDataProvider.get_map().get_waypoint( self.other_actors[0].get_location()), 0) # Generating waypoint list till next intersection plan = [] wp_choice = target_waypoint.next(1.0) while not wp_choice[0].is_intersection: target_waypoint = wp_choice[0] plan.append((target_waypoint, RoadOption.LANEFOLLOW)) wp_choice = target_waypoint.next(1.0) move_actor = WaypointFollower(self.other_actors[0], self._target_vel, plan=plan) waypoint_follower_end = InTriggerDistanceToLocation( self.other_actors[0], plan[-1][0].transform.location, 10) move_actor_parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) move_actor_parallel.add_child(move_actor) move_actor_parallel.add_child(waypoint_follower_end) #manipulate traffic light manipulate_traffic_light = TrafficLightManipulator( self.ego_vehicles[0], "S7right") move_actor_parallel.add_child(manipulate_traffic_light) # stop other actor stop = StopVehicle(self.other_actors[0], self._brake_value) # end condition end_condition = DriveDistance(self.ego_vehicles[0], self._ego_distance) # Behavior tree sequence = py_trees.composites.Sequence() sequence.add_child( ActorTransformSetter(self.other_actors[0], self._other_actor_transform)) sequence.add_child(sync_arrival_parallel) sequence.add_child(move_actor_parallel) sequence.add_child(stop) sequence.add_child(end_condition) sequence.add_child(ActorDestroy(self.other_actors[0])) return sequence
def _create_behavior(self): """ """ # building the tree scenario_sequence = py_trees.composites.Sequence() waypoint_events = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) destroy_actors = py_trees.composites.Sequence() reach_destination = InTriggerDistanceToLocation( self.ego_vehicles[0], self.customized_data['destination'], 2) scenario_sequence.add_child(waypoint_events) scenario_sequence.add_child(reach_destination) scenario_sequence.add_child(destroy_actors) for i in range(len(self.pedestrian_list)): pedestrian_actor, pedestrian_generated_transform = self.pedestrian_list[ i] pedestrian_info = self.customized_data['pedestrian_list'][i] trigger_distance = InTriggerDistanceToVehicle( self.ego_vehicles[0], pedestrian_actor, pedestrian_info.trigger_distance) movement = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) actor_velocity = KeepVelocity(pedestrian_actor, pedestrian_info.speed) actor_traverse = DriveDistance(pedestrian_actor, pedestrian_info.dist_to_travel) movement.add_child(actor_velocity) movement.add_child(actor_traverse) if pedestrian_info.after_trigger_behavior == 'destroy': after_trigger_behavior = ActorDestroy(pedestrian_actor) elif pedestrian_info.after_trigger_behavior == 'stop': after_trigger_behavior = StopVehicle(pedestrian_actor, brake_value=0.5) destroy_actor = ActorDestroy(pedestrian_actor) destroy_actors.add_child(destroy_actor) else: raise pedestrian_behaviors = py_trees.composites.Sequence() pedestrian_behaviors.add_child(trigger_distance) pedestrian_behaviors.add_child(movement) pedestrian_behaviors.add_child(after_trigger_behavior) waypoint_events.add_child(pedestrian_behaviors) for i in range(len(self.vehicle_list)): vehicle_actor, generated_transform = self.vehicle_list[i] vehicle_info = self.customized_data['vehicle_list'][i] keep_velocity = py_trees.composites.Parallel( "Trigger condition for changing behavior", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) keep_velocity.add_child( InTriggerDistanceToVehicle(self.ego_vehicles[0], vehicle_actor, vehicle_info.trigger_distance)) keep_velocity.add_child( WaypointFollower(vehicle_actor, vehicle_info.initial_speed, avoid_collision=vehicle_info.avoid_collision)) if vehicle_info.waypoint_follower: # interpolate current location and destination to find a path start_location = generated_transform.location end_location = vehicle_info.targeted_waypoint.location _, route = interpolate_trajectory( self.world, [start_location, end_location]) ds_ids = downsample_route( route, self.customized_data['sample_factor']) route = [(route[x][0], route[x][1]) for x in ds_ids] # print('route', len(route)) perturb_route(route, vehicle_info.waypoints_perturbation) # visualize_route(route) plan = [] for transform, cmd in route: wp = self._wmap.get_waypoint(transform.location, project_to_road=False, lane_type=carla.LaneType.Any) if not wp: wp = self._wmap.get_waypoint( transform.location, project_to_road=True, lane_type=carla.LaneType.Any) print('(', transform.location.x, transform.location.y, ')', 'is replaced by', '(', wp.transform.location.x, wp.transform.location.y, ')') plan.append((wp, cmd)) movement = WaypointFollower( actor=vehicle_actor, target_speed=vehicle_info.targeted_speed, plan=plan, avoid_collision=vehicle_info.avoid_collision) else: movement = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) actor_velocity = KeepVelocity( vehicle_actor, vehicle_info.targeted_speed, target_direction=vehicle_info.target_direction) actor_traverse = DriveDistance(vehicle_actor, vehicle_info.dist_to_travel) movement.add_child(actor_velocity) movement.add_child(actor_traverse) if vehicle_info.after_trigger_behavior == 'destroy': after_trigger_behavior = ActorDestroy(vehicle_actor) elif vehicle_info.after_trigger_behavior == 'stop': after_trigger_behavior = StopVehicle(vehicle_actor, brake_value=0.5) destroy_actor = ActorDestroy(vehicle_actor) destroy_actors.add_child(destroy_actor) else: raise vehicle_behaviors = py_trees.composites.Sequence() vehicle_behaviors.add_child(keep_velocity) vehicle_behaviors.add_child(movement) vehicle_behaviors.add_child(after_trigger_behavior) waypoint_events.add_child(vehicle_behaviors) return scenario_sequence