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 "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):
"""
After invoking this scenario, it will wait for the user
controlled vehicle to enter the start region,
then make a traffic participant to accelerate
until it is going fast enough to reach an intersection point.
at the same time as the user controlled vehicle at the junction.
Once the user controlled vehicle comes close to the junction,
the traffic participant accelerates and passes through the junction.
After 60 seconds, a timeout stops the scenario.
"""
# Creating leaf nodes
start_other_trigger = InTriggerRegion(self.ego_vehicles[0], -80, -70,
-75, -60)
sync_arrival = SyncArrival(self.other_actors[0], self.ego_vehicles[0],
carla.Location(x=-74.63, y=-136.34))
pass_through_trigger = InTriggerRegion(self.ego_vehicles[0], -90, -70,
-124, -119)
keep_velocity_other = KeepVelocity(self.other_actors[0],
self._other_actor_target_velocity)
stop_other_trigger = InTriggerRegion(self.other_actors[0], -45, -35,
-140, -130)
stop_other = StopVehicle(self.other_actors[0],
self._other_actor_max_brake)
end_condition = InTriggerRegion(self.ego_vehicles[0], -90, -70, -170,
-156)
# Creating non-leaf nodes
root = py_trees.composites.Sequence()
scenario_sequence = py_trees.composites.Sequence()
sync_arrival_parallel = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
keep_velocity_other_parallel = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
# Building tree
root.add_child(scenario_sequence)
scenario_sequence.add_child(
ActorTransformSetter(self.other_actors[0],
self._other_actor_transform))
scenario_sequence.add_child(start_other_trigger)
scenario_sequence.add_child(sync_arrival_parallel)
scenario_sequence.add_child(keep_velocity_other_parallel)
scenario_sequence.add_child(stop_other)
scenario_sequence.add_child(end_condition)
scenario_sequence.add_child(ActorDestroy(self.other_actors[0]))
sync_arrival_parallel.add_child(sync_arrival)
sync_arrival_parallel.add_child(pass_through_trigger)
keep_velocity_other_parallel.add_child(keep_velocity_other)
keep_velocity_other_parallel.add_child(stop_other_trigger)
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 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):
"""
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):
"""
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):
"""
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
"""
# to avoid the other actor blocking traffic, it was spawed elsewhere
# reset its pose to the required one
start_transform = ActorTransformSetter(self.other_actors[0],
self._other_actor_transform)
# let the other actor drive until next intersection
# @todo: We should add some feedback mechanism to respond to ego_vehicle behavior
driving_to_next_intersection = py_trees.composites.Parallel(
"DrivingTowardsIntersection",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
driving_to_next_intersection.add_child(
WaypointFollower(self.other_actors[0], self._first_vehicle_speed))
driving_to_next_intersection.add_child(
InTriggerDistanceToNextIntersection(
self.other_actors[0],
self._other_actor_stop_in_front_intersection))
# stop vehicle
stop = StopVehicle(self.other_actors[0], self._other_actor_max_brake)
# 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="StandStill",
duration=1)
endcondition.add_child(endcondition_part1)
endcondition.add_child(endcondition_part2)
# Build behavior tree
sequence = py_trees.composites.Sequence("Sequence Behavior")
sequence.add_child(start_transform)
sequence.add_child(driving_to_next_intersection)
sequence.add_child(stop)
sequence.add_child(endcondition)
sequence.add_child(ActorDestroy(self.other_actors[0]))
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):
"""
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):
"""
Hero vehicle is entering a junction in an urban area, at a signalized intersection,
while another actor runs a red lift, forcing the ego to break.
"""
sequence = py_trees.composites.Sequence()
# Wait until ego is close to the adversary
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], self._sync_time,
self._collision_location))
trigger_adversary.add_child(
InTriggerDistanceToLocation(self.ego_vehicles[0],
self._collision_location,
self._min_trigger_dist))
sequence.add_child(trigger_adversary)
sequence.add_child(
BasicAgentBehavior(
self.other_actors[0],
target_location=self._sink_wp.transform.location,
target_speed=self._adversary_speed,
opt_dict={'ignore_vehicles': True},
name="AdversaryCrossing"))
main_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
main_behavior.add_child(TrafficLightFreezer(self._tl_dict))
main_behavior.add_child(sequence)
root = py_trees.composites.Sequence()
if CarlaDataProvider.get_ego_vehicle_route():
root.add_child(Scenario7Manager(self._direction))
root.add_child(
ActorTransformSetter(self.other_actors[0], self._spawn_location))
root.add_child(main_behavior)
root.add_child(ActorDestroy(self.other_actors[0]))
root.add_child(WaitEndIntersection(self.ego_vehicles[0]))
return root
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:
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 _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):
"""
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):
"""
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
