123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246 |
- <?xml version="1.0" encoding="UTF-8"?>
- <OpenSCENARIO>
- <FileHeader revMajor="1" revMinor="0" date="2020-03-20T12:00:00" description="CARLA:FollowLeadingVehicle" author=""/>
- <ParameterDeclarations>
- <ParameterDeclaration name="leadingSpeed" parameterType="double" value="8.0"/>
- </ParameterDeclarations>
- <CatalogLocations/>
- <RoadNetwork>
- <LogicFile filepath="Town06"/>
- <SceneGraphFile filepath=""/>
- </RoadNetwork>
- <Entities>
- <ScenarioObject name="hero">
- <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
- <ParameterDeclarations/>
- <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
- <BoundingBox>
- <Center x="1.5" y="0.0" z="0.9"/>
- <Dimensions width="2.1" length="4.5" height="1.8"/>
- </BoundingBox>
- <Axles>
- <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
- <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
- </Axles>
- <Properties>
- <Property name="type" value="ego_vehicle"/>
- <Property name="color" value="0,0,255"/>
- </Properties>
- </Vehicle>
- </ScenarioObject>
- <ScenarioObject name="adversary">
- <Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
- <ParameterDeclarations/>
- <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
- <BoundingBox>
- <Center x="1.5" y="0.0" z="0.9"/>
- <Dimensions width="2.1" length="4.5" height="1.8"/>
- </BoundingBox>
- <Axles>
- <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
- <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
- </Axles>
- <Properties>
- <Property name="type" value="simulation"/>
- <Property name="color" value="255,0,0"/>
- </Properties>
- </Vehicle>
- </ScenarioObject>
- </Entities>
- <Storyboard>
- <Init>
- <Actions>
- <GlobalAction>
- <EnvironmentAction>
- <Environment name="Environment1">
- <TimeOfDay animation="true" dateTime="2020-03-20T12:00:00"/>
- <Weather cloudState="free">
- <Sun intensity="0.85" azimuth="0" elevation="1.31"/>
- <Fog visualRange="200.0"/>
- <Precipitation precipitationType="rain" intensity="0.0"/>
- </Weather>
- <RoadCondition frictionScaleFactor="1.0"/>
- </Environment>
- </EnvironmentAction>
- </GlobalAction>
- <Private entityRef="hero">
- <PrivateAction>
- <TeleportAction>
- <Position>
- <!-- <RoadPosition roadId="31" s="-0.5" t="-1.75"/> -->
- <!-- <WorldPosition x="28.7" y="302.5" z="0.4" h="3.14159265359"/> -->
- <LanePosition roadId="7" laneId="-3" offset="0.0" s="0"/>
- </Position>
- </TeleportAction>
- </PrivateAction>
- <PrivateAction>
- <ControllerAction>
- <AssignControllerAction>
- <Controller name="HeroAgent">
- <Properties>
- <Property name="module" value="external_control"/>
- </Properties>
- </Controller>
- </AssignControllerAction>
- <OverrideControllerValueAction>
- <Throttle value="0" active="false"/>
- <Brake value="0" active="false"/>
- <Clutch value="0" active="false"/>
- <ParkingBrake value="0" active="false"/>
- <SteeringWheel value="0" active="false"/>
- <Gear number="0" active="false"/>
- </OverrideControllerValueAction>
- </ControllerAction>
- </PrivateAction>
- </Private>
- <Private entityRef="adversary">
- <PrivateAction>
- <TeleportAction>
- <Position>
- <!-- <RelativeRoadPosition entityRef="hero" ds="-25" dt="2.0"/> -->
- <LanePosition roadId="7" laneId="-3" offset="0.0" s="25"/>
- <!-- <WorldPosition x="28.7" y="342.5" z="0.4" h="3.14159265359"/> -->
- <!-- <WorldPosition x="190" y="133" z="0" h="0"/>-->
- </Position>
- </TeleportAction>
- </PrivateAction>
- </Private>
- </Actions>
- </Init>
- <Story name="MyStory">
- <Act name="Behavior">
- <ManeuverGroup name="ManeuverSequence" maximumExecutionCount="1">
- <Actors selectTriggeringEntities="false">
- <EntityRef entityRef="adversary"/>
- </Actors>
- <Maneuver name="FollowLeadingVehicleManeuver">
- <Event name="LeadingVehicleKeepsVelocity" priority="overwrite">
- <Action name="LeadingVehicleKeepsVelocity">
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics dynamicsShape="step" value="300" dynamicsDimension="distance"/>
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="$leadingSpeed"/>
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- </Action>
- <StartTrigger>
- <ConditionGroup>
- <Condition name="StartConditionLeadingVehicleKeepsVelocity" delay="0" conditionEdge="rising">
- <ByEntityCondition>
- <TriggeringEntities triggeringEntitiesRule="any">
- <EntityRef entityRef="hero"/>
- </TriggeringEntities>
- <EntityCondition>
- <!-- <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>-->
- <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="longitudinal" value="30.0" freespace="true" rule="lessThan"/>
- </EntityCondition>
- </ByEntityCondition>
- </Condition>
- </ConditionGroup>
- </StartTrigger>
- </Event>
- <Event name="LeadingVehicleWaits" priority="overwrite">
- <Action name="LeadingVehicleWaits">
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics dynamicsShape="step" value="20" dynamicsDimension="time"/>
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="0.0"/>
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- </Action>
- <StartTrigger>
- <ConditionGroup>
- <Condition name="AfterLeadingVehicleKeepsVelocity" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="LeadingVehicleKeepsVelocity" state="endTransition"/>
- </ByValueCondition>
- </Condition>
- </ConditionGroup>
- </StartTrigger>
- </Event>
- </Maneuver>
- </ManeuverGroup>
- <StartTrigger>
- <ConditionGroup>
- <Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
- <ByEntityCondition>
- <TriggeringEntities triggeringEntitiesRule="any">
- <EntityRef entityRef="hero"/>
- </TriggeringEntities>
- <EntityCondition>
- <TraveledDistanceCondition value="0.1"/>
- </EntityCondition>
- </ByEntityCondition>
- </Condition>
- <Condition name="StartTime" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <SimulationTimeCondition value="0" rule="equalTo"/>
- </ByValueCondition>
- </Condition>
- </ConditionGroup>
- </StartTrigger>
- <StopTrigger>
- <ConditionGroup>
- <Condition name="EndCondition" delay="3" conditionEdge="rising">
- <ByEntityCondition>
- <TriggeringEntities triggeringEntitiesRule="any">
- <EntityRef entityRef="hero"/>
- </TriggeringEntities>
- <EntityCondition>
- <TraveledDistanceCondition value="800.0"/>
- </EntityCondition>
- </ByEntityCondition>
- </Condition>
- </ConditionGroup>
- </StopTrigger>
- </Act>
- </Story>
- <StopTrigger>
- <ConditionGroup>
- <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <ParameterCondition parameterRef="" value="" rule="lessThan"/>
- </ByValueCondition>
- </Condition>
- <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <ParameterCondition parameterRef="" value="" rule="lessThan"/>
- </ByValueCondition>
- </Condition>
- <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <ParameterCondition parameterRef="" value="" rule="lessThan"/>
- </ByValueCondition>
- </Condition>
- <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <ParameterCondition parameterRef="" value="" rule="lessThan"/>
- </ByValueCondition>
- </Condition>
- <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <ParameterCondition parameterRef="" value="" rule="lessThan"/>
- </ByValueCondition>
- </Condition>
- <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <ParameterCondition parameterRef="" value="" rule="lessThan"/>
- </ByValueCondition>
- </Condition>
- <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
- </ByValueCondition>
- </Condition>
- </ConditionGroup>
- </StopTrigger>
- </Storyboard>
- </OpenSCENARIO>
|