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opencda/scenario_testing/config_yaml/cooperception_datadump_town05_carla.yaml
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| description: |- | ||
| Copyright 2021 <UCLA Mobility Lab> | ||
| Author: Runsheng Xu <[email protected]> | ||
| Content: This is the scenario testing configuration file for single vehicle perception/localization/behavior/control | ||
| testing in high speed in the customized 2lanefree simple version. | ||
| # define carla simulation setting | ||
| world: | ||
| sync_mode: true | ||
| client_port: 2000 | ||
| fixed_delta_seconds: &delta 0.05 | ||
| seed: 165 | ||
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|
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| # First define the basic parameters of the vehicles | ||
| vehicle_base: &vehicle_base | ||
| sensing: &base_sensing | ||
| perception: &base_perception | ||
| activate: false # when not activated, objects positions will be retrieved from server directly | ||
| camera_visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera | ||
| camera_num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras) | ||
| lidar_visualize: true # whether to visualize lidar points using open3d | ||
| lidar: # lidar sensor configuration, check CARLA sensor reference for more details | ||
| channels: 64 | ||
| range: 120 | ||
| points_per_second: 1300000 | ||
| rotation_frequency: 20 # the simulation is 20 fps | ||
| upper_fov: 2 | ||
| lower_fov: -25 | ||
| dropoff_general_rate: 0.1 | ||
| dropoff_intensity_limit: 0.7 | ||
| dropoff_zero_intensity: 0.15 | ||
| noise_stddev: 0.02 | ||
| localization: &base_localize | ||
| activate: true # when not activated, ego position will be retrieved from server directly | ||
| dt: *delta # used for kalman filter | ||
| gnss: # gnss sensor configuration | ||
| noise_alt_stddev: 0.005 | ||
| noise_lat_stddev: 1e-6 | ||
| noise_lon_stddev: 1e-6 | ||
| heading_direction_stddev: 0.1 # degree | ||
| speed_stddev: 0.2 | ||
| debug_helper: &loc_debug_helper | ||
| show_animation: false # whether to show real-time trajectory plotting | ||
| x_scale: 1.0 # used to multiply with the x coordinate to make the error on x axis clearer | ||
| y_scale: 100.0 # used to multiply with the y coordinate to make the error on y axis clearer | ||
| behavior: &base_behavior | ||
| max_speed: 70 # maximum speed, km/h | ||
| tailgate_speed: 34 # when a vehicles needs to be close to another vehicle asap | ||
| speed_lim_dist: 3 # max_speed - speed_lim_dist = target speed | ||
| speed_decrease: 15 # used in car following mode to decrease speed for distance keeping | ||
| safety_time: 4 # ttc safety thresholding for decreasing speed | ||
| emergency_param: 0.4 # used to identify whether a emergency stop needed | ||
| ignore_traffic_light: true # whether to ignore traffic light | ||
| overtake_allowed: true # whether overtake allowed, typically false for platoon leader | ||
| collision_time_ahead: 1.5 # used for collision checking | ||
| overtake_counter_recover: 35 # the vehicle can not do another overtake during next certain steps | ||
| sample_resolution: 4.5 # the unit distance between two adjacent waypoints in meter | ||
| local_planner: &base_local_planner # trajectory planning related | ||
| buffer_size: 12 # waypoint buffer size | ||
| trajectory_update_freq: 15 # used to control trajectory points updating frequency | ||
| waypoint_update_freq: 9 # used to control waypoint updating frequency | ||
| trajectory_dt: 0.20 # for every dt seconds, we sample a trajectory point from the trajectory path as next goal state | ||
| min_dist: 3 # used to pop out the waypoints too close to current location | ||
| debug: false # whether to draw future/history waypoints | ||
| debug_trajectory: false # whether to draw the trajectory points and path | ||
| controller: &base_controller | ||
| type: pid_controller # this has to be exactly the same name as the controller py file | ||
| args: | ||
| lat: | ||
| k_p: 0.75 | ||
| k_d: 0.02 | ||
| k_i: 0.4 | ||
| lon: | ||
| k_p: 0.37 | ||
| k_d: 0.024 | ||
| k_i: 0.032 | ||
| dynamic: false # whether use dynamic pid setting | ||
| dt: *delta # this should be equal to your simulation time-step | ||
| max_brake: 1.0 | ||
| max_throttle: 1.0 | ||
| max_steering: 0.3 | ||
| v2x: &base_v2x # communication related | ||
| enabled: true | ||
| communication_range: 35 | ||
| loc_noise: 0.0 | ||
| yaw_noise: 0.0 | ||
| speed_noise: 0.0 | ||
| lag: 0 | ||
|
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||
|
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||
| # define the background traffic control by carla | ||
| carla_traffic_manager: | ||
| sync_mode: true # has to be same as the world setting | ||
| global_distance: 5 # the minimum distance in meters that vehicles have to keep with the rest | ||
| # Sets the difference the vehicle's intended speed and its current speed limit. | ||
| # Carla default speed is 30 km/h, so -100 represents 60 km/h, | ||
| # and 20 represents 24 km/h | ||
| global_speed_perc: -200 | ||
| set_osm_mode: true # Enables or disables the OSM mode. | ||
| auto_lane_change: true | ||
| random: true # whether to random select vehicles' color and model | ||
| ignore_lights_percentage: 100 # whether set the traffic ignore traffic lights | ||
| vehicle_list: ~ # a number or a list | ||
| # Used only when vehicle_list is a number. | ||
| # x_min, x_max, y_min, y_max, x_step, y_step, vehicle_num | ||
| range: | ||
| - [-50, -10, 187, 194, 15, 3.5, 8] | ||
|
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| # define scenario. In this scenario, a 4-vehicle platoon already exists. | ||
| scenario: | ||
| single_cav_list: # this is for merging vehicle or single cav without v2x | ||
| - <<: *vehicle_base | ||
| spawn_position: [-17.87, 194.67, 1.3, 0, -179, 0] | ||
| destination: [-130, 194.67, 0.3] | ||
| v2x: | ||
| <<: *base_v2x | ||
| communication_range: 45 | ||
| behavior: | ||
| <<: *base_behavior | ||
| local_planner: | ||
| <<: *base_local_planner | ||
| debug_trajectory: false | ||
| debug: false | ||
| - <<: *vehicle_base | ||
| spawn_position: [-37.87, 187.75, 3.3, 0, -179, 0] | ||
| destination: [-130, 187.75, 0.3] | ||
| v2x: | ||
| <<: *base_v2x | ||
| communication_range: 45 | ||
| behavior: | ||
| <<: *base_behavior | ||
| local_planner: | ||
| <<: *base_local_planner | ||
| debug_trajectory: false | ||
| debug: false | ||
| - <<: *vehicle_base | ||
| spawn_position: [-98, 200.93, 9.0, 0, 0, 0] | ||
| destination: [22.15, 180.93, 3.0] | ||
| v2x: | ||
| <<: *base_v2x | ||
| communication_range: 45 | ||
| behavior: | ||
| <<: *base_behavior | ||
| max_speed: 30 | ||
| local_planner: | ||
| <<: *base_local_planner | ||
| debug_trajectory: false | ||
| debug: false | ||
|
|
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89
opencda/scenario_testing/cooperception_datadump_town05_carla.py
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,89 @@ | ||
| # -*- coding: utf-8 -*- | ||
| """ | ||
| Scenario testing: merging vehicle joining a platoon in the | ||
| customized 2-lane freeway simplified map sorely with carla | ||
| """ | ||
| # Author: Runsheng Xu <[email protected]> | ||
| # License: TDG-Attribution-NonCommercial-NoDistrib | ||
| import os | ||
|
|
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| import carla | ||
|
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| import opencda.scenario_testing.utils.sim_api as sim_api | ||
| from opencda.core.common.cav_world import CavWorld | ||
| from opencda.scenario_testing.evaluations.evaluate_manager import \ | ||
| EvaluationManager | ||
| from opencda.scenario_testing.utils.yaml_utils import load_yaml, save_yaml | ||
|
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| def run_scenario(opt, config_yaml): | ||
| try: | ||
| scenario_params = load_yaml(config_yaml) | ||
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| # create CAV world | ||
| cav_world = CavWorld(opt.apply_ml) | ||
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| # create scenario manager | ||
| scenario_manager = sim_api.ScenarioManager(scenario_params, | ||
| opt.apply_ml, | ||
| town='Town05', | ||
| cav_world=cav_world) | ||
|
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| if opt.record: | ||
| scenario_manager.client. \ | ||
| start_recorder("single_town05_carla.log", True) | ||
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| single_cav_list = \ | ||
| scenario_manager.create_vehicle_manager(application=['single'], | ||
| data_dump=True) | ||
|
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| # create background traffic in carla | ||
| traffic_manager, bg_veh_list = \ | ||
| scenario_manager.create_traffic_carla() | ||
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| # create evaluation manager | ||
| eval_manager = \ | ||
| EvaluationManager(scenario_manager.cav_world, | ||
| script_name='coop_town05', | ||
| current_time=scenario_params['current_time']) | ||
|
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| spectator = scenario_manager.world.get_spectator() | ||
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| # save the data collection protocol to the folder | ||
| current_path = os.path.dirname(os.path.realpath(__file__)) | ||
| save_yaml_name = os.path.join(current_path, | ||
| '../../data_dumping', | ||
| scenario_params['current_time'], | ||
| 'data_protocol.yaml') | ||
| save_yaml(scenario_params, save_yaml_name) | ||
|
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| # run steps | ||
| while True: | ||
| scenario_manager.tick() | ||
| transform = single_cav_list[0].vehicle.get_transform() | ||
| spectator.set_transform(carla.Transform( | ||
| transform.location + | ||
| carla.Location( | ||
| z=70), | ||
| carla.Rotation( | ||
| pitch=- | ||
| 90))) | ||
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| for i, single_cav in enumerate(single_cav_list): | ||
| single_cav.update_info() | ||
| control = single_cav.run_step() | ||
| single_cav.vehicle.apply_control(control) | ||
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| finally: | ||
| eval_manager.evaluate() | ||
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| if opt.record: | ||
| scenario_manager.client.stop_recorder() | ||
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| scenario_manager.close() | ||
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| for v in single_cav_list: | ||
| v.destroy() | ||
| for v in bg_veh_list: | ||
| v.destroy() | ||
|
|
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