From 9233aaf6ea4b159049eb6f2754214e7252d86ba4 Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Mon, 1 Nov 2021 23:21:33 +0800 Subject: [PATCH 1/9] Merge branch 'dev-lbc' into dev --- core/policy/lbc_policy.py | 47 ++++++- core/utils/learner_utils/log_saver_utils.py | 133 ++++++++++++++++++++ core/utils/learner_utils/loss_utils.py | 2 +- demo/cilrs/cilrs_train.py | 2 +- demo/lbc/lbc_birdview_train.py | 90 ++++++++++++- 5 files changed, 260 insertions(+), 14 deletions(-) create mode 100644 core/utils/learner_utils/log_saver_utils.py diff --git a/core/policy/lbc_policy.py b/core/policy/lbc_policy.py index c147c80d..64481951 100644 --- a/core/policy/lbc_policy.py +++ b/core/policy/lbc_policy.py @@ -4,7 +4,6 @@ import torch from torchvision import transforms import numpy as np -import torch.nn.functional as F from typing import Dict, List, Any, Optional from .base_carla_policy import BaseCarlaPolicy @@ -12,6 +11,7 @@ from core.models.lbc_model import LBCBirdviewModel, LBCImageModel from core.utils.model_utils import common from ding.utils.data import default_collate, default_decollate +from core.utils.learner_utils.loss_utils import LocationLoss STEPS = 5 SPEED_STEPS = 3 @@ -106,9 +106,9 @@ def __init__(self, cfg: dict) -> None: def _init_learn(self) -> None: if self._cfg.learn.loss == 'l1': - self._criterion = F.l1_loss + self._criterion = LocationLoss(choice='l1') elif self._cfg.policy.learn.loss == 'l2': - self._criterion = F.mse_loss + self._criterion = LocationLoss(choice='l2') def _postprocess(self, steer, throttle, brake): control = {} @@ -119,7 +119,6 @@ def _postprocess(self, steer, throttle, brake): 'brake': np.clip(brake, 0.0, 1.0), } ) - return control def _reset_single(self, data_id): @@ -256,8 +255,10 @@ def _forward_learn(self, data: Dict) -> Dict[str, Any]: locations_pred = _locations location_gt = data['location'].to(self._device) loss = self._criterion(locations_pred, location_gt) - loss_mean = loss.mean() - return loss_mean + return { + 'loss': loss, + 'locations_pred': locations_pred, + } def _reset_learn(self, data_ids: Optional[List[int]] = None) -> None: self._model.train() @@ -355,6 +356,12 @@ def __init__(self, cfg: Dict) -> None: self._model = LBCImageModel(self._cfg.model.backbone, False, all_branch=self._cfg.model.all_branch) self._model = self._model.to(self._device) + def _init_learn(self) -> None: + if self._cfg.learn.loss == 'l1': + self._criterion = LocationLoss(choise='l1') + elif self._cfg.policy.learn.loss == 'l2': + self._criterion = LocationLoss(choise='l2') + def _reset_single(self, data_id): if data_id in self._controller_dict: self._controller_dict.pop(data_id) @@ -499,6 +506,34 @@ def _reset_eval(self, data_ids: Optional[List[int]]) -> None: self._model.eval() self._reset(data_ids) + def _forward_learn(self, data: Dict) -> Dict[str, Any]: + rgb = to_dtype(data['rgb'], dtype=torch.float32).permute(0, 3, 1, 2) + speed = to_dtype(data['speed'], dtype=torch.float32) + command_index = [i.item() - 1 for i in data['command']] + command = self._one_hot[command_index] + if command.ndim == 1: + command = command.unsqueeze(0) + + _rgb = rgb.to(self._device) + _speed = speed.to(self._device) + _command = command.to(self._device) + + if self._model._all_branch: + _locations, _ = self._model(_rgb, _speed, _command) + else: + _locations = self._model(_rgb, _speed, _command) + + locations_pred = _locations + location_gt = data['location'].to(self._device) + loss = self._criterion(locations_pred, location_gt) + return { + 'loss': loss, + 'location_pred': locations_pred, + } + + def _reset_learn(self, data_ids: Optional[List[int]] = None) -> None: + self._model.train() + def ls_circle(points): ''' diff --git a/core/utils/learner_utils/log_saver_utils.py b/core/utils/learner_utils/log_saver_utils.py new file mode 100644 index 00000000..348cc01e --- /dev/null +++ b/core/utils/learner_utils/log_saver_utils.py @@ -0,0 +1,133 @@ +import copy +import json +import numpy as np +from pathlib import Path +from collections import OrderedDict +from loguru import logger +import torch +import torchvision +from tensorboardX import SummaryWriter + + +def _preprocess_image(x): + """ + Takes - + list of (h, w, 3) + tensor of (n, h, 3) + """ + if isinstance(x, list): + x = np.stack(x, 0).transpose(0, 3, 1, 2) + + x = torch.Tensor(x) + + if x.requires_grad: + x = x.detach() + + if x.dim() == 3: + x = x.unsqueeze(1) + + # x = torch.nn.functional.interpolate(x, 128, mode='nearest') + x = torchvision.utils.make_grid(x, padding=2, normalize=True, nrow=4) + x = x.cpu().numpy() + + return x + + +def _format(**kwargs): + result = list() + + for k, v in kwargs.items(): + if isinstance(v, float) or isinstance(v, np.float32): + result.append('%s: %.2f' % (k, v)) + else: + result.append('%s: %s' % (k, v)) + + return '\t'.join(result) + + +class Experiment(object): + + def __init__(self, log_dir): + """ + This MUST be called. + """ + self._log = logger + self.epoch = 0 + self.scalars = OrderedDict() + + self.log_dir = Path(log_dir).resolve() + self.log_dir.mkdir(parents=True, exist_ok=True) + + for i in self._log._handlers: + self._log.remove(i) + + self._writer_train = SummaryWriter(str(self.log_dir / 'train')) + self._writer_val = SummaryWriter(str(self.log_dir / 'val')) + self._log.add(str(self.log_dir / 'log.txt'), format='{time:MM/DD/YY HH:mm:ss} {level}\t{message}') + + # Functions. + self.debug = self._log.debug + self.info = lambda **kwargs: self._log.info(_format(**kwargs)) + + def load_config(self, model_path): + log_dir = Path(model_path).parent + + with open(str(log_dir / 'config.json'), 'r') as f: + return json.load(f) + + def save_config(self, config_dict): + + def _process(x): + for key, val in x.items(): + if isinstance(val, dict): + _process(val) + elif not isinstance(val, float) and not isinstance(val, int): + x[key] = str(val) + + config = copy.deepcopy(config_dict) + + _process(config) + + with open(str(self.log_dir / 'config.json'), 'w+') as f: + json.dump(config, f, indent=4, sort_keys=True) + + def scalar(self, is_train=True, **kwargs): + for k, v in sorted(kwargs.items()): + key = (is_train, k) + + if key not in self.scalars: + self.scalars[key] = list() + + self.scalars[key].append(v) + + def image(self, is_train=True, **kwargs): + writer = self._writer_train if is_train else self._writer_val + + for k, v in sorted(kwargs.items()): + writer.add_image(k, _preprocess_image(v), self.epoch) + + def end_epoch(self, net=None): + for (is_train, k), v in self.scalars.items(): + info = OrderedDict() + info['%s_%s' % ('train' if is_train else 'val', k)] = np.mean(v) + info['std'] = np.std(v, dtype=np.float32) + info['min'] = np.min(v) + info['max'] = np.max(v) + info['n'] = len(v) + + self.info(**info) + + if is_train: + self._writer_train.add_scalar(k, np.mean(v), self.epoch) + else: + self._writer_val.add_scalar(k, np.mean(v), self.epoch) + + self.scalars.clear() + + if net is not None: + if self.epoch % 10 == 0: + torch.save(net.state_dict(), str(self.log_dir / ('model_%03d.t7' % self.epoch))) + + torch.save(net.state_dict(), str(self.log_dir / 'latest.t7')) + + self.epoch += 1 diff --git a/core/utils/learner_utils/loss_utils.py b/core/utils/learner_utils/loss_utils.py index ba88c6aa..d2e52fc2 100644 --- a/core/utils/learner_utils/loss_utils.py +++ b/core/utils/learner_utils/loss_utils.py @@ -17,7 +17,7 @@ def __init__(self, w=192, h=192, choice='l2'): else: raise NotImplementedError("Unknown loss: %s" % choice) - self.img_size = torch.FloatTensor([w, h]) + self.img_size = torch.FloatTensor([w, h]).cuda() def forward(self, pred_location, gt_location): ''' diff --git a/demo/cilrs/cilrs_train.py b/demo/cilrs/cilrs_train.py index 2b0d00a8..4fb28c2d 100644 --- a/demo/cilrs/cilrs_train.py +++ b/demo/cilrs/cilrs_train.py @@ -6,7 +6,7 @@ from tqdm import tqdm import torch from torch.utils.data import DataLoader -from torch.utils.tensorboard import SummaryWriter +from tensorboardX import SummaryWriter from torch.optim import Adam from core.policy import CILRSPolicy diff --git a/demo/lbc/lbc_birdview_train.py b/demo/lbc/lbc_birdview_train.py index 7332135f..a98b2c04 100644 --- a/demo/lbc/lbc_birdview_train.py +++ b/demo/lbc/lbc_birdview_train.py @@ -1,20 +1,24 @@ import os import torch +import cv2 +import numpy as np from easydict import EasyDict from torch.utils.data import DataLoader +from tensorboardX import SummaryWriter from tqdm import tqdm import time from core.policy import LBCBirdviewPolicy from core.data import LBCBirdViewDataset from core.utils.simulator_utils.carla_utils import visualize_birdview +from core.utils.learner_utils.log_saver_utils import Experiment lbc_config = dict( exp_name='lbc_bev_train', data=dict( train=dict( - root_dir='path_to_your_dataset', + root_dir='lbc_train', gap=5, n_step=5, crop_x_jitter=5, @@ -22,6 +26,7 @@ angle_jitter=5, ), val=dict( + root_dir='lbc_val', crop_x_jitter=0, crop_y_jitter=0, angle_jitter=0, @@ -32,6 +37,7 @@ cuda=True, learn=dict( epoches=1000, + log_freq=1000, batch_size=128, loss='l1', lr=1e-4, @@ -41,7 +47,49 @@ main_config = EasyDict(lbc_config) -def train_or_eval(policy, loader, optim, is_train, config, is_first_epoch): +def get_log_visualization(birdview, command, loss, locations, locations_pred, size=16): + WHITE = [255, 255, 255] + BLUE = [0, 0, 255] + RED = [255, 0, 0] + + images = list() + from core.utils.others.image_helper import check_image + + for i in range(min(birdview.shape[0], size)): + loss_i = loss[i].sum() + _bev = birdview[i].detach().cpu().numpy().copy() + canvas = np.uint8(_bev * 255).copy() + canvas = visualize_birdview(canvas) + rows = [x * (canvas.shape[0] // 10) for x in range(10+1)] + cols = [x * (canvas.shape[1] // 10) for x in range(10+1)] + + def _write(text, i, j): + cv2.putText( + canvas, text, (cols[j], rows[i]), + cv2.FONT_HERSHEY_SIMPLEX, 0.35, (255, 255, 255), 1) + + def _dot(i, j, color, radius=2): + x, y = int(j), int(i) + canvas[x-radius:x+radius+1, y-radius:y+radius+1] = color + + _command = { + 1: 'LEFT', 2: 'RIGHT', + 3: 'STRAIGHT', 4: 'FOLLOW'}.get(torch.argmax(command[i]).item()+1, '???') + + _dot(0, 0, WHITE) + + for x, y in locations[i]: _dot(x, y, BLUE) + for x, y in (locations_pred[i] + 1) * (0.5 * 192): _dot(x, y, RED) + + _write('Command: %s' % _command, 1, 0) + _write('Loss: %.2f' % loss[i].item(), 2, 0) + + images.append((loss[i].item(), canvas)) + + return [x[1] for x in sorted(images, reverse=True, key=lambda x: x[0])] + + +def train_or_eval(policy, loader, optim, is_train, config, is_first_epoch, log_saver): if is_train: desc = 'Train' else: @@ -54,13 +102,28 @@ def train_or_eval(policy, loader, optim, is_train, config, is_first_epoch): policy.reset() for i, data in enumerate(iterator_tqdm): - loss = policy.forward(data) + res_dict = policy.forward(data) + loss = res_dict['loss'] + loss_mean = loss.mean() if is_train and not is_first_epoch: optim.zero_grad() - loss.backward() + loss_mean.backward() optim.step() + if i % config.policy.learn.log_freq == 0 or not is_train or is_first_epoch: + metrics = dict() + metrics['loss'] = loss_mean.item() + + images = get_log_visualization( + data['birdview'], data['command'], loss, data['location'], res_dict['locations_pred'], + ) + + log_saver.scalar(is_train=is_train, loss_mean=loss_mean.item()) + log_saver.image(is_train=is_train, birdview=images) + + log_saver.scalar(is_train=is_train, fps=1.0/(time.time() - tick)) + tick = time.time() if is_first_epoch and i == 10: @@ -73,13 +136,28 @@ def main(cfg): torch.backends.cudnn.benchmark = True train_dataset = LBCBirdViewDataset(**cfg.data.train) - train_dataloader = DataLoader(train_dataset, batch_size=cfg.policy.learn.batch_size, num_workers=16, shuffle=True, drop_last=True, pin_memory=True) + val_dataset = LBCBirdViewDataset(**cfg.data.val) + train_dataloader = DataLoader( + train_dataset, cfg.policy.learn.batch_size, num_workers=16, shuffle=True, drop_last=True, pin_memory=True + ) + val_dataloader = DataLoader( + val_dataset, cfg.policy.learn.batch_size, num_workers=16, shuffle=False, drop_last=False, pin_memory=True + ) lbc_policy = LBCBirdviewPolicy(cfg.policy) + log_saver = Experiment(log_dir='./log/{}/'.format(cfg.exp_name)) optim = torch.optim.Adam(lbc_policy._model.parameters(), lr=cfg.policy.learn.lr) for epoch in tqdm(range(cfg.policy.learn.epoches+1), desc='Epoch'): - train_or_eval(lbc_policy.learn_mode, train_dataloader, optim, True, cfg, epoch == 0) + train_or_eval(lbc_policy.learn_mode, train_dataloader, optim, True, cfg, epoch == 0, log_saver) + train_or_eval(lbc_policy.learn_mode, val_dataloader, optim, False, cfg, epoch == 0, log_saver) + + if epoch in [1, 2, 4, 8, 16, 32, 64, 128, 256, 384, 512, 768, 1000]: + torch.save( + lbc_policy.learn_mode.state_dict(), + './log/{}/model-{}.th'.format(cfg.exp_name, epoch)) + + log_saver.end_epoch() if __name__ == '__main__': From fb240b62ab0aa1b90310e029d946484dbf1a96fb Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Tue, 2 Nov 2021 14:19:15 +0800 Subject: [PATCH 2/9] update simple carla env --- core/envs/simple_carla_env.py | 8 +++++--- core/policy/auto_policy.py | 2 +- core/simulators/carla_simulator.py | 7 +++++-- core/utils/simulator_utils/sensor_utils.py | 5 +++-- 4 files changed, 14 insertions(+), 8 deletions(-) diff --git a/core/envs/simple_carla_env.py b/core/envs/simple_carla_env.py index b2a97e5f..334d654b 100644 --- a/core/envs/simple_carla_env.py +++ b/core/envs/simple_carla_env.py @@ -230,9 +230,11 @@ def step(self, action: Dict) -> Tuple[Any, float, bool, Dict]: ) done = self.is_success() or self.is_failure() - if done and self._visualizer is not None: - self._visualizer.done() - self._visualizer = None + if done: + self._simulator.clean_up() + if self._visualizer is not None: + self._visualizer.done() + self._visualizer = None return obs, self._reward, done, info diff --git a/core/policy/auto_policy.py b/core/policy/auto_policy.py index dc337d69..4f543657 100644 --- a/core/policy/auto_policy.py +++ b/core/policy/auto_policy.py @@ -43,7 +43,7 @@ class AutoPIDPolicy(BaseCarlaPolicy): noise=False, noise_kwargs=dict( noise_len=5, - drive_len=80, + drive_len=100, noise_type='uniform', noise_args=dict( low=-0.3, diff --git a/core/simulators/carla_simulator.py b/core/simulators/carla_simulator.py index 5804cd6e..c6211050 100644 --- a/core/simulators/carla_simulator.py +++ b/core/simulators/carla_simulator.py @@ -265,6 +265,8 @@ def _set_town(self, town: str) -> None: self._world = self._client.load_world(town) else: self._world = self._client.get_world() + if self._world.get_snapshot().timestamp.frame > 1e6: + self._world = self._client.load_world(town) self._map = self._world.get_map() self._set_sync_mode(self._sync_mode, self._delta_seconds) @@ -322,7 +324,8 @@ def _spawn_vehicles(self) -> None: for response in self._client.apply_batch_sync(batch, True): if response.error: - print('[SIMULATOR]', response.error) + if self._verbose: + print('[SIMULATOR]', response.error) else: CarlaDataProvider.register_actor(self._world.get_actor(response.actor_id)) @@ -393,7 +396,7 @@ def _spawn_pedestrians(self) -> None: for result in self._client.apply_batch_sync(batch, True): if result.error: if self._verbose: - print('[SIMULATOR] walker controller ', result.error) + print('[SIMULATOR] Walker controller ', result.error) else: _controllers.append(result.actor_id) diff --git a/core/utils/simulator_utils/sensor_utils.py b/core/utils/simulator_utils/sensor_utils.py index 2e3c7782..099b5f4e 100644 --- a/core/utils/simulator_utils/sensor_utils.py +++ b/core/utils/simulator_utils/sensor_utils.py @@ -154,8 +154,9 @@ def clean_up(self) -> None: """ for key in self._sensors_dict: if self._sensors_dict[key] is not None: - self._sensors_dict[key].stop() - self._sensors_dict[key].destroy() + if self._sensors_dict[key].is_alive: + self._sensors_dict[key].stop() + self._sensors_dict[key].destroy() self._sensors_dict[key] = None time.sleep(0.1) self._sensors_dict.clear() From 365319b1e31f6e604bf32dd544efa18813db78f1 Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Thu, 4 Nov 2021 13:09:00 +0800 Subject: [PATCH 3/9] solve conflict --- demo/cict/collect_data.py | 2 +- docs/figs/image-cils_2.png | Bin 34033 -> 0 bytes 2 files changed, 1 insertion(+), 1 deletion(-) delete mode 100644 docs/figs/image-cils_2.png diff --git a/demo/cict/collect_data.py b/demo/cict/collect_data.py index e8be4a65..9066c10d 100755 --- a/demo/cict/collect_data.py +++ b/demo/cict/collect_data.py @@ -62,7 +62,7 @@ def main(cfg, seed=0): collected_episodes = 0 saver = CICTBenchmarkDatasetSaver(cfg.policy.collect.dir_path, cfg.env.simulator.obs, post_process_fn=cict_post_process_fn) - + saver.make_dataset_path(cfg.policy.collect) while collected_episodes < cfg.policy.collect.n_episode: # Sampling data from environments print('start collect data') diff --git a/docs/figs/image-cils_2.png b/docs/figs/image-cils_2.png deleted file mode 100644 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zbw?U{qfcBd_H14T&j#q4cr`791N5h$$(S6crSMvqac!Uj$nrY#e*d@G<2rMxT}67 zu0i)GUD1_dr*%K~m)tD?KYt|n-6FMDnTx<1(w8HMN-Oeh$rJ_fjC@sKZur;b?{AJG z{*=vFfk^{9XbKDpQbl%5)8s6n7W1)2Sg=whjuu$gZMr8Ax6~$(ZnR1!H1-e_gU>XR zHS?r<@|9C0Io-bQ{;7Gkur^)kN&1T-x8m|r&mcav4yfc-k4`rA5aI#9OpA ztCIm`LH7YW?%PdFt_xh~0SoMVUur4&_uf@I z$ZnSk)doNi6td$3#xm{_)5Do!4#0mgBEWYZP~#t98Wb0Pk>%VHTgr(~$|TCTENH4T z{%cWD`#o7BmEsy+Tc>YsA0NC#sn%BH4*-_cZ z7d=FsAl=f8+-ySav~+Z1Bq{Q1Xfgdb)rvnv($kg;?C8@rrM_jnmiG7O_bAdsKtRLG zNs4JyEaQtI(SBmMt3m%zS(DI>r@H;>x9~}jd-`u6`@D?ApSc~D)-SNu_5kz>>*eUtzQPYf^Z5DfAjp-bWE=vrTToz;yCW zf_25&&S!kRGYIO5Kwq69^nnWcWE`H$+>2nz<*7^#u|?&p{7;Q#Y$i_!|9A>B{$o;teva+-IJm>sFlih9CftsXa zA&rN45u>4k>Li;=dE#)}!lOg>@;F1VR5jDU0v@!|;-mnTQxYxuXpQ*yyje&{Ym%7) z+-z8&N^<}KB?Vb9+HeC*F;dW9IoJ2U-w)Sg0 Date: Tue, 2 Nov 2021 20:14:03 +0800 Subject: [PATCH 4/9] update benchmark datasaver --- .../benchmark/carla100/099/nocrash_Town01.txt | 25 ++++++++++++++ .../benchmark/carla100/099/nocrash_Town02.txt | 25 ++++++++++++++ core/data/benchmark_dataset_saver.py | 33 +++++++++---------- demo/cilrs/cilrs_collect_data.py | 2 +- demo/implicit/collect_data.py | 3 +- demo/lbc/lbc_collect_data.py | 2 +- 6 files changed, 69 insertions(+), 21 deletions(-) create mode 100644 core/data/benchmark/carla100/099/nocrash_Town01.txt create mode 100644 core/data/benchmark/carla100/099/nocrash_Town02.txt diff --git a/core/data/benchmark/carla100/099/nocrash_Town01.txt b/core/data/benchmark/carla100/099/nocrash_Town01.txt new file mode 100644 index 00000000..2fbb50b6 --- /dev/null +++ b/core/data/benchmark/carla100/099/nocrash_Town01.txt @@ -0,0 +1,25 @@ +79 227 +105 21 +129 88 +19 105 +231 212 +252 192 +222 120 +202 226 +11 17 +79 247 +3 177 +191 114 +235 240 +4 54 +17 207 +223 212 +154 66 +187 123 +129 56 +114 6 +40 192 +176 123 +121 187 +238 225 +219 154 diff --git a/core/data/benchmark/carla100/099/nocrash_Town02.txt b/core/data/benchmark/carla100/099/nocrash_Town02.txt new file mode 100644 index 00000000..638a15a9 --- /dev/null +++ b/core/data/benchmark/carla100/099/nocrash_Town02.txt @@ -0,0 +1,25 @@ +66 19 +6 71 +66 28 +46 32 +25 59 +32 9 +43 72 +54 14 +26 50 +38 69 +75 24 +19 82 +65 6 +71 29 +59 16 +6 66 +83 56 +69 71 +82 28 +8 17 +19 12 +39 18 +51 8 +24 36 +64 73 diff --git a/core/data/benchmark_dataset_saver.py b/core/data/benchmark_dataset_saver.py index e5955061..47fcf418 100644 --- a/core/data/benchmark_dataset_saver.py +++ b/core/data/benchmark_dataset_saver.py @@ -3,7 +3,7 @@ import glob import numpy as np from pathlib import Path -from typing import Callable, List, Dict +from typing import Callable, List, Dict, Optional from core.utils.data_utils.data_writter import write_json, write_episode_lmdb from core.utils.others.image_helper import save_image, is_image @@ -28,27 +28,26 @@ class BenchmarkDatasetSaver(): - save_dir (str): Dataset folder path. - obs_cfg (Dict): Observation config dict in simulator. - post_process_fn (Callable, optional): Post-process function defined by user. Defaults to None. + - lmdb_obs (List, optional): Observation types that saved as lmdb rather than image, default to ['lidar', 'bev'] :Interfaces: make_dataset_path, save_episodes_data, make_index """ - def __init__(self, save_dir: str, obs_cfg: Dict, post_process_fn: Callable = None): - """ - [summary] - - :Arguments: - - save_dir (str): [description] - - obs_cfg (Dict): [description] - - post_process_fn (Callable, optional): [description]. Defaults to None. - """ + def __init__( + self, + save_dir: str, + obs_cfg: Dict, + post_process_fn: Optional[Callable] = None, + lmdb_obs: Optional[List] = ['lidar', 'bev'], + ) -> None: self._save_dir = save_dir self._obs_cfg = obs_cfg self._post_process_fn = post_process_fn - self._lmdb_obs_type = [] + self._lmdb_obs_type = lmdb_obs if self._post_process_fn is None: self._post_process_fn = default_post_process_fn - def save_episodes_data(self, episodes_data: List, start_episode: int = 0): + def save_episodes_data(self, episodes_data: List, start_episode: int = 0) -> None: """ Save data from several episodes sampled from collector, with 'env_param' and 'data' key saved in each episode. @@ -93,7 +92,7 @@ def save_episodes_data(self, episodes_data: List, start_episode: int = 0): data.append((measurements, sensor_data, others)) BenchmarkDatasetSaver._save_episode_data(episode_path, data, self._lmdb_obs_type) - def make_dataset_path(self, dataset_metainfo: Dict = dict()): + def make_dataset_path(self, dataset_metainfo: Dict = dict()) -> None: """ Make dataset folder and write dataset meta infomation into a json file. @@ -111,20 +110,18 @@ def make_dataset_path(self, dataset_metainfo: Dict = dict()): obs_item = obs_item.copy() obs_item.pop('name') obs_metainfo.update({obs_name: obs_item}) - if obs_item['type'] in ['lidar', 'bev']: - self._lmdb_obs_type.append(obs_name) dataset_metainfo.update({'obs': obs_metainfo}) write_json(os.path.join(self._save_dir, 'metainfo.json'), dataset_metainfo) @staticmethod - def _make_episode_path(episode_path, env_params): + def _make_episode_path(episode_path, env_params) -> None: os.makedirs(episode_path, exist_ok=True) write_json(os.path.join(episode_path, 'episode_metainfo.json'), env_params) @staticmethod - def _save_episode_data(episode_path, data, lmdb_obs_type=None): + def _save_episode_data(episode_path, data, lmdb_obs_type=None) -> None: write_episode_lmdb(episode_path, data, lmdb_obs_type) for i, x in enumerate(data): sensor_data = x[1] @@ -134,7 +131,7 @@ def _save_episode_data(episode_path, data, lmdb_obs_type=None): else: save_image(os.path.join(episode_path, "%s_%05d.png" % (k, i)), v) - def make_index(self, command_index: int = 11): + def make_index(self, command_index: int = 11) -> None: """ Make an index txt file to save all the command of each frame in dataset. diff --git a/demo/cilrs/cilrs_collect_data.py b/demo/cilrs/cilrs_collect_data.py index 9f39e14f..a69b2304 100644 --- a/demo/cilrs/cilrs_collect_data.py +++ b/demo/cilrs/cilrs_collect_data.py @@ -32,7 +32,7 @@ fov=100, ), ), - + verbose=True, ), col_is_failure=True, stuck_is_failure=True, diff --git a/demo/implicit/collect_data.py b/demo/implicit/collect_data.py index 0b29bf88..55eaabcc 100644 --- a/demo/implicit/collect_data.py +++ b/demo/implicit/collect_data.py @@ -45,7 +45,8 @@ aug=dict( position_range=[2.0, 0.0, 0.0], rotation_range=[0.0, 30.0, 0.0], - ) + ), + verbose=True, ), col_is_failure=True, stuck_is_failure=True, diff --git a/demo/lbc/lbc_collect_data.py b/demo/lbc/lbc_collect_data.py index 77eaebc8..77b8efae 100644 --- a/demo/lbc/lbc_collect_data.py +++ b/demo/lbc/lbc_collect_data.py @@ -41,7 +41,7 @@ pixels_ahead_vehicle=100, ), ), - + verbose=True, ), col_is_failure=True, stuck_is_failure=True, From 10d4b8424285f23ed22bc73fbdff4c12de7999cf Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Tue, 2 Nov 2021 22:10:08 +0800 Subject: [PATCH 5/9] fix datasaver bug; add debug info --- core/data/benchmark_dataset_saver.py | 2 +- core/simulators/carla_data_provider.py | 1 + core/simulators/carla_simulator.py | 12 ++++++++---- core/utils/data_utils/data_writter.py | 6 ++---- 4 files changed, 12 insertions(+), 9 deletions(-) diff --git a/core/data/benchmark_dataset_saver.py b/core/data/benchmark_dataset_saver.py index 47fcf418..24397a82 100644 --- a/core/data/benchmark_dataset_saver.py +++ b/core/data/benchmark_dataset_saver.py @@ -38,7 +38,7 @@ def __init__( save_dir: str, obs_cfg: Dict, post_process_fn: Optional[Callable] = None, - lmdb_obs: Optional[List] = ['lidar', 'bev'], + lmdb_obs: Optional[List] = ['lidar', 'birdview'], ) -> None: self._save_dir = save_dir self._obs_cfg = obs_cfg diff --git a/core/simulators/carla_data_provider.py b/core/simulators/carla_data_provider.py index e64bd736..0d42f821 100644 --- a/core/simulators/carla_data_provider.py +++ b/core/simulators/carla_data_provider.py @@ -1130,6 +1130,7 @@ def clean_up() -> None: except RuntimeError as e: if "time-out" in str(e): pass + print(e) else: raise e diff --git a/core/simulators/carla_simulator.py b/core/simulators/carla_simulator.py index c6211050..8278c910 100644 --- a/core/simulators/carla_simulator.py +++ b/core/simulators/carla_simulator.py @@ -484,8 +484,8 @@ def _count_actors(self) -> None: for veh in vehicles: print('\t', veh[0].id, veh[0].type_id, veh[0].attributes['role_name']) print("[SIMULATOR] walkers:", len(walkers)) - print("[SIMULATOR] lights:", len(traffic_lights)) - print("[SIMULATOR] speed limits:", len(speed_limits)) + #print("[SIMULATOR] lights:", len(traffic_lights)) + #print("[SIMULATOR] speed limits:", len(speed_limits)) print("[SIMULATOR] sensors:") for ss in sensors: print('\t', ss[0]) @@ -698,8 +698,9 @@ def clean_up(self) -> None: This will NOT destroy the Carla client, so simulator can use same carla client to start next episode. """ for actor in self._actor_map['walker_controller']: - actor.stop() - actor.destroy() + if actor.is_alive: + actor.stop() + actor.destroy() self._actor_map['walker_controller'].clear() self._actor_map.clear() @@ -722,6 +723,9 @@ def clean_up(self) -> None: self._end_timeout = float('inf') CarlaDataProvider.clean_up() + if self._debug: + print('after') + self._count_actors() @property def town_name(self) -> str: diff --git a/core/utils/data_utils/data_writter.py b/core/utils/data_utils/data_writter.py index 57d2aedb..98de4aba 100644 --- a/core/utils/data_utils/data_writter.py +++ b/core/utils/data_utils/data_writter.py @@ -29,10 +29,8 @@ def write_episode_lmdb(episode_path, episode_data, lmdb_obs_type=None): measurements = x[0] txn.put(('measurements_%05d' % i).encode(), np.ascontiguousarray(measurements).astype(np.float32)) sensor_data = x[1] - if lmdb_obs_type: - for key in lmdb_obs_type: - if key not in sensor_data: - raise ValueError("lmdb obs %s not in sensor data!" % key) + for key in sensor_data: + if lmdb_obs_type and key in lmdb_obs_type: txn.put(('%s_%05d' % (key, i)).encode(), np.ascontiguousarray(sensor_data[key].astype(np.uint8))) others = x[2] for key in others.keys(): From f1f388fc3084691fd29f8d46ab93bfa97d775c75 Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Wed, 3 Nov 2021 20:44:43 +0800 Subject: [PATCH 6/9] fix collector bug --- core/data/carla_benchmark_collector.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/core/data/carla_benchmark_collector.py b/core/data/carla_benchmark_collector.py index f9bc93df..b84fdc8f 100644 --- a/core/data/carla_benchmark_collector.py +++ b/core/data/carla_benchmark_collector.py @@ -257,8 +257,9 @@ def collect( reset_param_index = self._collect_suite_index_dict[next_suite] reset_param = self._collect_suite_reset_params[next_suite][reset_param_index] self._collect_suite_index_dict[next_suite] += 1 - if reset_param_index >= len(self._collect_suite_reset_params[next_suite]): - self._collect_suite_index_dict[next_suite] = 0 + self._collect_suite_index_dict[next_suite] %= len( + self._collect_suite_reset_params[next_suite] + ) running_env_params[env_id] = reset_param self._env_manager.reset({env_id: reset_param}) self._traj_cache[env_id].clear() From 41906558a90dcff0fa4a078b1611801addbf2d01 Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Thu, 4 Nov 2021 12:56:03 +0800 Subject: [PATCH 7/9] Merge branch 'dev-vaerl' into dev --- core/data/__init__.py | 1 + core/data/bev_vae_dataset.py | 80 +++++++++++++++ core/models/vae_model.py | 29 ++++-- core/utils/simulator_utils/carla_utils.py | 2 +- demo/latent_rl/collect_data.py | 112 ++++++++++++++++++++ demo/latent_rl/model.py | 3 +- demo/latent_rl/train_vae.py | 120 ++++++++++++++++++++++ demo/lbc/lbc_birdview_train.py | 1 - docs/source/model_zoo/latent_rl.rst | 77 ++++++++++++-- docs/source/model_zoo/lbc.rst | 97 ++++++++++++++++- 10 files changed, 500 insertions(+), 22 deletions(-) create mode 100644 core/data/bev_vae_dataset.py create mode 100644 demo/latent_rl/collect_data.py create mode 100644 demo/latent_rl/train_vae.py diff --git a/core/data/__init__.py b/core/data/__init__.py index 562415d2..2cbb74bd 100644 --- a/core/data/__init__.py +++ b/core/data/__init__.py @@ -3,3 +3,4 @@ from .cilrs_dataset import CILRSDataset from .cict_dataset import CictDataset from .lbc_dataset import LBCBirdViewDataset, LBCImageDataset +from .bev_vae_dataset import BeVVAEDataset diff --git a/core/data/bev_vae_dataset.py b/core/data/bev_vae_dataset.py new file mode 100644 index 00000000..0750634c --- /dev/null +++ b/core/data/bev_vae_dataset.py @@ -0,0 +1,80 @@ +import os +import lmdb +import cv2 +import numpy as np +from typing import Any, Dict +import torch +from torchvision import transforms +from torch.utils.data import Dataset + + +PIXEL_OFFSET = 10 + + +class BeVVAEDataset(Dataset): + + def __init__( + self, + root_dir, + img_size=320, + crop_size=192, + crop_x_jitter=5, + crop_y_jitter=5, + angle_jitter=5, + down_ratio=4, + max_frames=None + ) -> None: + self._root_dir = root_dir + self._img_size = img_size + self._crop_size = crop_size + self._crop_x_jitter = crop_x_jitter + self._crop_y_jitter = crop_y_jitter + self._angle_jitter = angle_jitter + self._down_ratio = down_ratio + self._max_frames = max_frames + self.bird_view_transform = transforms.ToTensor() + + epi_folder = [x for x in os.listdir(root_dir) if x.startswith('epi')] + + self._lmdb_list = [] + self._idx_list = [] + + for item in epi_folder: + lmdb_file = lmdb.open(os.path.join(root_dir, item, 'measurements.lmdb')).begin(write=False) + max_len = int(lmdb_file.get('len'.encode())) + for i in range(max_len): + self._lmdb_list.append(lmdb_file) + self._idx_list.append(i) + + def __len__(self): + return len(self._lmdb_list) + + def __getitem__(self, index) -> Any: + lmdb_txn = self._lmdb_list[index] + episode_index = self._idx_list[index] + + birdview = np.frombuffer(lmdb_txn.get(('birdview_%05d' % episode_index).encode()), + np.uint8).reshape(320, 320, 7) * 255 + + delta_angle = np.random.randint(-self._angle_jitter, self._angle_jitter + 1) + dx = np.random.randint(-self._crop_x_jitter, self._crop_x_jitter + 1) + dy = np.random.randint(0, self._crop_y_jitter + 1) - PIXEL_OFFSET + + pixel_ox = 160 + pixel_oy = 260 + + birdview = cv2.warpAffine( + birdview, + cv2.getRotationMatrix2D((pixel_ox, pixel_oy), delta_angle, 1.0), + birdview.shape[1::-1], + flags=cv2.INTER_LINEAR + ) + + # random cropping + center_x, center_y = 160, 260 - self._crop_size // 2 + birdview = birdview[dy + center_y - self._crop_size // 2:dy + center_y + self._crop_size // 2, + dx + center_x - self._crop_size // 2:dx + center_x + self._crop_size // 2] + + birdview = self.bird_view_transform(birdview) + + return {'birdview': birdview} diff --git a/core/models/vae_model.py b/core/models/vae_model.py index 2044b0c1..07aa5e8b 100644 --- a/core/models/vae_model.py +++ b/core/models/vae_model.py @@ -15,6 +15,7 @@ class VanillaVAE(nn.Module): - in_channels (int): the channel number of input - latent_dim (int): the latent dimension of the middle representation - hidden_dims (List): the hidden dimensions of each layer in the MLP architecture in encoder and decoder + - kld_weight(float): the weight of KLD loss """ def __init__( @@ -22,6 +23,7 @@ def __init__( in_channels: int, latent_dim: int, hidden_dims: List = None, + kld_weight: float = 0.1, ) -> None: super(VanillaVAE, self).__init__() self.latent_dim = latent_dim @@ -30,6 +32,7 @@ def __init__( if hidden_dims is None: hidden_dims = [32, 64, 128, 256, 512] self.hidden_dims = hidden_dims + self.kld_weight = kld_weight # Build Encoder for h_dim in hidden_dims: @@ -87,8 +90,9 @@ def encode(self, input: torch.Tensor) -> List[torch.Tensor]: # Split the result into mu and var components # of the latent Gaussian distribution mu = self.fc_mu(result) + log_var = self.fc_var(result) - return mu + return mu, log_var def decode(self, z: torch.Tensor) -> torch.Tensor: """ @@ -131,8 +135,10 @@ def forward(self, input: torch.Tensor, **kwargs) -> List[torch.Tensor]: :Returns: List[torch.Tensor]: Input and output tensor """ - mu = self.encode(input) - return [self.decode(mu), input] + mu, log_var = self.encode(input) + z = self.reparameterize(mu, log_var) + #z = mu + return [self.decode(z), input, mu, log_var] def loss_function(self, *args, **kwargs) -> Dict: """ @@ -145,14 +151,16 @@ def loss_function(self, *args, **kwargs) -> Dict: """ recons = args[0] input = args[1] + mu = args[2] + log_var = args[3] - kld_weight = kwargs['M_N'] # Account for the minibatch samples from the dataset + #kld_weight = kwargs['M_N'] # Account for the minibatch samples from the dataset + kld_weight = self.kld_weight recons_loss = 0 - weight = [8.7924e-01, 7.4700e-02, 1.0993e-02, 6.1075e-04, 2.6168e-03, 2.8066e-02, 3.7737e-03] - ret = {} ''' + weight = [8.7924e-01, 7.4700e-02, 1.0993e-02, 6.1075e-04, 2.6168e-03, 2.8066e-02, 3.7737e-03] vd = 1 for i in range(7): cur = F.l1_loss(recons[:, i, ...], input[:, i, ...]) @@ -166,10 +174,11 @@ def loss_function(self, *args, **kwargs) -> Dict: if recons_loss < 0.05: recons_loss = F.l1_loss(recons, input) - loss = recons_loss - ret['loss'] = loss + kld_loss = torch.mean(-0.5 * torch.sum(1 + log_var - mu ** 2 - log_var.exp(), dim=1), dim=0) + + loss = recons_loss + kld_weight * kld_loss - return ret + return {'loss': loss, 'reconstruction_Loss': recons_loss, 'KLD': -kld_loss} def sample(self, num_samples: int, current_device: int, **kwargs) -> torch.Tensor: r""" @@ -178,7 +187,7 @@ def sample(self, num_samples: int, current_device: int, **kwargs) -> torch.Tenso :Arguments: - num_samples(Int): Number of samples. - - param current_device(Int): Device to run the model. + - current_device(Int): Device to run the model. :Returns: Tensor: Sampled decode tensor. """ diff --git a/core/utils/simulator_utils/carla_utils.py b/core/utils/simulator_utils/carla_utils.py index f6f49d24..3b7f4d48 100644 --- a/core/utils/simulator_utils/carla_utils.py +++ b/core/utils/simulator_utils/carla_utils.py @@ -94,7 +94,7 @@ def visualize_birdview(birdview): index_list.append(i) for i in index_list: - canvas[birdview[:, :, i] > 0] = bev_render_colors[i] + canvas[birdview[:, :, i] > 0.5] = bev_render_colors[i] return canvas diff --git a/demo/latent_rl/collect_data.py b/demo/latent_rl/collect_data.py new file mode 100644 index 00000000..ee73143e --- /dev/null +++ b/demo/latent_rl/collect_data.py @@ -0,0 +1,112 @@ +import os +from functools import partial + +import numpy as np +from ding.envs import SyncSubprocessEnvManager +from ding.utils.default_helper import deep_merge_dicts +from easydict import EasyDict +from tqdm import tqdm + +from core.data import CarlaBenchmarkCollector, BenchmarkDatasetSaver +from core.envs import SimpleCarlaEnv, CarlaEnvWrapper +from core.policy import AutoPIDPolicy +from core.utils.others.tcp_helper import parse_carla_tcp + +config = dict( + env=dict( + env_num=5, + simulator=dict( + disable_two_wheels=True, + planner=dict( + type='behavior', + resolution=1, + ), + obs=( + dict( + name='birdview', + type='bev', + size=[320, 320], + pixels_per_meter=5, + pixels_ahead_vehicle=100, + ), + ), + verbose=False, + ), + col_is_failure=True, + stuck_is_failure=True, + wrapper=dict(), + manager=dict( + auto_reset=False, + shared_memory=False, + context='spawn', + max_retry=1, + ), + ), + server=[ + dict(carla_host='local_host', carla_ports=[9000, 9010, 2]), + ], + policy=dict( + target_speed=25, + noise=False, + collect=dict( + dir_path='bev_train', + n_episode=50, + collector=dict( + suite=['NoCrashTown01-v3', 'NoCrashTown01-v5'], + nocrash=True, + weathers=[1], + ), + ), + ), +) + +main_config = EasyDict(config) + + +def latent_postprocess(observations, *args): + sensor_data = {} + sensor_data['birdview'] = observations['birdview'][..., :7] + others = {} + return sensor_data, others + + +def wrapped_env(env_cfg, wrapper_cfg, host, port, tm_port=None): + return CarlaEnvWrapper(SimpleCarlaEnv(env_cfg, host, port, tm_port), wrapper_cfg) + + +def main(cfg, seed=0): + cfg.env.manager = deep_merge_dicts(SyncSubprocessEnvManager.default_config(), cfg.env.manager) + + tcp_list = parse_carla_tcp(cfg.server) + env_num = cfg.env.env_num + + collector_env = SyncSubprocessEnvManager( + env_fn=[partial(wrapped_env, cfg.env, cfg.env.wrapper, *tcp_list[i]) for i in range(env_num)], + cfg=cfg.env.manager, + ) + collector_env.seed(seed) + + policy = AutoPIDPolicy(cfg.policy) + + collector = CarlaBenchmarkCollector(cfg.policy.collect.collector, collector_env, policy.collect_mode) + + if not os.path.exists(cfg.policy.collect.dir_path): + os.makedirs(cfg.policy.collect.dir_path) + + collected_episodes = 0 + saver = BenchmarkDatasetSaver(cfg.policy.collect.dir_path, cfg.env.simulator.obs, latent_postprocess) + saver.make_dataset_path(cfg.policy.collect) + while collected_episodes < cfg.policy.collect.n_episode: + # Sampling data from environments + n_episode = min(cfg.policy.collect.n_episode - collected_episodes, env_num * 2) + new_data = collector.collect(n_episode=n_episode) + saver.save_episodes_data(new_data, start_episode=collected_episodes) + del new_data + collected_episodes += n_episode + print('[MAIN] Current collected: ', collected_episodes, '/', cfg.policy.collect.n_episode) + + collector_env.close() + + +if __name__ == '__main__': + main(main_config) diff --git a/demo/latent_rl/model.py b/demo/latent_rl/model.py index 1485fafe..2da2466c 100644 --- a/demo/latent_rl/model.py +++ b/demo/latent_rl/model.py @@ -52,7 +52,8 @@ def forward(self, data: Dict) -> Dict: bev = data['birdview'].permute(0, 3, 1, 2) ego_info = data['ego_info'] with torch.no_grad(): - feat = self._vae_model.encode(bev) + mu, log_var = self._vae_model.encode(bev) + feat = self._vae_model.reparameterize(mu, log_var) x = torch.cat([feat, ego_info], dim=1) x = self.head(x) return x diff --git a/demo/latent_rl/train_vae.py b/demo/latent_rl/train_vae.py new file mode 100644 index 00000000..c3b32e24 --- /dev/null +++ b/demo/latent_rl/train_vae.py @@ -0,0 +1,120 @@ +import os +import numpy as np +import torch +from torch.utils.data import DataLoader +from torch import optim +import torchvision.utils as vutils +from tensorboardX import SummaryWriter +from easydict import EasyDict +from tqdm import tqdm + +from core.models import VanillaVAE +from core.data import BeVVAEDataset +from core.utils.simulator_utils.carla_utils import visualize_birdview + + +config = dict( + exp_name='vae_naive_train', + data=dict( + train=dict( + root_dir='naive_bev_train', + ), + val=dict( + root_dir='naive_bev_val', + ), + ), + learn=dict( + batch_size=128, + lr=1e-4, + weight_decay=0.999, + epoches=100, + val_freq=5, + ), + model=dict( + in_channels=7, + latent_dim=128, + ), +) +main_config = EasyDict(config) + + +def _preprocess_image(x): + """ + Takes - + list of (h, w, 3) + tensor of (n, h, 3) + """ + ret = [] + for b in range(x.shape[0]): + bev = x[b, ...].squeeze() + bev = bev.detach().cpu().numpy().transpose(1, 2, 0) + bev = visualize_birdview(bev) + bev = torch.Tensor(bev.transpose(2, 0, 1)) + ret.append(bev) + x = torch.stack(ret) + #x = torch.nn.functional.interpolate(x, 128, mode='nearest') + x = vutils.make_grid(ret, padding=2, normalize=True, nrow=4) + x = x.cpu().numpy() + + return x + + +def main(cfg): + train_dataset = BeVVAEDataset(**cfg.data.train) + train_dataloader = DataLoader(train_dataset, batch_size=cfg.learn.batch_size, num_workers=12, pin_memory=True) + val_dataset = BeVVAEDataset(**cfg.data.val) + val_dataloader = DataLoader(val_dataset, batch_size=cfg.learn.batch_size, num_workers=12, pin_memory=True, drop_last=True, shuffle=True) + + model = VanillaVAE(**cfg.model) + model.cuda() + optimizer = optim.Adam(model.parameters(), lr=cfg.learn.lr, weight_decay=cfg.learn.weight_decay) + tb_logger = SummaryWriter('./log/{}/'.format(cfg.exp_name)) + + iter_num = 0 + for epoch in range(cfg.learn.epoches): + model.train() + for data in tqdm(train_dataloader, desc='Train'): + bev = data['birdview'].cuda() + ret = model.forward(bev) + ret = model.loss_function(*ret) + loss = ret['loss'] + optimizer.zero_grad() + loss.backward() + optimizer.step() + if iter_num % 50 == 0: + for k, v in ret.items(): + tb_logger.add_scalar("train_iter/{}".format(k), v.item(), iter_num) + iter_num += 1 + + if epoch > 0 and epoch % cfg.learn.val_freq == 0: + model.eval() + total_loss = {} + for data in tqdm(val_dataloader, desc='Val'): + with torch.no_grad(): + bev = data['birdview'].cuda() + ret = model.forward(bev) + loss = model.loss_function(*ret) + for k, v in loss.items(): + if k not in total_loss: + total_loss[k] = [v] + else: + total_loss[k].append(v) + total_loss_mean = {k: torch.stack(v).mean().item() for k, v in total_loss.items()} + for k, v in total_loss_mean.items(): + tb_logger.add_scalar("val_epoch/{}_avg".format(k), v, epoch) + + test_sample = next(iter(val_dataloader))['birdview'] + test_sample = test_sample[:16, ...].cuda() + with torch.no_grad(): + recon_sample = model.generate(test_sample, current_device='cuda') + random_sample = model.sample(16, current_device='cuda') + tb_logger.add_image('rec_bev', _preprocess_image(recon_sample), epoch) + tb_logger.add_image('ran_bev', _preprocess_image(random_sample), epoch) + if not os.path.exists('./ckpt'): + os.makedirs('./ckpt') + state_dict = model.state_dict() + torch.save(state_dict, "./ckpt/{}_{}_ckpt".format(cfg.exp_name, epoch)) + + +if __name__ == '__main__': + main(main_config) diff --git a/demo/lbc/lbc_birdview_train.py b/demo/lbc/lbc_birdview_train.py index a98b2c04..0853ba27 100644 --- a/demo/lbc/lbc_birdview_train.py +++ b/demo/lbc/lbc_birdview_train.py @@ -53,7 +53,6 @@ def get_log_visualization(birdview, command, loss, locations, locations_pred, si RED = [255, 0, 0] images = list() - from core.utils.others.image_helper import check_image for i in range(min(birdview.shape[0], size)): loss_i = loss[i].sum() diff --git a/docs/source/model_zoo/latent_rl.rst b/docs/source/model_zoo/latent_rl.rst index b708f741..a69987e4 100644 --- a/docs/source/model_zoo/latent_rl.rst +++ b/docs/source/model_zoo/latent_rl.rst @@ -5,16 +5,79 @@ Latent Reinforcement Learning :maxdepth: 2 Latent Reinforcement Learning is a category of policy settings which generate -latent representations that can conpletely characterize the features related to -the task in the input observation. Techically, it uses a Variational Autoencoder -(VAE) to get latent embeddings, and use it to train RL policies. +latent representations that can completely characterize the features related to +the driving task in the input observation. Techically, it uses a Variational +Autoencoder (VAE) to get latent embeddings, and takes it as observation to +train RL policies. Our implementation refers to `Model-free RL for AD `_ -with **DI-drive** and **DI-engine** and transfers it to more general cases. In the +with **DI-drive** and **DI-engine** and transfers it to more general cases. All +entries can be found in ``demo/latent_rl``. In the following documents, it will be explained detailly. -Training VAE -================= +Training auto-encoder +====================== -Comming soon \ No newline at end of file +The first step is to train a VAE to encode input image +into a imbedding feature. We deploy the model and training following +open source VAE `vae `__. +..You can also use pretrained model vae.ckpt. +We follow the standard setting. The input of the auto-encoder module +is birdview image, whose shape is 192 * 192 * 7. We use 5 +convolutional layers activated with leakyReLU as the encoder, which +encode the input birdview image to a embedding with 128 channels. +The decoder shares the same convolution kernel size and activation +layer, but uses transposed convolutional layer. Using the encoder, +we can convert the input birdview image to 128-channel embedding, +which helps the training of RL agent. + +The training procedure includes collecting birdview data and training the +auto-encoder. + +.. code:: bash + + cd demo/latent_rl + # Collect data + python collect_data.py + # Train VAE + python train_vae.py + +You can custom the configurations in the files above. + +Trainging RL agent +======================== + +Following Model-free RL for AD , we use DDQN as the +discrete RL algorithm and TD3 as the continous RL algorithm. +For DDQN, we discrete the steering and throttle to 10 class, which +means the whole action space is 100. The steering and throttle is +mapping to [-1, -0.8, -0.6, -0.4, -0.2, 0, 0.2, 0.4, 0.6, 0.8] and +[0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9] respectively. +although the action space is discrete, the vehicle can run smoothly when +turning. +For TD3, we use continuous action space. The policy network's ouput is +the mean and log scale standard deviation of a Gaussion distribution. +At each state of collecting data, we sample an action following the +generated Gaussion distribution. For TD3, we found that the steering +changes drasticly. The steering is -1 or 0.8 and the throttle is +always 0.9. However, the car can drive well. This is a point to be +improved. + +The training, evaluation and testing of the method mentioned above is +provided. We use the standard policy settings of **DI-engine**. You can +see their doc to get how to modify the training settings. You may need +to change the Carla server setting in the entry files. + +DDQN: + +.. code:: bash + + # Train DDQN agent + python latent_dqn_train.py + # Benchmark evaluation + python latent_dqn_eval.py + # Test and visualize + python latent_dqn_test.py + +Pending diff --git a/docs/source/model_zoo/lbc.rst b/docs/source/model_zoo/lbc.rst index 64808d7e..f4e5eb9a 100644 --- a/docs/source/model_zoo/lbc.rst +++ b/docs/source/model_zoo/lbc.rst @@ -4,7 +4,7 @@ Learning by Cheating `Learning by Cheating(LBC) `_ is an Imitation Learning method which driving in Carla using waypoint prediction and two-stage training -- cheating model and target model. The cheating model takes -ground-truth Bird-eye View image as input to teach the RGB input target policy. +ground-truth Bird-eye View(BeV) image as input to teach the RGB input target policy. The prediction of the model is a waypoint list then the waypoint list is processed by a PID controller to get the final control singals including steer, throttle and brake. @@ -15,14 +15,107 @@ throttle and brake. LBC structure +**DI-drive** provide complete pipeline of training an LBC priviledged model and target +model, including data collection, birdview model training, image model training, mimicing +cheating model and evaluation. All entries can be found in ``demo/lbc`` + + Datasets collection ------------------- -Pending +**DI-drive** provides benchmark data collection for LBC. The dataset is formated to save +rgb data as `.png` files and BeV data into `.lmdb` files. The configuration of dataset +collection is set up in ``lbc_collect_data.py``. You can custom the configuration as +follow. + +.. code:: python + + config = dict( + env=dict( + env_num=5, + simulator=dict( + disable_two_wheels=True, + planner=dict( + type='lbc', + resolution=1, + threshold_before=7.5, + threshold_after=5., + ), + obs=( + dict( + name='rgb', + type='rgb', + size=[384, 160], + position=[2.0, 0.0, 1.4], + fov=90, + ), + dict( + name='birdview', + type='bev', + size=[320, 320], + pixels_per_meter=5, + pixels_ahead_vehicle=100, + ), + ), + verbose=True, + ), + col_is_failure=True, + stuck_is_failure=True, + wrapper=dict(), + manager=dict( + auto_reset=False, + shared_memory=False, + context='spawn', + max_retry=1, + ), + ), + server=[ + dict(carla_host='localhost', carla_ports=[5000, 5010, 2]), + ], + policy=dict( + target_speed=25, + lateral_dict={'K_P': 0.75, 'K_D': 0., 'K_I': 0.05, 'dt': 0.1}, + longitudinal_dict={'K_P': 0.5, 'K_D': 0.1, 'K_I': 0.025}, + noise=True, + noise_kwargs=dict(), + collect=dict( + dir_path='./datasets_train/lbc_datasets_train', + n_episode=100, + collector=dict( + suite='FullTown01-v1', + nocrash=True, + ), + ), + ), + ) + +You may need to change the Carla server numbers and ports, and dataset path to yours. + +.. code:: bash + + python collect_data.py Model training -------------- +The training of LBC model contains 3 stages: training priviledged model, offline +trainging target model, on-line fine-tuning target model. + +Training priviledged model +****************************** + +The training of priviledged model is a supervide learning procedure. You can check +the training code in ``lbc_birdview_train.py``. By default it will save checkpoint +and tensorboard logs in ``./log``. You can check the training progress and effects. + +.. code:: + + python lbc_birdview_train.py + + +Offline training target model +******************************** + Pending Model evaluation From 20bb8adf68199f6f52a6c737659d5acd87dbb552 Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Thu, 4 Nov 2021 13:46:40 +0800 Subject: [PATCH 8/9] format code --- core/data/benchmark_dataset_saver.py | 10 +++++----- core/data/bev_vae_dataset.py | 1 - core/models/vae_model.py | 1 - 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/core/data/benchmark_dataset_saver.py b/core/data/benchmark_dataset_saver.py index 24397a82..fd3e42c1 100644 --- a/core/data/benchmark_dataset_saver.py +++ b/core/data/benchmark_dataset_saver.py @@ -34,11 +34,11 @@ class BenchmarkDatasetSaver(): """ def __init__( - self, - save_dir: str, - obs_cfg: Dict, - post_process_fn: Optional[Callable] = None, - lmdb_obs: Optional[List] = ['lidar', 'birdview'], + self, + save_dir: str, + obs_cfg: Dict, + post_process_fn: Optional[Callable] = None, + lmdb_obs: Optional[List] = ['lidar', 'birdview'], ) -> None: self._save_dir = save_dir self._obs_cfg = obs_cfg diff --git a/core/data/bev_vae_dataset.py b/core/data/bev_vae_dataset.py index 0750634c..6e46350b 100644 --- a/core/data/bev_vae_dataset.py +++ b/core/data/bev_vae_dataset.py @@ -7,7 +7,6 @@ from torchvision import transforms from torch.utils.data import Dataset - PIXEL_OFFSET = 10 diff --git a/core/models/vae_model.py b/core/models/vae_model.py index 07aa5e8b..cb54ab63 100644 --- a/core/models/vae_model.py +++ b/core/models/vae_model.py @@ -158,7 +158,6 @@ def loss_function(self, *args, **kwargs) -> Dict: kld_weight = self.kld_weight recons_loss = 0 - ''' weight = [8.7924e-01, 7.4700e-02, 1.0993e-02, 6.1075e-04, 2.6168e-03, 2.8066e-02, 3.7737e-03] vd = 1 From e1c3011baf7b62d884ab4bf1cfc57c4d3874d81c Mon Sep 17 00:00:00 2001 From: Robin Chen Date: Thu, 18 Nov 2021 12:04:04 +0800 Subject: [PATCH 9/9] update v0.2.1 --- CHANGELOG | 15 + README.md | 2 +- core/data/casezoo/configs/route01.json | 2 +- core/data/casezoo/configs/route02.json | 4 +- core/data/casezoo/configs/route03.json | 2 +- core/data/casezoo/configs/route04.json | 4 +- core/data/casezoo/configs/route06.json | 6 +- core/data/casezoo/configs/route07.json | 4 +- core/data/casezoo/configs/route09.json | 4 +- core/data/casezoo/configs/town03_1.json | 2 +- core/data/casezoo/configs/town04_1.json | 2 +- core/data/casezoo/example/ControlLoss.xml | 2 +- core/data/casezoo/example/LeadingVehicle.xml | 2 +- .../srunner/all_towns_traffic_scenarios.json | 102605 +++++++++++++++ .../all_towns_traffic_scenarios1_3_4.json | 38894 ++++++ .../all_towns_traffic_scenarios1_3_4_8.json | 52119 ++++++++ core/data/srunner/no_scenarios.json | 6 + core/data/srunner/routes_debug.xml | 92 + core/data/srunner/routes_devtest.xml | 1060 + core/data/srunner/routes_training.xml | 1923 + core/envs/carla_env_wrapper.py | 3 + core/envs/scenario_carla_env.py | 5 + core/policy/auto_policy.py | 19 +- core/simulators/carla_data_provider.py | 16 +- .../scenarioconfigs/scenario_configuration.py | 2 +- .../srunner/scenarios/control_loss.py | 195 + .../srunner/scenarios/control_loss_new.py | 6 +- core/simulators/srunner/scenarios/cut_in.py | 137 + .../scenarios/follow_leading_vehicle.py | 330 + .../scenarios/follow_leading_vehicle_new.py | 6 +- .../scenarios/junction_crossing_route.py | 180 + .../scenarios/maneuver_opposite_direction.py | 178 + .../scenarios/no_signal_junction_crossing.py | 140 + .../scenarios/object_crash_intersection.py | 609 + .../srunner/scenarios/object_crash_vehicle.py | 397 + .../scenarios/other_leading_vehicle.py | 159 + .../srunner/scenarios/route_scenario.py | 46 +- core/simulators/srunner/tools/route_parser.py | 4 +- .../srunner/tools/scenario_helper.py | 8 +- demo/auto_run/auto_run_case.py | 2 +- docs/casezoo_instruction.md | 4 +- docs/source/conf.py | 4 +- setup.py | 2 +- 43 files changed, 199151 insertions(+), 51 deletions(-) create mode 100644 core/data/srunner/all_towns_traffic_scenarios.json create mode 100644 core/data/srunner/all_towns_traffic_scenarios1_3_4.json create mode 100644 core/data/srunner/all_towns_traffic_scenarios1_3_4_8.json create mode 100644 core/data/srunner/no_scenarios.json create mode 100644 core/data/srunner/routes_debug.xml create mode 100644 core/data/srunner/routes_devtest.xml create mode 100644 core/data/srunner/routes_training.xml create mode 100644 core/simulators/srunner/scenarios/control_loss.py create mode 100644 core/simulators/srunner/scenarios/cut_in.py create mode 100644 core/simulators/srunner/scenarios/follow_leading_vehicle.py create mode 100644 core/simulators/srunner/scenarios/junction_crossing_route.py create mode 100644 core/simulators/srunner/scenarios/maneuver_opposite_direction.py create mode 100644 core/simulators/srunner/scenarios/no_signal_junction_crossing.py create mode 100644 core/simulators/srunner/scenarios/object_crash_intersection.py create mode 100644 core/simulators/srunner/scenarios/object_crash_vehicle.py create mode 100644 core/simulators/srunner/scenarios/other_leading_vehicle.py diff --git a/CHANGELOG b/CHANGELOG index b264a9f3..a2d8176c 100644 --- a/CHANGELOG +++ b/CHANGELOG @@ -1,3 +1,18 @@ +## v0.2.1 (2021.11.18) +- Add NoCrash Carla099 +- Add bev dataset +- Add Carla AD Challenge scenarios and routes +- Add LBC data collection and BeV training doc +- Add Latent RL BeV and RL training doc +- Add validation in LBC training +- Update Benchmark datasaver +- Update VAE model +- Update LBC Image policy learn mode +- Fix bug in benchmark collector +- Fix visualizer not closed after done +- Fix not alived sensor killed bug + + ## v0.2.0 (2021.11.1) - Update DI-engine to version 0.2.0 - Reformat CIL to CILRS diff --git a/README.md b/README.md index d31f75bd..a45105e3 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ icon -Updated on 2021.11.01 DI-drive-v0.2.0 (beta) +Updated on 2021.11.18 DI-drive-v0.2.1 (beta) DI-drive - Decision Intelligence Platform for Autonomous Driving simulation. diff --git a/core/data/casezoo/configs/route01.json b/core/data/casezoo/configs/route01.json index 77c16d8c..194152ce 100644 --- a/core/data/casezoo/configs/route01.json +++ b/core/data/casezoo/configs/route01.json @@ -14,7 +14,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ diff --git a/core/data/casezoo/configs/route02.json b/core/data/casezoo/configs/route02.json index 0176f699..1e95897c 100644 --- a/core/data/casezoo/configs/route02.json +++ b/core/data/casezoo/configs/route02.json @@ -14,7 +14,7 @@ } } ], - "scenario_type": "ControlLoss" + "scenario_type": "ControlLossNew" }, { "available_event_configurations": [ @@ -28,7 +28,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" } ] } diff --git a/core/data/casezoo/configs/route03.json b/core/data/casezoo/configs/route03.json index 5a39c076..48f54d2f 100644 --- a/core/data/casezoo/configs/route03.json +++ b/core/data/casezoo/configs/route03.json @@ -46,7 +46,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ diff --git a/core/data/casezoo/configs/route04.json b/core/data/casezoo/configs/route04.json index 76b60f75..56d52184 100644 --- a/core/data/casezoo/configs/route04.json +++ b/core/data/casezoo/configs/route04.json @@ -39,7 +39,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ @@ -53,7 +53,7 @@ } } ], - "scenario_type": "ControlLoss" + "scenario_type": "ControlLossNew" }, { "available_event_configurations": [ diff --git a/core/data/casezoo/configs/route06.json b/core/data/casezoo/configs/route06.json index 5e70c12f..7f7cfe62 100644 --- a/core/data/casezoo/configs/route06.json +++ b/core/data/casezoo/configs/route06.json @@ -14,7 +14,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ @@ -85,7 +85,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ @@ -99,7 +99,7 @@ } } ], - "scenario_type": "ControlLoss" + "scenario_type": "ControlLossNew" } ] } diff --git a/core/data/casezoo/configs/route07.json b/core/data/casezoo/configs/route07.json index a5b8ec2a..cb349732 100644 --- a/core/data/casezoo/configs/route07.json +++ b/core/data/casezoo/configs/route07.json @@ -64,7 +64,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ @@ -78,7 +78,7 @@ } } ], - "scenario_type": "ControlLoss" + "scenario_type": "ControlLossNew" } ] } diff --git a/core/data/casezoo/configs/route09.json b/core/data/casezoo/configs/route09.json index b7d17701..bbddf133 100644 --- a/core/data/casezoo/configs/route09.json +++ b/core/data/casezoo/configs/route09.json @@ -93,7 +93,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ @@ -107,7 +107,7 @@ } } ], - "scenario_type": "ControlLoss" + "scenario_type": "ControlLossNew" } ] } diff --git a/core/data/casezoo/configs/town03_1.json b/core/data/casezoo/configs/town03_1.json index 41d923b9..5e8642ff 100644 --- a/core/data/casezoo/configs/town03_1.json +++ b/core/data/casezoo/configs/town03_1.json @@ -89,7 +89,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ diff --git a/core/data/casezoo/configs/town04_1.json b/core/data/casezoo/configs/town04_1.json index 4e754edc..2899c54e 100644 --- a/core/data/casezoo/configs/town04_1.json +++ b/core/data/casezoo/configs/town04_1.json @@ -48,7 +48,7 @@ } } ], - "scenario_type": "FollowLeadingVehicle" + "scenario_type": "FollowLeadingVehicleNew" }, { "available_event_configurations": [ diff --git a/core/data/casezoo/example/ControlLoss.xml b/core/data/casezoo/example/ControlLoss.xml index 56e12ebe..584141a5 100644 --- a/core/data/casezoo/example/ControlLoss.xml +++ b/core/data/casezoo/example/ControlLoss.xml @@ -1,6 +1,6 @@ - + diff --git a/core/data/casezoo/example/LeadingVehicle.xml b/core/data/casezoo/example/LeadingVehicle.xml index f7111e0e..cadfcc94 100644 --- a/core/data/casezoo/example/LeadingVehicle.xml +++ b/core/data/casezoo/example/LeadingVehicle.xml @@ -1,6 +1,6 @@ - + diff --git a/core/data/srunner/all_towns_traffic_scenarios.json b/core/data/srunner/all_towns_traffic_scenarios.json new file mode 100644 index 00000000..b5175c7d --- /dev/null +++ b/core/data/srunner/all_towns_traffic_scenarios.json @@ -0,0 +1,102605 @@ +{ + "available_scenarios": [ + { + "Town01": [ + { + "available_event_configurations": [ + { + "transform": { + "pitch": "0", + "x": "319.64", + "y": "-2.20", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "107.98", + "y": "330.64", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "317.95", + "y": "326.51", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "108.68", + "y": "199.13", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "317.15", + "y": "195.0", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "108.81", + "y": "133.54", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "319.79", + "y": "129.41", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "322.54", + "y": "55.39", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "170.84", + "y": "59.52", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "2.52", + "y": "316.80", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "2.52", + "y": "163.40", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "-1.81", + "y": "163.80", + "yaw": "89", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "-1.61", + "y": "10.73", + "yaw": "89", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "396.30", + "y": "317.80", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "396.30", + "y": "165.30", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "392.17", + "y": "12.30", + "yaw": "89", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "338.96", + "y": "31.64", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "304.75", + "y": "199.22", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "305.55", + "y": "133.65", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "305.35", + "y": "59.61", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "158.10", + "y": "31.4", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "92.45", + "y": "30.84", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "121.53", + "y": "55.42", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "121.33", + "y": "129.48", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "122.42", + "y": "195.16", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "153.94", + "y": "26.19", + "yaw": "90", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "88.23", + "y": "297.43", + "yaw": "90", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "334.81", + "y": "297.3", + "yaw": "90", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "305.12", + "y": "2.26", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "334.54", + "y": "165.78", + "yaw": "90", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "334.54", + "y": "100.1", + "yaw": "90", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "334.54", + "y": "25.77", + "yaw": "90", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "124.46", + "y": "2.26", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "58.81", + "y": "2.26", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "92.55", + "y": "88.85", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "92.55", + "y": "163.42", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "92.55", + "y": "228.60", + "yaw": "270", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "187.78", + "y": "55.38", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "121.57", + "y": "326.42", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "368.55", + "y": "326.42", + "yaw": "180", + "z": "1.0" + } + } + ], + "scenario_type": "Scenario1" + }, + { + "available_event_configurations": [], + "scenario_type": "Scenario2" + }, + { + "available_event_configurations": [ + { + "transform": { + "pitch": "0", + "x": "319.64", + "y": "-2.20", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "107.98", + "y": "330.64", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "317.95", + "y": "326.51", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "108.68", + "y": "199.13", + "yaw": "0", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "317.15", + "y": "195.0", + "yaw": "180", + "z": "1.0" + } + }, + { + "transform": { + "pitch": "0", + "x": "108.81", + 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a/core/envs/carla_env_wrapper.py b/core/envs/carla_env_wrapper.py index b03c5b35..005b0b20 100644 --- a/core/envs/carla_env_wrapper.py +++ b/core/envs/carla_env_wrapper.py @@ -108,6 +108,9 @@ def default_config(cls: type) -> EasyDict: def __repr__(self) -> str: return repr(self.env) + def render(self): + self.env.render() + class BenchmarkEnvWrapper(CarlaEnvWrapper): """ diff --git a/core/envs/scenario_carla_env.py b/core/envs/scenario_carla_env.py index 4fc4dc2f..549dbe14 100644 --- a/core/envs/scenario_carla_env.py +++ b/core/envs/scenario_carla_env.py @@ -266,9 +266,14 @@ def get_observations(self): 'location': np.float32(state['location']), 'forward_vector': np.float32(state['forward_vector']), 'acceleration': np.float32(state['acceleration']), + 'velocity': np.float32(state['velocity']), + 'angular_velocity': np.float32(state['angular_velocity']), + 'rotation': np.float32(state['rotation']), 'is_junction': np.float32(state['is_junction']), 'tl_state': state['tl_state'], 'tl_dis': np.float32(state['tl_dis']), + 'waypoint_list': navigation['waypoint_list'], + 'direction_list': navigation['direction_list'], } ) diff --git a/core/policy/auto_policy.py b/core/policy/auto_policy.py index 4f543657..5d2db5ae 100644 --- a/core/policy/auto_policy.py +++ b/core/policy/auto_policy.py @@ -37,6 +37,7 @@ class AutoPIDPolicy(BaseCarlaPolicy): max_throttle=0.75, max_steer=0.8, ignore_light=False, + ignore_speed_limit=False, tl_threshold=10, lateral_dict=DEFAULT_LATERAL_DICT, longitudinal_dict=DEFAULT_LONGITUDINAL_DICT, @@ -66,6 +67,7 @@ def __init__( self._max_throttle = self._cfg.max_throttle self._max_steer = self._cfg.max_steer self._ignore_traffic_light = self._cfg.ignore_light + self._ignore_speed_limit = self._cfg.ignore_speed_limit self._tl_threshold = self._cfg.tl_threshold self._lateral_dict = self._cfg.lateral_dict @@ -113,14 +115,17 @@ def _forward(self, data_id: int, obs: Dict) -> Dict: control = self._emergency_stop(data_id) elif not self._ignore_traffic_light and obs['agent_state'] == 4: control = self._emergency_stop(data_id) - elif not self._ignore_traffic_light and obs['tl_state'] == 0 and obs['tl_dis'] < self._tl_threshold: + elif not self._ignore_traffic_light and obs['tl_state'] in [0, 1] and obs['tl_dis'] < self._tl_threshold: control = self._emergency_stop(data_id) else: current_speed = obs['speed'] current_location = obs['location'] current_vector = obs['forward_vector'] target_location = obs['target'] - target_speed = min(self.target_speed, obs['speed_limit']) + if not self._ignore_speed_limit: + target_speed = min(self.target_speed, obs['speed_limit']) + else: + target_speed = self.target_speed control = controller.forward( current_speed, current_location, @@ -228,6 +233,7 @@ class AutoMPCPolicy(BaseCarlaPolicy): target_speed=25, mpc_args=None, ignore_light=False, + ignore_speed_limit=False, horizon=5, fps=4, noise=False, @@ -244,6 +250,7 @@ def __init__( self.target_speed = self._cfg.target_speed self._ignore_traffic_light = self._cfg.ignore_light + self._ignore_speed_limit = self._cfg.ignore_speed_limit if self._cfg.mpc_args is None: self._mpc_args = DEFAULT_MPC_ARGS @@ -283,7 +290,7 @@ def _forward(self, data_id: int, obs: Dict) -> Dict: control = self._emergency_stop(data_id) elif not self._ignore_traffic_light and obs['agent_state'] == 4: control = self._emergency_stop(data_id) - elif not self._ignore_traffic_light and obs['tl_state'] == 0 and obs['tl_dis'] < 10: + elif not self._ignore_traffic_light and obs['tl_state'] in [0, 1] and obs['tl_dis'] < 10: control = self._emergency_stop(data_id) else: ego_pose = [ @@ -293,9 +300,13 @@ def _forward(self, data_id: int, obs: Dict) -> Dict: obs['speed'] / 3.6, ] waypoints = obs['waypoint_list'] + if not self._ignore_speed_limit: + target_speed = min(self.target_speed, obs['speed_limit']) + else: + target_speed = self.target_speed control = controller.forward( ego_pose, - self.target_speed / 3.6, + target_speed / 3.6, waypoints, ) self._last_steer_dict[data_id] = control['steer'] diff --git a/core/simulators/carla_data_provider.py b/core/simulators/carla_data_provider.py index 0d42f821..b98335b0 100644 --- a/core/simulators/carla_data_provider.py +++ b/core/simulators/carla_data_provider.py @@ -75,7 +75,7 @@ def register_actor(actor: carla.Actor) -> None: if actor in CarlaDataProvider._actor_transform_map: raise KeyError("Vehicle '{}' already registered. Cannot register twice!".format(actor.id)) else: - CarlaDataProvider._actor_transform_map[actor] = None + CarlaDataProvider._actor_transform_map[actor] = actor.get_transform() if actor in CarlaDataProvider._actor_acceleration_map: raise KeyError("Vehicle '{}' already registered. Cannot register twice!".format(actor.id)) @@ -813,7 +813,7 @@ def is_vehicle_hazard(vehicle: carla.Actor, for target_vehicle in vehicle_list: # do not account for the ego vehicle - if target_vehicle.id == vehicle.id: + if target_vehicle.id == vehicle.id or not target_vehicle.is_alive: continue # if the object is not in our lane it's not an obstacle @@ -853,7 +853,7 @@ def is_junction_vehicle_hazard(vehicle: carla.Actor, command: RoadOption) -> Tup v1 = (5 * s1 + 6) * _orientation(CarlaDataProvider.get_transform(vehicle).rotation.yaw + shift_angle) for target_vehicle in vehicle_list: - if target_vehicle.id == vehicle.id: + if target_vehicle.id == vehicle.id or not target_vehicle.is_alive: continue o2 = _orientation(CarlaDataProvider.get_transform(target_vehicle).rotation.yaw) @@ -872,11 +872,11 @@ def is_junction_vehicle_hazard(vehicle: carla.Actor, command: RoadOption) -> Tup angle_between_heading = np.degrees(np.arccos(np.clip(o1.dot(o2), -1, 1))) - if vehicle.get_location().distance(p2) > 20: + if vehicle.get_location().distance(p2) > 25: continue if w1.is_junction is False and w2.is_junction is False: continue - if angle_between_heading < 15.0 or angle_between_heading > 165: + if (angle_between_heading < 15.0 or angle_between_heading > 165) and command == RoadOption.STRAIGHT: continue collides, collision_point = CarlaDataProvider.get_collision(_numpy(p1), v1, _numpy(p2_hat), v2) if collides is None: @@ -926,7 +926,7 @@ def is_lane_vehicle_hazard(vehicle: carla.Actor, command: RoadOption) -> Tuple[b rgt_lane_wp = location_w1 + carla.Location(rgt_lane_wp) for target_vehicle in vehicle_list: - if target_vehicle.id == vehicle.id: + if target_vehicle.id == vehicle.id or not target_vehicle.is_alive: continue w2 = CarlaDataProvider._map.get_waypoint(CarlaDataProvider.get_location(target_vehicle)) @@ -980,7 +980,7 @@ def is_bike_hazard(vehicle: carla.Actor) -> Tuple[bool, Optional[carla.Actor]]: v1 = 10.0 * o1 for bike in bikes_list: - if 'driver_id' not in bike.attributes: + if 'driver_id' not in bike.attributes or not bike.is_alive: continue o2 = _orientation(CarlaDataProvider.get_transform(bike).rotation.yaw) s2 = CarlaDataProvider.get_speed(bike) @@ -989,6 +989,8 @@ def is_bike_hazard(vehicle: carla.Actor) -> Tuple[bool, Optional[carla.Actor]]: p2_p1 = p2 - p1 distance = np.linalg.norm(p2_p1) + if distance > 20: + continue p2_p1_hat = p2_p1 / (distance + 1e-4) angle_to_car = np.degrees(np.arccos(np.clip(v1_hat.dot(p2_p1_hat), -1, 1))) diff --git a/core/simulators/srunner/scenarioconfigs/scenario_configuration.py b/core/simulators/srunner/scenarioconfigs/scenario_configuration.py index 4893cf22..a17642c2 100644 --- a/core/simulators/srunner/scenarioconfigs/scenario_configuration.py +++ b/core/simulators/srunner/scenarioconfigs/scenario_configuration.py @@ -82,7 +82,7 @@ class ScenarioConfiguration(object): - configurations for all actors - town, where the scenario should be executed - name of the scenario (e.g. ControlLoss_1) - - type is the class of scenario (e.g. ControlLoss) + - type is the class of scenario (e.g. ControlLossNew) """ trigger_points = [] diff --git a/core/simulators/srunner/scenarios/control_loss.py b/core/simulators/srunner/scenarios/control_loss.py new file mode 100644 index 00000000..a9d2c8a7 --- /dev/null +++ b/core/simulators/srunner/scenarios/control_loss.py @@ -0,0 +1,195 @@ +#!/usr/bin/env python + +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +Control Loss Vehicle scenario: + +The scenario realizes that the vehicle looses control due to +bad road conditions, etc. and checks to see if the vehicle +regains control and corrects it's course. +""" + +import numpy.random as random +import py_trees +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ChangeNoiseParameters, \ + ActorTransformSetter +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import ( + InTriggerDistanceToLocation, InTriggerDistanceToNextIntersection, DriveDistance +) +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario +from core.simulators.srunner.tools.scenario_helper import get_location_in_distance_from_wp + + +class ControlLoss(BasicScenario): + """ + Implementation of "Control Loss Vehicle" (Traffic Scenario 01) + + This is a single ego vehicle scenario + """ + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + """ + Setup all relevant parameters and create scenario + """ + # ego vehicle parameters + self._no_of_jitter = 10 + self._noise_mean = 0 # Mean value of steering noise + self._noise_std = 0.01 # Std. deviation of steering noise + self._dynamic_mean_for_steer = 0.001 + self._dynamic_mean_for_throttle = 0.045 + self._abort_distance_to_intersection = 10 + self._current_steer_noise = [0] # This is a list, since lists are mutable + self._current_throttle_noise = [0] + self._start_distance = 20 + self._trigger_dist = 2 + self._end_distance = 30 + self._ego_vehicle_max_steer = 0.0 + self._ego_vehicle_max_throttle = 1.0 + self._ego_vehicle_target_velocity = 15 + self._map = CarlaDataProvider.get_map() + # Timeout of scenario in seconds + self.timeout = timeout + # The reference trigger for the control loss + self._reference_waypoint = self._map.get_waypoint(config.trigger_points[0].location) + self.loc_list = [] + self.obj = [] + self._randomize = randomize + super(ControlLoss, self).__init__( + "ControlLoss", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + if self._randomize: + self._distance = random.randint(low=10, high=80, size=3) + self._distance = sorted(self._distance) + else: + self._distance = [14, 48, 74] + first_loc, _ = get_location_in_distance_from_wp(self._reference_waypoint, self._distance[0]) + second_loc, _ = get_location_in_distance_from_wp(self._reference_waypoint, self._distance[1]) + third_loc, _ = get_location_in_distance_from_wp(self._reference_waypoint, self._distance[2]) + + self.loc_list.extend([first_loc, second_loc, third_loc]) + self._dist_prop = [x - 2 for x in self._distance] + + self.first_loc_prev, _ = get_location_in_distance_from_wp(self._reference_waypoint, self._dist_prop[0]) + self.sec_loc_prev, _ = get_location_in_distance_from_wp(self._reference_waypoint, self._dist_prop[1]) + self.third_loc_prev, _ = get_location_in_distance_from_wp(self._reference_waypoint, self._dist_prop[2]) + + self.first_transform = carla.Transform(self.first_loc_prev) + self.sec_transform = carla.Transform(self.sec_loc_prev) + self.third_transform = carla.Transform(self.third_loc_prev) + self.first_transform = carla.Transform( + carla.Location(self.first_loc_prev.x, self.first_loc_prev.y, self.first_loc_prev.z) + ) + self.sec_transform = carla.Transform( + carla.Location(self.sec_loc_prev.x, self.sec_loc_prev.y, self.sec_loc_prev.z) + ) + self.third_transform = carla.Transform( + carla.Location(self.third_loc_prev.x, self.third_loc_prev.y, self.third_loc_prev.z) + ) + + first_debris = CarlaDataProvider.request_new_actor('static.prop.dirtdebris01', self.first_transform, 'prop') + second_debris = CarlaDataProvider.request_new_actor('static.prop.dirtdebris01', self.sec_transform, 'prop') + third_debris = CarlaDataProvider.request_new_actor('static.prop.dirtdebris01', self.third_transform, 'prop') + + first_debris.set_transform(self.first_transform) + second_debris.set_transform(self.sec_transform) + third_debris.set_transform(self.third_transform) + + self.obj.extend([first_debris, second_debris, third_debris]) + for debris in self.obj: + debris.set_simulate_physics(False) + + self.other_actors.append(first_debris) + self.other_actors.append(second_debris) + self.other_actors.append(third_debris) + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + criteria.append(collision_criterion) + + return criteria + + def change_control(self, control): + """ + This is a function that changes the control based on the scenario determination + :param control: a carla vehicle control + :return: a control to be changed by the scenario. + """ + control.steer += self._current_steer_noise[0] + control.throttle += self._current_throttle_noise[0] + + return control + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/control_loss_new.py b/core/simulators/srunner/scenarios/control_loss_new.py index 8b5ea1a6..3efa1005 100644 --- a/core/simulators/srunner/scenarios/control_loss_new.py +++ b/core/simulators/srunner/scenarios/control_loss_new.py @@ -13,7 +13,7 @@ from core.simulators.srunner.tools.scenario_helper import get_location_in_distance_from_wp -class ControlLoss(BasicScenario): +class ControlLossNew(BasicScenario): def __init__( self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 @@ -38,8 +38,8 @@ def __init__( # The reference trigger for the control loss self._reference_waypoint = self._map.get_waypoint(config.trigger_points[0].location) self.object = [] - super(ControlLoss, self).__init__( - "ControlLoss", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + super(ControlLossNew, self).__init__( + "ControlLossNew", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable ) def _initialize_actors(self, config): diff --git a/core/simulators/srunner/scenarios/cut_in.py b/core/simulators/srunner/scenarios/cut_in.py new file mode 100644 index 00000000..f66dfbd6 --- /dev/null +++ b/core/simulators/srunner/scenarios/cut_in.py @@ -0,0 +1,137 @@ +import random +import py_trees +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ( + ActorTransformSetter, ActorDestroy, Idle, LaneChange, AccelerateToCatchUp, KeepVelocity, WaypointFollower +) +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import \ + InTriggerDistanceToVehicle, DriveDistance, WaitUntilInFront +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario + + +class CutIn(BasicScenario): + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + self.timeout = timeout + self._map = CarlaDataProvider.get_map() + self._reference_waypoint = self._map.get_waypoint(config.trigger_points[0].location) + + self._velocity = random.randint(12, 15) + self._delta_velocity = 10 + self._trigger_distance = random.randint(10, 40) + + self._config = config + self._direction = None + self._transform_visible = None + + super(CutIn, self).__init__("CutIn", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable) + + def _initialize_actors(self, config): + + # add actors from xml file + for actor in config.other_actors: + vehicle = CarlaDataProvider.request_new_actor(actor.model, actor.transform, disable_two_wheels=True) + self.other_actors.append(vehicle) + vehicle.set_simulate_physics(enabled=False) + + # transform visible + other_actor_transform = self.other_actors[0].get_transform() + self._transform_visible = carla.Transform( + carla.Location( + other_actor_transform.location.x, other_actor_transform.location.y, other_actor_transform.location.z + ), other_actor_transform.rotation + ) + + self._direction = config.other_actors[0].direction + + def _create_behavior(self): + """ + Order of sequence: + - car_visible: spawn car at a visible transform + - accelerate: accelerate to catch up distance to ego_vehicle + - lane_change: change the lane + - endcondition: drive for a defined distance + """ + + # car_visible + cut_in = py_trees.composites.Sequence("CarOn_{}_Lane".format(self._direction)) + car_visible = ActorTransformSetter(self.other_actors[0], self._transform_visible) + cut_in.add_child(car_visible) + + # 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 + ) + cut_in.add_child(accelerate) + + # lane_change + if self._direction == 'left': + lane_change = LaneChange( + self.other_actors[0], + speed=self._velocity, + direction='right', + distance_same_lane=10, + distance_other_lane=20 + ) + cut_in.add_child(lane_change) + else: + lane_change = LaneChange( + self.other_actors[0], + speed=self._velocity, + direction='left', + distance_same_lane=10, + distance_other_lane=20 + ) + cut_in.add_child(lane_change) + + # keep velocity + final_driving = WaypointFollower(self.other_actors[0], self._velocity, avoid_collision=True) + cut_in.add_child(final_driving) + + # endcondition + endcondition = py_trees.composites.Sequence( + "End Condition", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL + ) + endcondition_part1 = WaitUntilInFront(self.other_actors[0], self.ego_vehicles[0], check_distance=False) + endcondition_part2 = DriveDistance(self.ego_vehicles[0], 30) + endcondition.add_child(endcondition_part1) + endcondition.add_child(endcondition_part2) + + # build tree + behavior = py_trees.composites.Parallel("Behavior", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) + behavior.add_child(cut_in) + behavior.add_child(endcondition) + + sequence = py_trees.composites.Sequence("Sequence Behavior") + sequence.add_child(car_visible) + sequence.add_child(behavior) + sequence.add_child(ActorDestroy(self.other_actors[0])) + return sequence + + def _create_test_criteria(self): + """ + A list of all test criteria is created, which is later used in the parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + + criteria.append(collision_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors after deletion. + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/follow_leading_vehicle.py b/core/simulators/srunner/scenarios/follow_leading_vehicle.py new file mode 100644 index 00000000..147dcf88 --- /dev/null +++ b/core/simulators/srunner/scenarios/follow_leading_vehicle.py @@ -0,0 +1,330 @@ +#!/usr/bin/env python + +# Copyright (c) 2018-2020 Intel Corporation +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +Follow leading vehicle scenario: + +The scenario realizes a common driving behavior, in which the +user-controlled ego vehicle follows a leading car driving down +a given road. At some point the leading car has to slow down and +finally stop. The ego vehicle has to react accordingly to avoid +a collision. The scenario ends either via a timeout, or if the ego +vehicle stopped close enough to the leading vehicle +""" + +import random + +import py_trees + +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ( + ActorTransformSetter, ActorDestroy, KeepVelocity, StopVehicle, WaypointFollower +) +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import ( + InTriggerDistanceToVehicle, InTriggerDistanceToNextIntersection, DriveDistance, StandStill +) +from core.simulators.srunner.scenariomanager.timer import TimeOut +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario +from core.simulators.srunner.tools.scenario_helper import get_waypoint_in_distance + + +class FollowLeadingVehicle(BasicScenario): + """ + This class holds everything required for a simple "Follow a leading vehicle" + scenario involving two vehicles. (Traffic Scenario 2) + + This is a single ego vehicle scenario + """ + + timeout = 120 # Timeout of scenario in seconds + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + """ + Setup all relevant parameters and create scenario + + If randomize is True, the scenario parameters are randomized + """ + + self._map = CarlaDataProvider.get_map() + self._first_vehicle_location = 25 + self._first_vehicle_speed = 10 + self._reference_waypoint = self._map.get_waypoint(config.trigger_points[0].location) + self._other_actor_max_brake = 1.0 + self._other_actor_stop_in_front_intersection = 20 + self._other_actor_transform = None + # Timeout of scenario in seconds + self.timeout = timeout + + super(FollowLeadingVehicle, self).__init__( + "FollowVehicle", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + if randomize: + self._ego_other_distance_start = random.randint(4, 8) + + # Example code how to randomize start location + # distance = random.randint(20, 80) + # new_location, _ = get_location_in_distance(self.ego_vehicles[0], distance) + # waypoint = CarlaDataProvider.get_map().get_waypoint(new_location) + # waypoint.transform.location.z += 39 + # self.other_actors[0].set_transform(waypoint.transform) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + + first_vehicle_waypoint, _ = get_waypoint_in_distance(self._reference_waypoint, self._first_vehicle_location) + self._other_actor_transform = carla.Transform( + carla.Location( + first_vehicle_waypoint.transform.location.x, first_vehicle_waypoint.transform.location.y, + first_vehicle_waypoint.transform.location.z + 1 + ), first_vehicle_waypoint.transform.rotation + ) + first_vehicle_transform = carla.Transform( + carla.Location( + self._other_actor_transform.location.x, self._other_actor_transform.location.y, + self._other_actor_transform.location.z - 500 + ), self._other_actor_transform.rotation + ) + first_vehicle = CarlaDataProvider.request_new_actor('vehicle.nissan.patrol', first_vehicle_transform) + first_vehicle.set_simulate_physics(enabled=False) + self.other_actors.append(first_vehicle) + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + + criteria.append(collision_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() + + +class FollowLeadingVehicleWithObstacle(BasicScenario): + """ + This class holds a scenario similar to FollowLeadingVehicle + but there is an obstacle in front of the leading vehicle + + This is a single ego vehicle scenario + """ + + timeout = 120 # Timeout of scenario in seconds + + def __init__(self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True): + """ + Setup all relevant parameters and create scenario + """ + self._map = CarlaDataProvider.get_map() + self._first_actor_location = 25 + self._second_actor_location = self._first_actor_location + 41 + self._first_actor_speed = 10 + self._second_actor_speed = 1.5 + self._reference_waypoint = self._map.get_waypoint(config.trigger_points[0].location) + self._other_actor_max_brake = 1.0 + self._first_actor_transform = None + self._second_actor_transform = None + + super(FollowLeadingVehicleWithObstacle, self).__init__( + "FollowLeadingVehicleWithObstacle", + ego_vehicles, + config, + world, + debug_mode, + criteria_enable=criteria_enable + ) + if randomize: + self._ego_other_distance_start = random.randint(4, 8) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + + first_actor_waypoint, _ = get_waypoint_in_distance(self._reference_waypoint, self._first_actor_location) + second_actor_waypoint, _ = get_waypoint_in_distance(self._reference_waypoint, self._second_actor_location) + first_actor_transform = carla.Transform( + carla.Location( + first_actor_waypoint.transform.location.x, first_actor_waypoint.transform.location.y, + first_actor_waypoint.transform.location.z - 500 + ), first_actor_waypoint.transform.rotation + ) + self._first_actor_transform = carla.Transform( + carla.Location( + first_actor_waypoint.transform.location.x, first_actor_waypoint.transform.location.y, + first_actor_waypoint.transform.location.z + 1 + ), first_actor_waypoint.transform.rotation + ) + yaw_1 = second_actor_waypoint.transform.rotation.yaw + 90 + second_actor_transform = carla.Transform( + carla.Location( + second_actor_waypoint.transform.location.x, second_actor_waypoint.transform.location.y, + second_actor_waypoint.transform.location.z - 500 + ), + carla.Rotation( + second_actor_waypoint.transform.rotation.pitch, yaw_1, second_actor_waypoint.transform.rotation.roll + ) + ) + self._second_actor_transform = carla.Transform( + carla.Location( + second_actor_waypoint.transform.location.x, second_actor_waypoint.transform.location.y, + second_actor_waypoint.transform.location.z + 1 + ), + carla.Rotation( + second_actor_waypoint.transform.rotation.pitch, yaw_1, second_actor_waypoint.transform.rotation.roll + ) + ) + + first_actor = CarlaDataProvider.request_new_actor('vehicle.nissan.patrol', first_actor_transform) + second_actor = CarlaDataProvider.request_new_actor('vehicle.diamondback.century', second_actor_transform) + + first_actor.set_simulate_physics(enabled=False) + second_actor.set_simulate_physics(enabled=False) + self.other_actors.append(first_actor) + self.other_actors.append(second_actor) + + 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", 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(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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + + criteria.append(collision_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/follow_leading_vehicle_new.py b/core/simulators/srunner/scenarios/follow_leading_vehicle_new.py index fe9856f5..b9c4b8fe 100644 --- a/core/simulators/srunner/scenarios/follow_leading_vehicle_new.py +++ b/core/simulators/srunner/scenarios/follow_leading_vehicle_new.py @@ -18,7 +18,7 @@ from core.utils.planner import RoadOption -class FollowLeadingVehicle(BasicScenario): +class FollowLeadingVehicleNew(BasicScenario): def __init__( self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 @@ -32,8 +32,8 @@ def __init__( self._other_actor_transform = None self.timeout = timeout self._ego_other_distance_start = random.randint(4, 8) - super(FollowLeadingVehicle, self).__init__( - "FollowLeadingVehicle", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + super(FollowLeadingVehicleNew, self).__init__( + "FollowLeadingVehicleNew", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable ) def _initialize_actors(self, config): diff --git a/core/simulators/srunner/scenarios/junction_crossing_route.py b/core/simulators/srunner/scenarios/junction_crossing_route.py new file mode 100644 index 00000000..8f3bc956 --- /dev/null +++ b/core/simulators/srunner/scenarios/junction_crossing_route.py @@ -0,0 +1,180 @@ +#!/usr/bin/env python + +# Copyright (c) 2018-2020 Intel Corporation +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +All intersection related scenarios that are part of a route. +""" + +from __future__ import print_function + +import py_trees + +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import TrafficLightManipulator + +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import \ + CollisionTest, DrivenDistanceTest, MaxVelocityTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import \ + DriveDistance, WaitEndIntersection +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario + + +class SignalJunctionCrossingRoute(BasicScenario): + """ + At routes, these scenarios are simplified, as they can be triggered making + use of the background activity. To ensure interactions with this background + activity, the traffic lights are modified, setting two of them to green + """ + + # ego vehicle parameters + _ego_max_velocity_allowed = 20 # Maximum allowed velocity [m/s] + _ego_expected_driven_distance = 50 # Expected driven distance [m] + _ego_distance_to_drive = 20 # Allowed distance to drive + + _traffic_light = None + + # Depending on the route, decide which traffic lights can be modified + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=180 + ): + """ + Setup all relevant parameters and create scenario + and instantiate scenario manager + """ + # Timeout of scenario in seconds + self.timeout = timeout + self.subtype = config.subtype + + super(SignalJunctionCrossingRoute, self).__init__( + "SignalJunctionCrossingRoute", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + max_velocity_criterion = MaxVelocityTest(self.ego_vehicles[0], self._ego_max_velocity_allowed, optional=True) + collision_criterion = CollisionTest(self.ego_vehicles[0]) + driven_distance_criterion = DrivenDistanceTest(self.ego_vehicles[0], self._ego_expected_driven_distance) + + criteria.append(max_velocity_criterion) + criteria.append(collision_criterion) + criteria.append(driven_distance_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors and traffic lights upon deletion + """ + self._traffic_light = None + self.remove_all_actors() + + +class NoSignalJunctionCrossingRoute(BasicScenario): + """ + At routes, these scenarios are simplified, as they can be triggered making + use of the background activity. For unsignalized intersections, just wait + until the ego_vehicle has left the intersection. + """ + + # ego vehicle parameters + _ego_max_velocity_allowed = 20 # Maximum allowed velocity [m/s] + _ego_expected_driven_distance = 50 # Expected driven distance [m] + _ego_distance_to_drive = 20 # Allowed distance to drive + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=180 + ): + """ + Setup all relevant parameters and create scenario + and instantiate scenario manager + """ + # Timeout of scenario in seconds + self.timeout = timeout + + super(NoSignalJunctionCrossingRoute, self).__init__( + "NoSignalJunctionCrossingRoute", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + max_velocity_criterion = MaxVelocityTest(self.ego_vehicles[0], self._ego_max_velocity_allowed, optional=True) + collision_criterion = CollisionTest(self.ego_vehicles[0]) + driven_distance_criterion = DrivenDistanceTest(self.ego_vehicles[0], self._ego_expected_driven_distance) + + criteria.append(max_velocity_criterion) + criteria.append(collision_criterion) + criteria.append(driven_distance_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors and traffic lights upon deletion + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/maneuver_opposite_direction.py b/core/simulators/srunner/scenarios/maneuver_opposite_direction.py new file mode 100644 index 00000000..5a6c5b9a --- /dev/null +++ b/core/simulators/srunner/scenarios/maneuver_opposite_direction.py @@ -0,0 +1,178 @@ +#!/usr/bin/env python + +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +Vehicle Maneuvering In Opposite Direction: + +Vehicle is passing another vehicle in a rural area, in daylight, under clear +weather conditions, at a non-junction and encroaches into another +vehicle traveling in the opposite direction. +""" + +from six.moves.queue import Queue # pylint: disable=relative-import + +import math +import py_trees +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ( + ActorTransformSetter, ActorDestroy, ActorSource, ActorSink, WaypointFollower +) +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import DriveDistance +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario +from core.simulators.srunner.tools.scenario_helper import get_waypoint_in_distance + + +class ManeuverOppositeDirection(BasicScenario): + """ + "Vehicle Maneuvering In Opposite Direction" (Traffic Scenario 06) + This is a single ego vehicle scenario + """ + + def __init__( + self, + world, + ego_vehicles, + config, + randomize=False, + debug_mode=False, + criteria_enable=True, + obstacle_type='barrier', + timeout=120 + ): + """ + Setup all relevant parameters and create scenario + obstacle_type -> flag to select type of leading obstacle. Values: vehicle, barrier + """ + self._world = world + self._map = CarlaDataProvider.get_map() + self._first_vehicle_location = 50 + self._second_vehicle_location = self._first_vehicle_location + 60 + self._ego_vehicle_drive_distance = self._second_vehicle_location * 2 + self._start_distance = self._first_vehicle_location * 0.9 + self._opposite_speed = 5.56 # m/s + self._source_gap = 40 # m + self._reference_waypoint = self._map.get_waypoint(config.trigger_points[0].location) + self._source_transform = None + self._sink_location = None + self._blackboard_queue_name = 'ManeuverOppositeDirection/actor_flow_queue' + self._queue = py_trees.blackboard.Blackboard().set(self._blackboard_queue_name, Queue()) + self._obstacle_type = obstacle_type + self._first_actor_transform = None + self._second_actor_transform = None + self._third_actor_transform = None + # Timeout of scenario in seconds + self.timeout = timeout + + super(ManeuverOppositeDirection, self).__init__( + "ManeuverOppositeDirection", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + first_actor_waypoint, _ = get_waypoint_in_distance(self._reference_waypoint, self._first_vehicle_location) + second_actor_waypoint, _ = get_waypoint_in_distance(self._reference_waypoint, self._second_vehicle_location) + second_actor_waypoint = second_actor_waypoint.get_left_lane() + + first_actor_transform = carla.Transform( + first_actor_waypoint.transform.location, first_actor_waypoint.transform.rotation + ) + if self._obstacle_type == 'vehicle': + first_actor_model = 'vehicle.nissan.micra' + else: + first_actor_transform.rotation.yaw += 90 + first_actor_model = 'static.prop.streetbarrier' + second_prop_waypoint = first_actor_waypoint.next(2.0)[0] + position_yaw = second_prop_waypoint.transform.rotation.yaw + 90 + offset_location = carla.Location( + 0.50 * second_prop_waypoint.lane_width * math.cos(math.radians(position_yaw)), + 0.50 * second_prop_waypoint.lane_width * math.sin(math.radians(position_yaw)) + ) + second_prop_transform = carla.Transform( + second_prop_waypoint.transform.location + offset_location, first_actor_transform.rotation + ) + second_prop_actor = CarlaDataProvider.request_new_actor(first_actor_model, second_prop_transform) + second_prop_actor.set_simulate_physics(True) + first_actor = CarlaDataProvider.request_new_actor(first_actor_model, first_actor_transform) + first_actor.set_simulate_physics(True) + second_actor = CarlaDataProvider.request_new_actor('vehicle.audi.tt', second_actor_waypoint.transform) + + self.other_actors.append(first_actor) + self.other_actors.append(second_actor) + if self._obstacle_type != 'vehicle': + self.other_actors.append(second_prop_actor) + + self._source_transform = second_actor_waypoint.transform + sink_waypoint = second_actor_waypoint.next(1)[0] + while not sink_waypoint.is_intersection: + sink_waypoint = sink_waypoint.next(1)[0] + self._sink_location = sink_waypoint.transform.location + + self._first_actor_transform = first_actor_transform + self._second_actor_transform = second_actor_waypoint.transform + self._third_actor_transform = second_prop_transform + + 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 + ) + + # 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) + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + criteria.append(collision_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/no_signal_junction_crossing.py b/core/simulators/srunner/scenarios/no_signal_junction_crossing.py new file mode 100644 index 00000000..3f52dc68 --- /dev/null +++ b/core/simulators/srunner/scenarios/no_signal_junction_crossing.py @@ -0,0 +1,140 @@ +#!/usr/bin/env python + +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +Non-signalized junctions: crossing negotiation: + +The hero vehicle is passing through a junction without traffic lights +And encounters another vehicle passing across the junction. +""" + +import py_trees +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ( + ActorTransformSetter, ActorDestroy, SyncArrival, KeepVelocity, StopVehicle +) +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import InTriggerRegion +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario + + +class NoSignalJunctionCrossing(BasicScenario): + """ + Implementation class for + 'Non-signalized junctions: crossing negotiation' scenario, + (Traffic Scenario 10). + + This is a single ego vehicle scenario + """ + + # ego vehicle parameters + _ego_vehicle_max_velocity = 20 + _ego_vehicle_driven_distance = 105 + + # other vehicle + _other_actor_max_brake = 1.0 + _other_actor_target_velocity = 15 + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + """ + Setup all relevant parameters and create scenario + """ + + self._other_actor_transform = None + # Timeout of scenario in seconds + self.timeout = timeout + + super(NoSignalJunctionCrossing, self).__init__( + "NoSignalJunctionCrossing", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + self._other_actor_transform = config.other_actors[0].transform + first_vehicle_transform = carla.Transform( + carla.Location( + config.other_actors[0].transform.location.x, config.other_actors[0].transform.location.y, + config.other_actors[0].transform.location.z - 500 + ), config.other_actors[0].transform.rotation + ) + first_vehicle = CarlaDataProvider.request_new_actor(config.other_actors[0].model, first_vehicle_transform) + first_vehicle.set_simulate_physics(enabled=False) + self.other_actors.append(first_vehicle) + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collison_criteria = CollisionTest(self.ego_vehicles[0]) + criteria.append(collison_criteria) + + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/object_crash_intersection.py b/core/simulators/srunner/scenarios/object_crash_intersection.py new file mode 100644 index 00000000..60fe1202 --- /dev/null +++ b/core/simulators/srunner/scenarios/object_crash_intersection.py @@ -0,0 +1,609 @@ +#!/usr/bin/env python + +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +Object crash with prior vehicle action scenario: +The scenario realizes the user controlled ego vehicle +moving along the road and encounters a cyclist ahead after taking a right or left turn. +""" + +from __future__ import print_function + +import math +import py_trees + +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ( + ActorTransformSetter, ActorDestroy, KeepVelocity, HandBrakeVehicle +) +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import ( + InTriggerDistanceToLocationAlongRoute, InTriggerDistanceToVehicle, DriveDistance +) +from core.simulators.srunner.scenariomanager.timer import TimeOut +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario +from core.simulators.srunner.tools.scenario_helper import generate_target_waypoint, generate_target_waypoint_in_route + + +def get_opponent_transform(added_dist, waypoint, trigger_location): + """ + Calculate the transform of the adversary + """ + lane_width = waypoint.lane_width + + offset = {"orientation": 270, "position": 90, "k": 1.0} + _wp = waypoint.next(added_dist) + if _wp: + _wp = _wp[-1] + else: + raise RuntimeError("Cannot get next waypoint !") + + location = _wp.transform.location + orientation_yaw = _wp.transform.rotation.yaw + offset["orientation"] + position_yaw = _wp.transform.rotation.yaw + offset["position"] + + offset_location = carla.Location( + offset['k'] * lane_width * math.cos(math.radians(position_yaw)), + offset['k'] * lane_width * math.sin(math.radians(position_yaw)) + ) + location += offset_location + location.z = trigger_location.z + transform = carla.Transform(location, carla.Rotation(yaw=orientation_yaw)) + + return transform + + +def get_right_driving_lane(waypoint): + """ + Gets the driving / parking lane that is most to the right of the waypoint + as well as the number of lane changes done + """ + lane_changes = 0 + + while True: + wp_next = waypoint.get_right_lane() + lane_changes += 1 + + if wp_next is None or wp_next.lane_type == carla.LaneType.Sidewalk: + break + elif wp_next.lane_type == carla.LaneType.Shoulder: + # Filter Parkings considered as Shoulders + if is_lane_a_parking(wp_next): + lane_changes += 1 + waypoint = wp_next + break + else: + waypoint = wp_next + + return waypoint, lane_changes + + +def is_lane_a_parking(waypoint): + """ + This function filters false negative Shoulder which are in reality Parking lanes. + These are differentiated from the others because, similar to the driving lanes, + they have, on the right, a small Shoulder followed by a Sidewalk. + """ + + # Parking are wide lanes + if waypoint.lane_width > 2: + wp_next = waypoint.get_right_lane() + + # That are next to a mini-Shoulder + if wp_next is not None and wp_next.lane_type == carla.LaneType.Shoulder: + wp_next_next = wp_next.get_right_lane() + + # Followed by a Sidewalk + if wp_next_next is not None and wp_next_next.lane_type == carla.LaneType.Sidewalk: + return True + + return False + + +class VehicleTurningRight(BasicScenario): + """ + This class holds everything required for a simple object crash + with prior vehicle action involving a vehicle and a cyclist. + The ego vehicle is passing through a road and encounters + a cyclist after taking a right turn. (Traffic Scenario 4) + + This is a single ego vehicle scenario + """ + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + """ + Setup all relevant parameters and create scenario + """ + + self._other_actor_target_velocity = 10 + self._wmap = CarlaDataProvider.get_map() + self._reference_waypoint = self._wmap.get_waypoint(config.trigger_points[0].location) + self._trigger_location = config.trigger_points[0].location + self._other_actor_transform = None + self._num_lane_changes = 0 + # Timeout of scenario in seconds + self.timeout = timeout + # Total Number of attempts to relocate a vehicle before spawning + self._number_of_attempts = 6 + # Number of attempts made so far + self._spawn_attempted = 0 + + self._ego_route = CarlaDataProvider.get_ego_vehicle_route() + + super(VehicleTurningRight, self).__init__( + "VehicleTurningRight", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + + # Get the waypoint right after the junction + waypoint = generate_target_waypoint(self._reference_waypoint, 1) + + # Move a certain distance to the front + start_distance = 8 + waypoint = waypoint.next(start_distance)[0] + + # Get the last driving lane to the right + waypoint, self._num_lane_changes = get_right_driving_lane(waypoint) + # And for synchrony purposes, move to the front a bit + added_dist = self._num_lane_changes + + while True: + + # Try to spawn the actor + try: + self._other_actor_transform = get_opponent_transform(added_dist, waypoint, self._trigger_location) + first_vehicle = CarlaDataProvider.request_new_actor( + 'vehicle.diamondback.century', self._other_actor_transform + ) + first_vehicle.set_simulate_physics(enabled=False) + break + + # Move the spawning point a bit and try again + except RuntimeError as r: + # In the case there is an object just move a little bit and retry + print(" Base transform is blocking objects ", self._other_actor_transform) + added_dist += 0.5 + self._spawn_attempted += 1 + if self._spawn_attempted >= self._number_of_attempts: + raise r + + # Set the transform to -500 z after we are able to spawn it + actor_transform = carla.Transform( + carla.Location( + self._other_actor_transform.location.x, self._other_actor_transform.location.y, + self._other_actor_transform.location.z - 500 + ), self._other_actor_transform.rotation + ) + first_vehicle.set_transform(actor_transform) + first_vehicle.set_simulate_physics(enabled=False) + self.other_actors.append(first_vehicle) + + 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 + dist_to_travel = lane_width + (1.10 * lane_width * self._num_lane_changes) + + bycicle_start_dist = 13 + dist_to_travel + + if self._ego_route is not None: + trigger_distance = InTriggerDistanceToLocationAlongRoute( + self.ego_vehicles[0], self._ego_route, self._other_actor_transform.location, bycicle_start_dist + ) + else: + trigger_distance = InTriggerDistanceToVehicle( + self.other_actors[0], self.ego_vehicles[0], bycicle_start_dist + ) + + actor_velocity = KeepVelocity(self.other_actors[0], self._other_actor_target_velocity) + actor_traverse = DriveDistance(self.other_actors[0], 0.30 * dist_to_travel) + 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 * dist_to_travel) + 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 timeout 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(HandBrakeVehicle(self.other_actors[0], True)) + scenario_sequence.add_child(trigger_distance) + scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[0], False)) + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + collision_criterion = CollisionTest(self.ego_vehicles[0]) + + criteria.append(collision_criterion) + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() + + +class VehicleTurningLeft(BasicScenario): + """ + This class holds everything required for a simple object crash + with prior vehicle action involving a vehicle and a cyclist. + The ego vehicle is passing through a road and encounters + a cyclist after taking a left turn. (Traffic Scenario 4) + + This is a single ego vehicle scenario + """ + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + """ + Setup all relevant parameters and create scenario + """ + + self._other_actor_target_velocity = 10 + self._wmap = CarlaDataProvider.get_map() + self._reference_waypoint = self._wmap.get_waypoint(config.trigger_points[0].location) + self._trigger_location = config.trigger_points[0].location + self._other_actor_transform = None + self._num_lane_changes = 0 + # Timeout of scenario in seconds + self.timeout = timeout + # Total Number of attempts to relocate a vehicle before spawning + self._number_of_attempts = 6 + # Number of attempts made so far + self._spawn_attempted = 0 + + self._ego_route = CarlaDataProvider.get_ego_vehicle_route() + + super(VehicleTurningLeft, self).__init__( + "VehicleTurningLeft", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + + # Get the waypoint right after the junction + waypoint = generate_target_waypoint(self._reference_waypoint, -1) + + # Move a certain distance to the front + start_distance = 8 + waypoint = waypoint.next(start_distance)[0] + + # Get the last driving lane to the right + waypoint, self._num_lane_changes = get_right_driving_lane(waypoint) + # And for synchrony purposes, move to the front a bit + added_dist = self._num_lane_changes + + while True: + + # Try to spawn the actor + try: + self._other_actor_transform = get_opponent_transform(added_dist, waypoint, self._trigger_location) + first_vehicle = CarlaDataProvider.request_new_actor( + 'vehicle.diamondback.century', self._other_actor_transform + ) + first_vehicle.set_simulate_physics(enabled=False) + break + + # Move the spawning point a bit and try again + except RuntimeError as r: + # In the case there is an object just move a little bit and retry + print(" Base transform is blocking objects ", self._other_actor_transform) + added_dist += 0.5 + self._spawn_attempted += 1 + if self._spawn_attempted >= self._number_of_attempts: + raise r + + # Set the transform to -500 z after we are able to spawn it + actor_transform = carla.Transform( + carla.Location( + self._other_actor_transform.location.x, self._other_actor_transform.location.y, + self._other_actor_transform.location.z - 500 + ), self._other_actor_transform.rotation + ) + first_vehicle.set_transform(actor_transform) + first_vehicle.set_simulate_physics(enabled=False) + self.other_actors.append(first_vehicle) + + 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 left 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="IntersectionLeftTurn" + ) + + lane_width = self._reference_waypoint.lane_width + dist_to_travel = lane_width + (1.10 * lane_width * self._num_lane_changes) + + bycicle_start_dist = 13 + dist_to_travel + + if self._ego_route is not None: + trigger_distance = InTriggerDistanceToLocationAlongRoute( + self.ego_vehicles[0], self._ego_route, self._other_actor_transform.location, bycicle_start_dist + ) + else: + trigger_distance = InTriggerDistanceToVehicle( + self.other_actors[0], self.ego_vehicles[0], bycicle_start_dist + ) + + actor_velocity = KeepVelocity(self.other_actors[0], self._other_actor_target_velocity) + actor_traverse = DriveDistance(self.other_actors[0], 0.30 * dist_to_travel) + 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 * dist_to_travel) + 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 timeout 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(HandBrakeVehicle(self.other_actors[0], True)) + scenario_sequence.add_child(trigger_distance) + scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[0], False)) + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + collision_criterion = CollisionTest(self.ego_vehicles[0]) + + criteria.append(collision_criterion) + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() + + +class VehicleTurningRoute(BasicScenario): + """ + This class holds everything required for a simple object crash + with prior vehicle action involving a vehicle and a cyclist. + The ego vehicle is passing through a road and encounters + a cyclist after taking a turn. This is the version used when the ego vehicle + is following a given route. (Traffic Scenario 4) + + This is a single ego vehicle scenario + """ + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + """ + Setup all relevant parameters and create scenario + """ + + self._other_actor_target_velocity = 10 + self._wmap = CarlaDataProvider.get_map() + self._reference_waypoint = self._wmap.get_waypoint(config.trigger_points[0].location) + self._trigger_location = config.trigger_points[0].location + self._other_actor_transform = None + self._num_lane_changes = 0 + # Timeout of scenario in seconds + self.timeout = timeout + # Total Number of attempts to relocate a vehicle before spawning + self._number_of_attempts = 6 + # Number of attempts made so far + self._spawn_attempted = 0 + + self._ego_route = CarlaDataProvider.get_ego_vehicle_route() + + super(VehicleTurningRoute, self).__init__( + "VehicleTurningRoute", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + + # Get the waypoint right after the junction + waypoint = generate_target_waypoint_in_route(self._reference_waypoint, self._ego_route) + + # Move a certain distance to the front + start_distance = 8 + waypoint = waypoint.next(start_distance)[0] + + # Get the last driving lane to the right + waypoint, self._num_lane_changes = get_right_driving_lane(waypoint) + # And for synchrony purposes, move to the front a bit + added_dist = self._num_lane_changes + + while True: + + # Try to spawn the actor + try: + self._other_actor_transform = get_opponent_transform(added_dist, waypoint, self._trigger_location) + first_vehicle = CarlaDataProvider.request_new_actor( + 'vehicle.diamondback.century', self._other_actor_transform + ) + first_vehicle.set_simulate_physics(enabled=False) + break + + # Move the spawning point a bit and try again + except RuntimeError as r: + # In the case there is an object just move a little bit and retry + print(" Base transform is blocking objects ", self._other_actor_transform) + added_dist += 0.5 + self._spawn_attempted += 1 + if self._spawn_attempted >= self._number_of_attempts: + raise r + + # Set the transform to -500 z after we are able to spawn it + actor_transform = carla.Transform( + carla.Location( + self._other_actor_transform.location.x, self._other_actor_transform.location.y, + self._other_actor_transform.location.z - 500 + ), self._other_actor_transform.rotation + ) + first_vehicle.set_transform(actor_transform) + first_vehicle.set_simulate_physics(enabled=False) + self.other_actors.append(first_vehicle) + + 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. + """ + + root = py_trees.composites.Parallel( + policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="IntersectionRouteTurn" + ) + + lane_width = self._reference_waypoint.lane_width + dist_to_travel = lane_width + (1.10 * lane_width * self._num_lane_changes) + + bycicle_start_dist = 13 + dist_to_travel + + if self._ego_route is not None: + trigger_distance = InTriggerDistanceToLocationAlongRoute( + self.ego_vehicles[0], self._ego_route, self._other_actor_transform.location, bycicle_start_dist + ) + else: + trigger_distance = InTriggerDistanceToVehicle( + self.other_actors[0], self.ego_vehicles[0], bycicle_start_dist + ) + + actor_velocity = KeepVelocity(self.other_actors[0], self._other_actor_target_velocity) + actor_traverse = DriveDistance(self.other_actors[0], 0.30 * dist_to_travel) + 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 * dist_to_travel) + 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 timeout 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(HandBrakeVehicle(self.other_actors[0], True)) + scenario_sequence.add_child(trigger_distance) + scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[0], False)) + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + collision_criterion = CollisionTest(self.ego_vehicles[0]) + + criteria.append(collision_criterion) + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/object_crash_vehicle.py b/core/simulators/srunner/scenarios/object_crash_vehicle.py new file mode 100644 index 00000000..5ae269f0 --- /dev/null +++ b/core/simulators/srunner/scenarios/object_crash_vehicle.py @@ -0,0 +1,397 @@ +#!/usr/bin/env python +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +Object crash without prior vehicle action scenario: +The scenario realizes the user controlled ego vehicle +moving along the road and encountering a cyclist ahead. +""" + +from __future__ import print_function + +import math +import py_trees +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ( + ActorTransformSetter, ActorDestroy, AccelerateToVelocity, HandBrakeVehicle, KeepVelocity, StopVehicle +) +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import ( + InTriggerDistanceToLocationAlongRoute, InTimeToArrivalToVehicle, DriveDistance +) +from core.simulators.srunner.scenariomanager.timer import TimeOut +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario +from core.simulators.srunner.tools.scenario_helper import get_location_in_distance_from_wp + + +class StationaryObjectCrossing(BasicScenario): + """ + This class holds everything required for a simple object crash + without prior vehicle action involving a vehicle and a cyclist. + The ego vehicle is passing through a road and encounters + a stationary cyclist. + + This is a single ego vehicle scenario + """ + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=60 + ): + """ + Setup all relevant parameters and create scenario + """ + self._wmap = CarlaDataProvider.get_map() + self._reference_waypoint = self._wmap.get_waypoint(config.trigger_points[0].location) + # ego vehicle parameters + self._ego_vehicle_distance_driven = 40 + + # other vehicle parameters + self._other_actor_target_velocity = 10 + # Timeout of scenario in seconds + self.timeout = timeout + + super(StationaryObjectCrossing, self).__init__( + "Stationaryobjectcrossing", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + _start_distance = 40 + lane_width = self._reference_waypoint.lane_width + location, _ = get_location_in_distance_from_wp(self._reference_waypoint, _start_distance) + waypoint = self._wmap.get_waypoint(location) + offset = {"orientation": 270, "position": 90, "z": 0.4, "k": 0.2} + position_yaw = waypoint.transform.rotation.yaw + offset['position'] + orientation_yaw = waypoint.transform.rotation.yaw + offset['orientation'] + offset_location = carla.Location( + offset['k'] * lane_width * math.cos(math.radians(position_yaw)), + offset['k'] * lane_width * math.sin(math.radians(position_yaw)) + ) + location += offset_location + location.z += offset['z'] + self.transform = carla.Transform(location, carla.Rotation(yaw=orientation_yaw)) + static = CarlaDataProvider.request_new_actor('static.prop.container', self.transform) + static.set_simulate_physics(True) + self.other_actors.append(static) + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + criteria.append(collision_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() + + +class DynamicObjectCrossing(BasicScenario): + """ + This class holds everything required for a simple object crash + without prior vehicle action involving a vehicle and a cyclist/pedestrian, + The ego vehicle is passing through a road, + And encounters a cyclist/pedestrian crossing the road. + + This is a single ego vehicle scenario + """ + + def __init__( + self, + world, + ego_vehicles, + config, + randomize=False, + debug_mode=False, + criteria_enable=True, + adversary_type=False, + timeout=60 + ): + """ + Setup all relevant parameters and create scenario + """ + self._wmap = CarlaDataProvider.get_map() + + self._reference_waypoint = self._wmap.get_waypoint(config.trigger_points[0].location) + # ego vehicle parameters + self._ego_vehicle_distance_driven = 40 + # other vehicle parameters + self._other_actor_target_velocity = 5 + self._other_actor_max_brake = 1.0 + self._time_to_reach = 10 + self._adversary_type = adversary_type # flag to select either pedestrian (False) or cyclist (True) + self._walker_yaw = 0 + self._num_lane_changes = 1 + self.transform = None + self.transform2 = None + self.timeout = timeout + self._trigger_location = config.trigger_points[0].location + # Total Number of attempts to relocate a vehicle before spawning + self._number_of_attempts = 20 + # Number of attempts made so far + self._spawn_attempted = 0 + + self._ego_route = CarlaDataProvider.get_ego_vehicle_route() + + super(DynamicObjectCrossing, self).__init__( + "DynamicObjectCrossing", ego_vehicles, config, world, debug_mode, criteria_enable=criteria_enable + ) + + def _calculate_base_transform(self, _start_distance, waypoint): + + lane_width = waypoint.lane_width + + # Patches false junctions + if self._reference_waypoint.is_junction: + stop_at_junction = False + else: + stop_at_junction = True + + location, _ = get_location_in_distance_from_wp(waypoint, _start_distance, stop_at_junction) + waypoint = self._wmap.get_waypoint(location) + offset = {"orientation": 270, "position": 90, "z": 0.6, "k": 1.0} + position_yaw = waypoint.transform.rotation.yaw + offset['position'] + orientation_yaw = waypoint.transform.rotation.yaw + offset['orientation'] + offset_location = carla.Location( + offset['k'] * lane_width * math.cos(math.radians(position_yaw)), + offset['k'] * lane_width * math.sin(math.radians(position_yaw)) + ) + location += offset_location + location.z = self._trigger_location.z + offset['z'] + return carla.Transform(location, carla.Rotation(yaw=orientation_yaw)), orientation_yaw + + def _spawn_adversary(self, transform, orientation_yaw): + + self._time_to_reach *= self._num_lane_changes + + if self._adversary_type is False: + self._walker_yaw = orientation_yaw + self._other_actor_target_velocity = 3 + (0.4 * self._num_lane_changes) + walker = CarlaDataProvider.request_new_actor('walker.*', transform) + adversary = walker + else: + self._other_actor_target_velocity = self._other_actor_target_velocity * self._num_lane_changes + first_vehicle = CarlaDataProvider.request_new_actor('vehicle.diamondback.century', transform) + first_vehicle.set_simulate_physics(enabled=False) + adversary = first_vehicle + + return adversary + + def _spawn_blocker(self, transform, orientation_yaw): + """ + Spawn the blocker prop that blocks the vision from the egovehicle of the jaywalker + :return: + """ + # static object transform + shift = 0.9 + x_ego = self._reference_waypoint.transform.location.x + y_ego = self._reference_waypoint.transform.location.y + x_cycle = transform.location.x + y_cycle = transform.location.y + x_static = x_ego + shift * (x_cycle - x_ego) + y_static = y_ego + shift * (y_cycle - y_ego) + + spawn_point_wp = self.ego_vehicles[0].get_world().get_map().get_waypoint(transform.location) + + self.transform2 = carla.Transform( + carla.Location(x_static, y_static, spawn_point_wp.transform.location.z + 0.3), + carla.Rotation(yaw=orientation_yaw + 180) + ) + + static = CarlaDataProvider.request_new_actor('static.prop.vendingmachine', self.transform2) + static.set_simulate_physics(enabled=False) + + return static + + def _initialize_actors(self, config): + """ + Custom initialization + """ + # cyclist transform + _start_distance = 12 + # We start by getting and waypoint in the closest sidewalk. + waypoint = self._reference_waypoint + while True: + wp_next = waypoint.get_right_lane() + self._num_lane_changes += 1 + if wp_next is None or wp_next.lane_type == carla.LaneType.Sidewalk: + break + elif wp_next.lane_type == carla.LaneType.Shoulder: + # Filter Parkings considered as Shoulders + if wp_next.lane_width > 2: + _start_distance += 1.5 + waypoint = wp_next + break + else: + _start_distance += 1.5 + waypoint = wp_next + + while True: # We keep trying to spawn avoiding props + + try: + self.transform, orientation_yaw = self._calculate_base_transform(_start_distance, waypoint) + first_vehicle = self._spawn_adversary(self.transform, orientation_yaw) + + blocker = self._spawn_blocker(self.transform, orientation_yaw) + + break + except RuntimeError as r: + # We keep retrying until we spawn + print("Base transform is blocking objects ", self.transform) + _start_distance += 0.4 + self._spawn_attempted += 1 + if self._spawn_attempted >= self._number_of_attempts: + raise r + + # Now that we found a possible position we just put the vehicle to the underground + disp_transform = carla.Transform( + carla.Location(self.transform.location.x, self.transform.location.y, self.transform.location.z - 500), + self.transform.rotation + ) + + prop_disp_transform = carla.Transform( + carla.Location(self.transform2.location.x, self.transform2.location.y, self.transform2.location.z - 500), + self.transform2.rotation + ) + + first_vehicle.set_transform(disp_transform) + blocker.set_transform(prop_disp_transform) + first_vehicle.set_simulate_physics(enabled=False) + blocker.set_simulate_physics(enabled=False) + self.other_actors.append(first_vehicle) + self.other_actors.append(blocker) + + 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.ego_vehicles[0], self.other_actors[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') + ) + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + criteria.append(collision_criterion) + + return criteria + + def __del__(self): + """ + Remove all actors upon deletion + """ + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/other_leading_vehicle.py b/core/simulators/srunner/scenarios/other_leading_vehicle.py new file mode 100644 index 00000000..3a12eb18 --- /dev/null +++ b/core/simulators/srunner/scenarios/other_leading_vehicle.py @@ -0,0 +1,159 @@ +#!/usr/bin/env python + +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . +""" +Other Leading Vehicle scenario: + +The scenario realizes a common driving behavior, in which the +user-controlled ego vehicle follows a leading car driving down +a given road. At some point the leading car has to decelerate. +The ego vehicle has to react accordingly by changing lane to avoid a +collision and follow the leading car in other lane. The scenario ends +either via a timeout, or if the ego vehicle drives some distance. +""" + +import py_trees + +import carla + +from core.simulators.carla_data_provider import CarlaDataProvider +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_behaviors import ( + ActorTransformSetter, WaypointFollower, ActorDestroy +) +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest +from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import ( + InTriggerDistanceToVehicle, DriveDistance +) +from core.simulators.srunner.scenarios.basic_scenario import BasicScenario +from core.simulators.srunner.tools.scenario_helper import get_waypoint_in_distance + + +class OtherLeadingVehicle(BasicScenario): + """ + This class holds everything required for a simple "Other Leading Vehicle" + scenario involving a user controlled vehicle and two other actors. + Traffic Scenario 05 + + This is a single ego vehicle scenario + """ + + def __init__( + self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True, timeout=80 + ): + """ + Setup all relevant parameters and create scenario + """ + self._world = world + self._map = CarlaDataProvider.get_map() + self._first_vehicle_location = 35 + self._second_vehicle_location = self._first_vehicle_location + 1 + self._ego_vehicle_drive_distance = self._first_vehicle_location * 4 + self._first_vehicle_speed = 55 + self._second_vehicle_speed = 45 + self._reference_waypoint = self._map.get_waypoint(config.trigger_points[0].location) + self._other_actor_max_brake = 1.0 + self._first_actor_transform = None + self._second_actor_transform = None + # Timeout of scenario in seconds + self.timeout = timeout + + super(OtherLeadingVehicle, self).__init__( + "VehicleDeceleratingInMultiLaneSetUp", + ego_vehicles, + config, + world, + debug_mode, + criteria_enable=criteria_enable + ) + + def _initialize_actors(self, config): + """ + Custom initialization + """ + first_vehicle_waypoint, _ = get_waypoint_in_distance(self._reference_waypoint, self._first_vehicle_location) + second_vehicle_waypoint, _ = get_waypoint_in_distance(self._reference_waypoint, self._second_vehicle_location) + second_vehicle_waypoint = second_vehicle_waypoint.get_left_lane() + + first_vehicle_transform = carla.Transform( + first_vehicle_waypoint.transform.location, first_vehicle_waypoint.transform.rotation + ) + second_vehicle_transform = carla.Transform( + second_vehicle_waypoint.transform.location, second_vehicle_waypoint.transform.rotation + ) + + first_vehicle = CarlaDataProvider.request_new_actor('vehicle.nissan.patrol', first_vehicle_transform) + second_vehicle = CarlaDataProvider.request_new_actor('vehicle.audi.tt', second_vehicle_transform) + + self.other_actors.append(first_vehicle) + self.other_actors.append(second_vehicle) + + self._first_actor_transform = first_vehicle_transform + self._second_actor_transform = second_vehicle_transform + + 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_test_criteria(self): + """ + A list of all test criteria will be created that is later used + in parallel behavior tree. + """ + criteria = [] + + collision_criterion = CollisionTest(self.ego_vehicles[0]) + criteria.append(collision_criterion) + + return criteria + + def __del__(self): + self.remove_all_actors() diff --git a/core/simulators/srunner/scenarios/route_scenario.py b/core/simulators/srunner/scenarios/route_scenario.py index 3c86a08c..2d68a5e8 100644 --- a/core/simulators/srunner/scenarios/route_scenario.py +++ b/core/simulators/srunner/scenarios/route_scenario.py @@ -32,14 +32,22 @@ from core.simulators.srunner.tools.route_manipulation import interpolate_trajectory, downsample_route from core.simulators.srunner.tools.py_trees_port import oneshot_behavior -from core.simulators.srunner.scenarios.control_loss_new import ControlLoss -from core.simulators.srunner.scenarios.follow_leading_vehicle_new import FollowLeadingVehicle +from core.simulators.srunner.scenarios.control_loss_new import ControlLossNew +from core.simulators.srunner.scenarios.control_loss import ControlLoss +from core.simulators.srunner.scenarios.follow_leading_vehicle_new import FollowLeadingVehicleNew +from core.simulators.srunner.scenarios.follow_leading_vehicle import FollowLeadingVehicle from core.simulators.srunner.scenarios.change_lane import ChangeLane -from core.simulators.srunner.scenarios.cut_in_new import CutIn +from core.simulators.srunner.scenarios.cut_in import CutIn from core.simulators.srunner.scenarios.opposite_direction import OppositeDirection from core.simulators.srunner.scenarios.signalized_junction_left_turn import SignalizedJunctionLeftTurn from core.simulators.srunner.scenarios.signalized_junction_right_turn import SignalizedJunctionRightTurn from core.simulators.srunner.scenarios.signalized_junction_straight import SignalizedJunctionStraight +from core.simulators.srunner.scenarios.object_crash_vehicle import DynamicObjectCrossing +from core.simulators.srunner.scenarios.object_crash_intersection import VehicleTurningRoute +from core.simulators.srunner.scenarios.other_leading_vehicle import OtherLeadingVehicle +from core.simulators.srunner.scenarios.junction_crossing_route import SignalJunctionCrossingRoute, \ + NoSignalJunctionCrossingRoute +from core.simulators.srunner.scenarios.maneuver_opposite_direction import ManeuverOppositeDirection from core.simulators.srunner.scenariomanager.scenarioatomics.atomic_criteria import \ (CollisionTest, @@ -52,14 +60,34 @@ SECONDS_GIVEN_PER_METERS = 0.5 SCENARIO_CLASS_DICT = { + "ControlLossNew": ControlLossNew, "ControlLoss": ControlLoss, + "FollowLeadingVehicleNew": FollowLeadingVehicleNew, "FollowLeadingVehicle": FollowLeadingVehicle, "ChangeLane": ChangeLane, "CutIn": CutIn, "OppositeDirection": OppositeDirection, + "ManeuverOppositeDirection": ManeuverOppositeDirection, "SignalizedJunctionLeftTurn": SignalizedJunctionLeftTurn, "SignalizedJunctionRightTurn": SignalizedJunctionRightTurn, "SignalizedJunctionStraight": SignalizedJunctionStraight, + "DynamicObjectCrossing": DynamicObjectCrossing, + 'VehicleTurningRoute': VehicleTurningRoute, + 'NoSignalJunctionCrossingRoute': NoSignalJunctionCrossingRoute, + 'OtherLeadingVehicle': OtherLeadingVehicle +} + +NUMBER_CLASS_DICT = { + "Scenario1": 'ControlLoss', + "Scenario2": 'FollowLeadingVehicle', + "Scenario3": 'DynamicObjectCrossing', + "Scenario4": 'VehicleTurningRoute', + "Scenario5": 'OtherLeadingVehicle', + "Scenario6": 'ManeuverOppositeDirection', + "Scenario7": 'SignalizedJunctionStraight', + "Scenario8": 'SignalizedJunctionLeftTurn', + "Scenario9": 'SignalizedJunctionRightTurn', + "Scenario10": 'NoSignalJunctionCrossingRoute' } @@ -318,6 +346,13 @@ def position_sampled(scenario_choice, sampled_scenarios): return sampled_scenarios + def _validate_type(self, definition): + """ + Suit for scenario type from scenario runner + """ + if 'Scenario' in definition['name']: + definition['name'] = NUMBER_CLASS_DICT[definition['name']] + def _build_scenario_instances( self, world, ego_vehicle, scenario_definitions, scenarios_per_tick=5, timeout=300, debug_mode=False ): @@ -344,6 +379,9 @@ def _build_scenario_instances( for scenario_number, definition in enumerate(scenario_definitions): # Get the class possibilities for this scenario number + + self._validate_type(definition) + scenario_class = SCENARIO_CLASS_DICT[definition['name']] # Create the other actors that are going to appear @@ -453,7 +491,7 @@ def _create_behavior(self): Basic behavior do nothing, i.e. Idle """ - scenario_trigger_distance = 1.5 # Max trigger distance between route and scenario + scenario_trigger_distance = 10 # Max trigger distance between route and scenario behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) diff --git a/core/simulators/srunner/tools/route_parser.py b/core/simulators/srunner/tools/route_parser.py index fc5ce6fe..48f92ed3 100644 --- a/core/simulators/srunner/tools/route_parser.py +++ b/core/simulators/srunner/tools/route_parser.py @@ -15,8 +15,8 @@ from core.simulators.srunner.scenarioconfigs.route_scenario_configuration import RouteScenarioConfiguration # TODO check this threshold, it could be a bit larger but not so large that we cluster scenarios. -TRIGGER_THRESHOLD = 5.0 # Threshold to say if a trigger position is new or repeated, works for matching positions -TRIGGER_ANGLE_THRESHOLD = 10 # Threshold to say if two angles can be considering matching when matching transforms. +TRIGGER_THRESHOLD = 10.0 # Threshold to say if a trigger position is new or repeated, works for matching positions +TRIGGER_ANGLE_THRESHOLD = 30 # Threshold to say if two angles can be considering matching when matching transforms. class RouteParser(object): diff --git a/core/simulators/srunner/tools/scenario_helper.py b/core/simulators/srunner/tools/scenario_helper.py index e8425729..7827d215 100644 --- a/core/simulators/srunner/tools/scenario_helper.py +++ b/core/simulators/srunner/tools/scenario_helper.py @@ -37,7 +37,7 @@ def get_distance_along_route(route, target_location): target_location_from_wp = wmap.get_waypoint(target_location).transform.location for position, _ in route: - + position = position.location location = target_location_from_wp # Don't perform any calculations for the first route point @@ -352,7 +352,7 @@ def generate_target_waypoint_in_route(waypoint, route): wp = route_pos[0] trigger_location = waypoint.transform.location - dist_to_route = trigger_location.distance(wp) + dist_to_route = trigger_location.distance(wp.location) if dist_to_route <= shortest_distance: closest_index = index shortest_distance = dist_to_route @@ -363,6 +363,8 @@ def generate_target_waypoint_in_route(waypoint, route): while True: # Get the next route location index = min(index + 1, len(route)) + if index >= len(route): + break route_location = route[index][0] road_option = route[index][1] @@ -374,7 +376,7 @@ def generate_target_waypoint_in_route(waypoint, route): if reached_junction and (road_option not in (RoadOption.LEFT, RoadOption.RIGHT, RoadOption.STRAIGHT)): break - return wmap.get_waypoint(route_location) + return wmap.get_waypoint(route_location.location) def choose_at_junction(current_waypoint, next_choices, direction=0): diff --git a/demo/auto_run/auto_run_case.py b/demo/auto_run/auto_run_case.py index d98a2808..7615197b 100644 --- a/demo/auto_run/auto_run_case.py +++ b/demo/auto_run/auto_run_case.py @@ -69,7 +69,6 @@ def main(args, cfg, seed=0): auto_policy.reset([0]) obs = carla_env.reset(config) while True: - carla_env.render() actions = auto_policy.forward({0: obs}) action = actions[0]['action'] timestep = carla_env.step(action) @@ -78,6 +77,7 @@ def main(args, cfg, seed=0): # If there is an abnormal timestep, reset all the related variables(including this env). auto_policy.reset([0]) obs = carla_env.reset(config) + carla_env.render() if timestep.done: break carla_env.close() diff --git a/docs/casezoo_instruction.md b/docs/casezoo_instruction.md index 5085009b..26be7164 100644 --- a/docs/casezoo_instruction.md +++ b/docs/casezoo_instruction.md @@ -24,9 +24,9 @@ python auto_run_case.py --host [CARLA HOST] --port [CARLA_PORT] --scenario [SCEN | Scenario name | Description | Sample image | File path | | :---: | :--- | :---: | :---: | -| ControlLoss | Hero vehicle briefly loses control and shakes | ![controlloss](figs/controlloss.png) | [control_loss_new.py](../core/simulators/srunner/scenarios/control_loss_new.py)
[ControlLoss.xml](../core/data/casezoo/example/ControlLoss.xml) | +| ControlLossNew | Hero vehicle briefly loses control and shakes | ![controlloss](figs/controlloss.png) | [control_loss_new.py](../core/simulators/srunner/scenarios/control_loss_new.py)
[ControlLoss.xml](../core/data/casezoo/example/ControlLoss.xml) | | CutIn | There is a car behind the side quickly approaches and then cuts into the current lane of the vehicle, and then the speed is reduced to drive at a constant speed | ![cutin](figs/cutin.png) | [cut_in_new.py](../core/simulators/srunner/scenarios/cut_in_new.py)
[CutIn.xml](../core/data/casezoo/example/CutIn.xml) | -| FollowLeadingVehicle | Follow a slower vehicle ahead (turns, straights, ramps) | ![follow](figs/follow.png) | [follow_leading_vehicle_new.py](../core/simulators/srunner/scenarios/follow_leading_vehicle_new.py)
[LeadingVehicle.xml](../core/data/casezoo/example/LeadingVehicle.xml)| +| FollowLeadingVehicleNew | Follow a slower vehicle ahead (turns, straights, ramps) | ![follow](figs/follow.png) | [follow_leading_vehicle_new.py](../core/simulators/srunner/scenarios/follow_leading_vehicle_new.py)
[LeadingVehicle.xml](../core/data/casezoo/example/LeadingVehicle.xml)| | ChangeLane | There is a normal car near the front of the vehicle in the same lane, and a faulty car at a far distance. When the normal car approaches the faulty car, it changes lanes and cuts out (the picture shows a normal driving vehicle cut out)| ![changelane](figs/changelane.png)| [change_lane.py](../core/simulators/srunner/scenarios/change_lane.py)
[ChangeLane.xml](../core/data/casezoo/example/ChangeLane.xml)| | OppositeDirection | There are vehicles in the opposite lane| ![opposite](figs/opposite.png)| [opposite_direction.py](../core/simulators/srunner/scenarios/opposite_direction.py)
[OppositeDirection.xml](../core/data/casezoo/example/OppositeDirection.xml)| | SignalizedJunctionLeftTurn | The other car turns left at the traffic light (the other car can be in front of the car or on other roads at the intersection, and the car can go straight or turn)| ![left](figs/left.png)| [signalized_junction_left_turn.py](../core/simulators/srunner/scenarios/signalized_junction_left_turn.py)
[SignalizedJunctionLeftTurn.xml](../core/data/casezoo/example/SignalizedJunctionLeftTurn.xml)| diff --git a/docs/source/conf.py b/docs/source/conf.py index 544293de..397892fd 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -23,8 +23,8 @@ author = 'OpenDILab' # The full version, including alpha/beta/rc tags -version = '0.2.0' -release = '0.2.0' +version = '0.2.1' +release = '0.2.1' # -- General configuration --------------------------------------------------- diff --git a/setup.py b/setup.py index 14f7a365..9d331c89 100644 --- a/setup.py +++ b/setup.py @@ -6,7 +6,7 @@ setup( name='DI-drive', - version='0.2.0', + version='0.2.1', description='OpenDILab Decision Intelligence Autonomous Driving Platform', long_description=description, author='OpenDILab',