v0.1.7 - Formal Release of the Parking Environment

Bug Fixes

1. Traffic Event Detection
   • Fix the checking condition of the NoAction scenario event detection.
2. Map Parser
   • Fix lane parsing error in the XODR parser.
   • Remove "height" tag when parsing OSM map with Lanelet2 tag style.

Improvements

1. Environment
   • Test the parking environment is feasible for training an agent.
2. Documentation
   • Add a tutorial for training an agent in the parking lot environment.
   • Fix the display issue of the tutorial on the GitHub page.

v0.1.6

The first release of the project.

New Features

Dataset Parser

Support parsing maps and trajectories from the following datasets:

• HighD
• InD
• RounD
• ExiD
• Argoverse
• Dragon Lake Parking (DLP)
• INTERACTION
• NuPlan
• WOMD

Map Parser

Support parsing maps in the following formats:

• OpenStreetMap (OSM)
• OpenStreetMap annotated in Lanelet2
• OpenDRIVE (XODR)

Math Interpolation Algorithms

Support the following interpolation algorithms:

• B-Spline
• Bezier
• Cubic
• Spiral
• Dubins
• Reeds Shepp

Traffic Participant

The following traffic participants are implemented:

• Vehicle
• Cyclist
• Pedestrian

For each traffic participants, a set of parameters are available to configure the behavior.

Physics Model

The following physics model of traffic participants are supported:

• Bicycle model (Kinematic): recommended for cyclists and low-speed vehicles
• Bicycle model (Dynamic): recommended for cyclists and high-speed vehicles
• Point mass (Kinematic): recommended for pedestrians
• Single-track drift model (Dynamic): recommended for vehicles

Road Element

The following road elements are implemented:

• Lane
• Area
• Junction
• Road line
• Base class of traffic regulations

Traffic Event Detection

• Static collision detection
• Dynamic collision detection
• Arrival event detection

Sensor

• Bird-eye-view (BEV) semantic segmentation RGB image
• Single-line LiDAR point cloud