Support RelativeClearanceCondition in OpenSCENARIO XML 1.3
#1316
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…owed negative values
…tance showed negative values" This reverts commit 84c8b0c.
Checklist for reviewers ☑️All references to "You" in the following text refer to the code reviewer.
|
Signed-off-by: yamacir-kit <[email protected]>
Signed-off-by: yamacir-kit <[email protected]>
…to-collision-condition branch Co-authored-by: yamacir-kit <[email protected]>
…to relative-clearance-condition
… function" This reverts commit 86f489f
… `distance`" This reverts commit 727d57d.
…aml to check RelativeClearanceCondition in more detail
…iveClearanceCondition
…aml to be a better test
HansRobo
added
the
bump minor
yamacir-kit
requested changes
Aug 5, 2024
openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp
Outdated
Show resolved
Hide resolved
openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp
Outdated
Show resolved
Hide resolved
…:math::constants::pi
…aluateLateralRelativeLanes
yamacir-kit
requested changes
Aug 19, 2024
Co-authored-by: Tatsuya Yamasaki <[email protected]>
yamacir-kit
approved these changes
Aug 21, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Abstract
This pull-request supports
RelativeClearanceConditionin OpenSCENARIO XML 1.3.Please refer to the reference for detailed specifications.
Background
In the conventional implementation of
RelativeDistanceCondition/DistanceConditionin scenario_simulator_v2, we were able to distinguish between front and back or left and right by handling negative distance values.However, these did not conform to the OpenSCENARIO standard.
In order to maintain the expressiveness and maintainability of scenarios while complying with the standard, we decided to implement this RelativeClearanceCondition, which allows you to specify ranges forward, backward, left, and right.
Details
To implement
RelativeClearanceCondition, some functions intraffic_simulatorare implemented.countLaneChangesfunctionPreviously, you can get lateral distance in lane coodinate.
But its unit is meter and
RelativeClearanceConditionrequires lateral distance in unit "lane".To address this, a function was implemented which routes between two given points and counts lane changes.
The routing method used in this function is exactly the same as that used in other functions, and internally it corresponds to the implementation for
RoutingAlgorithm::undefined/RoutingAlgorithm::shortest.RelativeClearanceConditonimplemented using the function implementation forRoutingAlgorithm::shortest.References
Destructive Changes
None
Known Limitations
The
oppositeLanesoption is not supported in this pull-request.This is related to the fact that the current implementation of traffic_simulator does not generally support routing that includes opposite lanes.