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CHANGELOG.md

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Latest changes

  • Added track identification for autonomous_agent.py
  • Added HDMap pseudo-sensor
  • Added wrong way test
  • Added new traffic event logger
  • Added running red light test
  • Updated folder structure and naming convention in lowecase
  • Reworked scenario execution
    • Every scenario has to have a configuration provided as XML file. Currently there is one XML file for each scenario class
    • The scenario runner is now responsible for spawning/destroying all actors.
    • Renamed vehicle -> actor
    • If all scenarios in one coniguration file should be executed, the scenario_runner can be started with --scenario group:<CONFIG_FILE>
    • Generalized ControlLoss and FollowLeadingVehicle scenarios
    • Added randomization option to scenario_runner and scenarios
  • Added new atomic behaviors using py_trees behavior tree library
    • BasicAgentBehavior: drive to target location using CARLA's BasicAgent
    • StandStill: check if a vehicle stands still
    • InTriggerDistanceToNextIntersection: check if a vehicle is within certain distance with respect to the next intersection
  • Fixes
    • Fixed SteerVehicle atomic behavior to keep vehicle velocity

CARLA Scenario_Runner 0.9.2

  • Added Traffic Scenarios engine to reproduce complex traffic situations for training and evaluating driving agents
  • Added NHTSA Traffic Scenarios
    • FollowLeadingVehicle: hero vehicle must react to the deccelerations of a leading vehicle
    • FollowLeadingVehicleWithObstacle: hero vehicle must react to a leading vehicle due to an obstacle blocking the road
    • StationaryObjectCrossing: hero vehicle must react to a cyclist or pedestrian blocking the road
    • DynamicObjectCrossing: hero vehicle must react to a cyclist or pedestrian suddenly crossing in front of it
    • OppositeVehicleRunningRedLight: hero vehicle must avoid a collision at an intersection regulated by traffic lights when the crossing traffic runs a red light
    • NoSignalJunctionCrossing: hero vehicle must cross a non-signalized intersection
    • VehicleTurningRight: hero vehicle must react to a cyclist or pedestrian crossing ahead after a right turn
    • VehicleTurningLeft: hero vehicle must react to a cyclist or pedestrian crossing ahead after a left turn
  • Added atomic behaviors using py_trees behavior trees library
    • InTriggerRegion: new behavior to check if an object is within a trigger region
    • InTriggerDistanceToVehicle: check if a vehicle is within certain distance with respect to a reference vehicle
    • InTriggerDistanceToLocation: check if a vehicle is within certain distance with respect to a reference location
    • TriggerVelocity: triggers if a velocity is met
    • InTimeToArrivalToLocation: check if a vehicle arrives within a given time budget to a reference location
    • InTimeToArrivalToVehicle: check if a vehicle arrives within a given time budget to a reference vehicle
    • AccelerateToVelocity: accelerate until reaching requested velocity
    • KeepVelocity: keep constant velocity
    • DriveDistance: drive certain distance
    • UseAutoPilot: enable autopilot
    • StopVehicle: stop vehicle
    • WaitForTrafficLightState: wait for the traffic light to have a given state
    • SyncArrival: sync the arrival of two vehicles to a given target