RSS: Fix calculation of steering angle
As ad-rss-lib is using a right-handed and CARLA left-handed coordinate system, the calculation of the steering angle must be inverted + remove obsolete openscenario
This commit is contained in:
Pasch, Frederik
Marc Garcia Puig
parent
9fcde86b05
commit
e70480c664
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@ -467,7 +467,7 @@ bool RssCheck::CheckObjects(carla::client::Timestamp const ×tamp,
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::ad::physics::Angle RssCheck::GetSteeringAngle(carla::client::Vehicle const &actor) const {
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auto const steer_ratio = actor.GetControl().steer;
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::ad::physics::Angle steering_angle(_maximum_steering_angle * steer_ratio);
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::ad::physics::Angle steering_angle(-1 * _maximum_steering_angle * steer_ratio);
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return steering_angle;
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}
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@ -1,218 +0,0 @@
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<?xml version="1.0"?>
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<OpenSCENARIO>
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<FileHeader revMajor="1" revMinor="0" date="2019-06-25T00:00:00" description="CARLA:FollowLeadingVehicle" author=""/>
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<ParameterDeclarations>
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<ParameterDeclaration name="$leadingSpeed" parameterType="double" value="2.0"/>
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</ParameterDeclarations>
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<CatalogLocations>
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</CatalogLocations>
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<RoadNetwork>
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<LogicFile filepath="Town01"/>
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<SceneGraphFile filepath=""/>
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</RoadNetwork>
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<Entities>
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<ScenarioObject name="ego_vehicle">
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<Vehicle name="vehicle.lincoln.mkz2017" vehicleCategory="car">
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<ParameterDeclarations/>
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<Performance maxSpeed="69.444" maxAcceleration="10.0" maxDeceleration="10.0"/>
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<BoundingBox>
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<Center x="1.5" y="0.0" z="0.9"/>
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<Dimensions width="2.1" length="4.5" height="1.8"/>
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</BoundingBox>
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<Axles>
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<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
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<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
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</Axles>
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<Properties>
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<Property name="type" value="ego_vehicle"/>
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<Property name="color" value="0,0,255"/>
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</Properties>
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</Vehicle>
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</ScenarioObject>
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<ScenarioObject name="adversary">
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<Vehicle name="vehicle.lincoln.mkz2017" vehicleCategory="car">
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<ParameterDeclarations/>
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<Performance maxSpeed="69.444" maxAcceleration="10.0" maxDeceleration="10.0"/>
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<BoundingBox>
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<Center x="1.5" y="0.0" z="0.9"/>
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<Dimensions width="2.1" length="4.5" height="1.8"/>
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</BoundingBox>
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<Axles>
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<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
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<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
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</Axles>
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<Properties>
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<Property name="type" value="simulation"/>
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<Property name="color" value="255,0,0"/>
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</Properties>
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</Vehicle>
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</ScenarioObject>
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</Entities>
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<Storyboard>
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<Init>
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<Actions>
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<GlobalAction>
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<EnvironmentAction>
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<Environment name="Environment1">
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<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
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<Weather cloudState="free">
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<Sun intensity="1.0" azimuth="0.0" elevation="1.31"/>
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<Fog visualRange="100000.0"/>
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<Precipitation precipitationType="dry" intensity="0.0"/>
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</Weather>
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<RoadCondition frictionScaleFactor="1.0"/>
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</Environment>
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</EnvironmentAction>
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</GlobalAction>
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<Private entityRef="ego_vehicle">
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<PrivateAction>
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<TeleportAction>
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<Position>
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<WorldPosition x="150" y="133" z="0" h="0"/>
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</Position>
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</TeleportAction>
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</PrivateAction>
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<PrivateAction>
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<ControllerAction>
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<AssignControllerAction>
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<Controller name="EgoVehicleAgent">
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<Properties>
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<Property name="module" value="external_control" />
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</Properties>
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</Controller>
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</AssignControllerAction>
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<OverrideControllerValueAction>
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<Throttle value="0" active="false" />
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<Brake value="0" active="false" />
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<Clutch value="0" active="false" />
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<ParkingBrake value="0" active="false" />
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<SteeringWheel value="0" active="false" />
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<Gear number="0" active="false" />
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</OverrideControllerValueAction>
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</ControllerAction>
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</PrivateAction>
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</Private>
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<Private entityRef="adversary">
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<PrivateAction>
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<TeleportAction>
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<Position>
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<WorldPosition x="190" y="133" z="0" h="0"/>
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</Position>
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</TeleportAction>
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</PrivateAction>
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</Private>
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</Actions>
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</Init>
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<Story name="MyStory">
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<Act name="Behavior">
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<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
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<Actors selectTriggeringEntities="false">
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<EntityRef entityRef="adversary"/>
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</Actors>
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<Maneuver name="FollowLeadingVehicleManeuver">
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<Event name="LeadingVehicleKeepsVelocity" priority="overwrite">
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<Action name="LeadingVehicleKeepsVelocity">
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<PrivateAction>
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<LongitudinalAction>
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<SpeedAction>
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<SpeedActionDynamics dynamicsShape="step" value="100" dynamicsDimension="distance"/>
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<SpeedActionTarget>
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<AbsoluteTargetSpeed value="$leadingSpeed"/>
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</SpeedActionTarget>
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</SpeedAction>
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</LongitudinalAction>
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</PrivateAction>
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</Action>
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<StartTrigger>
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<ConditionGroup>
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<Condition name="StartCondition" delay="0" conditionEdge="rising">
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<ByEntityCondition>
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<TriggeringEntities triggeringEntitiesRule="any">
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<EntityRef entityRef="ego_vehicle"/>
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</TriggeringEntities>
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<EntityCondition>
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<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
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</EntityCondition>
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</ByEntityCondition>
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</Condition>
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</ConditionGroup>
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</StartTrigger>
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</Event>
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</Maneuver>
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</ManeuverGroup>
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<StartTrigger>
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<ConditionGroup>
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<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
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<ByEntityCondition>
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<TriggeringEntities triggeringEntitiesRule="any">
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<EntityRef entityRef="ego_vehicle"/>
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</TriggeringEntities>
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<EntityCondition>
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<TraveledDistanceCondition value="1.0"/>
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</EntityCondition>
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</ByEntityCondition>
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</Condition>
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<Condition name="StartTime" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<SimulationTimeCondition value="0" rule="equalTo"/>
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</ByValueCondition>
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</Condition>
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</ConditionGroup>
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</StartTrigger>
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<StopTrigger>
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<ConditionGroup>
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<Condition name="EndCondition" delay="0" conditionEdge="rising">
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<ByEntityCondition>
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<TriggeringEntities triggeringEntitiesRule="any">
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<EntityRef entityRef="ego_vehicle"/>
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</TriggeringEntities>
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<EntityCondition>
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<TraveledDistanceCondition value="100.0"/>
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</EntityCondition>
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</ByEntityCondition>
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</Condition>
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</ConditionGroup>
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</StopTrigger>
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</Act>
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</Story>
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<StopTrigger>
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<ConditionGroup>
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<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</ByValueCondition>
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</Condition>
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<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</ByValueCondition>
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</Condition>
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<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</ByValueCondition>
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</Condition>
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<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</ByValueCondition>
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</Condition>
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<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</ByValueCondition>
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</Condition>
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<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</ByValueCondition>
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</Condition>
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<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
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</ByValueCondition>
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</Condition>
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</ConditionGroup>
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</StopTrigger>
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</Storyboard>
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</OpenSCENARIO>
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