Default initialization of other actors. Override this method in child class to provide custom initialization.

Default initialization of weather and road friction. Override this method in child class to provide custom initialization.

Detects if the ego_vehicle has invaded a wrong lane

Detects if the ego_vehicle has invaded a wrong driving lane

Detects if the ego_vehicle is outside driving lanes

Detects if the ego_vehicle is outside driving/parking lanes

check if vehicle crosses a line segment

Load and run the scenario given by config. Depending on what code fails, the simulation will either stop the route and conti

Load a new CARLA world and provide data to CarlaDataProvider

Load a new CARLA world and provide data to CarlaDataProvider

Read Catalog xml files into dictionary for later use NOTE: Catalogs must have distinct names, even across different types

Convert from world coordinates to GPS coordinates :param lat_ref: latitude reference for the current map :param lon_ref: longitude refere

Convert from world coordinates to GPS coordinates :param lat_ref: latitude reference for the current map :param lon_ref: longitude refere

Callback for the camera sensor Sets the OpenCV image (_cv_image). Requires conversion from BGRA to RGB.

Callback for the obstacle sensor Sets _obstacle_distance and _obstacle_actor according to the closest obstacle found by the

parses gnss sensors

parses cameras

parses lidar sensors

Parse the given OpenSCENARIO config file, set and validate parameters

Calculate new vehicle controls based on input keys

Calculate new vehicle controls based on input keys

Spawn or update the ego vehicles

Spawn or update the ego vehicles

Filter the JSON serializable attributes of the criterias and dumps them into a file. This will be used by the metrics manager,

Reset all parameters

Run a scenario based on OpenSCENARIO

Run the route scenario

Run conventional scenarios (e.g. implemented using the Python API of ScenarioRunner)

The function used to sample the scenarios that are going to happen for this route.

The function used to sample the scenarios that are going to happen for this route.

Extract all actors and their corresponding specification NOTE: The rolename property has to be unique!

Extract the CARLA town (level) from the RoadNetwork information from OpenSCENARIO Note: The specification allows multiple Logics ele

Sets the dictionary of the event

Sets the message of the event

Parse the complete scenario definition file, and replace all parameter references with the actual values Set _global_paramet

Extract the scenario name from the OpenSCENARIO header information

This function adds and additional behavior to the scenario, which is triggered after it has ended. The function can be overl

This function creates a trigger maneuver, that has to be finished before the real scenario starts. This implementation focuses on the

Spawn the blocker prop that blocks the vision from the egovehicle of the jaywalker :return:

Run next tick of scenario and the agent and tick the world.

Run next tick of scenario and the agent. If running synchornously, it also handles the ticking of the world.

Set/Update the start position of the ego_vehicle

Set/Update the start position of the ego_vehicle

Update the input route, i.e. refine waypoint list, and extract possible scenario locations Parameters: - world: CARLA world - config: Scenar

Update the input route, i.e. refine waypoint list, and extract possible scenario locations Parameters: - world: CARLA world

Validate the given OpenSCENARIO catalog config against the 0.9.1 XSD Note: This will throw if the catalog config is not valid. But t

Validate the given OpenSCENARIO config against the 0.9.1 XSD Note: This will throw if the config is not valid. But this is fine here

Check that the current scenario configuration is valid

Writing to Junit XML

Check if a certain id is still at the simulation

Checks if all the sensors have sent data at least once

Analyzes and prints the results of the route

This function is intended to be called from outside and provide the final statistics about the scenario (human-readable, in form of a

Get dictionary with traffic light group info for a given traffic light

Uses the same condition as in route_scenario to see if they will be differentiated

Parse catalog_reference, and replace all parameter references in entry_instance by the values provided in catalog_reference.