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examples/scenario_example/20250130T100644Z_sv_370_2112_700_scenario_example_two_vehicles.osi
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| # Scenario example | ||
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| This example showcases the interaction between ASAM OpenMATERIAL 3D, ASAM OpenDRIVE, ASAM OpenSCENARIO and ASAM OSI. | ||
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| ## ASAM OpenDRIVE | ||
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| The `environment_example.xodr` is an OpenDRIVE file, that corresponds to the environment_example OpenMATERIAL 3D asset, also contained in the exmaples folder. | ||
| This means, that the environment example asset has the same coordinate frame as the corresponding OpenDRIVE file. | ||
| Furthermore, the road network geometry in the asset corresponds to the road network description of the OpenDRIVE. | ||
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| ## ASAM OpenSCENARIO | ||
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| The `scenario_example_two_vehicles.xosc` is an OpenSCENARIO file. | ||
| It links the OpenDRIVE file described above as `LogicFile`. | ||
| It also links the corresponding OpenMATERIAL 3D asset as `SceneGraphFile`, so it can be associated with the stationary environment. | ||
| The moving entities are described in a separate vehicle catalog, which can be found in `catalogs/vehicles/VehicleCatalog.xosc`. | ||
| It contains one vehicle, that refers to the OpenMATERIAL 3D vehicle_example as `model3d`. | ||
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| ## ASAM OSI | ||
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| To showcase the interaction with OSI, the OpenSCENARIO described above was played with the scenario player [esmini](https://github.com/esmini/esmini). | ||
| The output was stored in an ASAM OSI binary SensorView trace file, `20250130T100644Z_sv_370_2112_700_scenario_example_two_vehicles.osi`. | ||
| The OpenMATERIAL 3D assets linked in the OpenSCENARIO file and the OpenSCENARIO vehicle catalog are contained in the OSI trace file as model_references. | ||
| The screenshot below was taken with Persival Simspector to visualize the content of the OSI trace file including the referenced OpenMATERIAL 3D assets. | ||
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examples/scenario_example/catalogs/vehicles/VehicleCatalog.xosc
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| <?xml version="1.0" encoding="utf-8"?> | ||
| <OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../OpenScenario.xsd"> | ||
| <FileHeader description="DSC vehicle catalog" author="Blender Driving Scenario Creator" revMajor="1" revMinor="2" date="2024-08-07T10:38:04.276108"/> | ||
| <Catalog name="VehicleCatalog"> | ||
| <Vehicle name="car_0" vehicleCategory="car" model3d="../vehicle_example/vehicle_example.xoma"> | ||
| <BoundingBox> | ||
| <Center x="1.146" y="0.0" z="0.647"/> | ||
| <Dimensions width="1.618" length="3.854" height="1.296"/> | ||
| </BoundingBox> | ||
| <Performance maxSpeed="${250/3.6}" maxDeceleration="10" maxAcceleration="5"/> | ||
| <Axles> | ||
| <FrontAxle maxSteering="0.175" wheelDiameter="0.661" trackWidth="1.318" positionX="2.4" positionZ="0.33"/> | ||
| <RearAxle maxSteering="0.0" wheelDiameter="0.661" trackWidth="1.318" positionX="0" positionZ="0.33"/> | ||
| </Axles> | ||
| <Properties> | ||
| <Property name="model_id" value="2"/> | ||
| <Property name="scaleMode" value="ModelToBB"/> | ||
| </Properties> | ||
| </Vehicle> | ||
| </Catalog> | ||
| </OpenSCENARIO> |
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| <?xml version="1.0" encoding="utf-8"?> | ||
| <OpenDRIVE> | ||
| <header name="blender_dsc" revMajor="1" revMinor="5" date="2024-08-07 10:38:04.329523" north="0.0" south="0.0" east="0.0" west="0.0"/> | ||
| <road rule="RHT" id="1" junction="-1" length="60.77312767066612"> | ||
| <link> | ||
| <successor elementType="road" elementId="2" contactPoint="start"/> | ||
| </link> | ||
| <planView> | ||
| <geometry s="0" x="30.068370819091797" y="0.023977994918823242" hdg="-3.2267648860130294" length="60.77312767066612"> | ||
| <line/> | ||
| </geometry> | ||
| </planView> | ||
| <elevationProfile> | ||
| <elevation s="0" a="0.0" b="0" c="0" d="0"/> | ||
| </elevationProfile> | ||
| <lateralProfile/> | ||
| <lanes> | ||
| <laneSection s="0"> | ||
| <left> | ||
| <lane id="2" type="border" level="false"> | ||
| <link> | ||
| <successor id="2"/> | ||
| </link> | ||
| <width a="0.20000000298023224" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="none" weight="standard" color="standard" height="0.02"/> | ||
| </lane> | ||
| <lane id="1" type="driving" level="false"> | ||
| <link> | ||
| <successor id="1"/> | ||
| </link> | ||
| <width a="3.5" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="solid" weight="standard" color="white" height="0.02"/> | ||
| </lane> | ||
| </left> | ||
| <center> | ||
| <lane id="0" type="none" level="false"> | ||
| <roadMark sOffset="0" type="broken" weight="standard" color="white" height="0.02"/> | ||
| </lane> | ||
| </center> | ||
| <right> | ||
| <lane id="-1" type="driving" level="false"> | ||
| <link> | ||
| <successor id="-1"/> | ||
| </link> | ||
| <width a="3.5" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="solid" weight="standard" color="white" height="0.02"/> | ||
| </lane> | ||
| <lane id="-2" type="border" level="false"> | ||
| <link> | ||
| <successor id="-2"/> | ||
| </link> | ||
| <width a="0.20000000298023224" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="none" weight="standard" color="standard" height="0.02"/> | ||
| </lane> | ||
| </right> | ||
| </laneSection> | ||
| </lanes> | ||
| </road> | ||
| <road rule="RHT" id="2" junction="-1" length="45.962855229770796"> | ||
| <link> | ||
| <predecessor elementType="road" elementId="1" contactPoint="end"/> | ||
| </link> | ||
| <planView> | ||
| <geometry s="0" x="-30.484455108642578" y="5.193887233734131" hdg="-3.2267648860130294" length="45.962855229770796"> | ||
| <arc curvature="0.009438562624500239"/> | ||
| </geometry> | ||
| </planView> | ||
| <elevationProfile> | ||
| <elevation s="0" a="0.0" b="0" c="0" d="0"/> | ||
| </elevationProfile> | ||
| <lateralProfile/> | ||
| <lanes> | ||
| <laneSection s="0"> | ||
| <left> | ||
| <lane id="2" type="border" level="false"> | ||
| <link> | ||
| <predecessor id="2"/> | ||
| </link> | ||
| <width a="0.20000000298023224" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="none" weight="standard" color="standard" height="0.02"/> | ||
| </lane> | ||
| <lane id="1" type="driving" level="false"> | ||
| <link> | ||
| <predecessor id="1"/> | ||
| </link> | ||
| <width a="3.5" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="solid" weight="standard" color="white" height="0.02"/> | ||
| </lane> | ||
| </left> | ||
| <center> | ||
| <lane id="0" type="none" level="false"> | ||
| <roadMark sOffset="0" type="broken" weight="standard" color="white" height="0.02"/> | ||
| </lane> | ||
| </center> | ||
| <right> | ||
| <lane id="-1" type="driving" level="false"> | ||
| <link> | ||
| <predecessor id="-1"/> | ||
| </link> | ||
| <width a="3.5" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="solid" weight="standard" color="white" height="0.02"/> | ||
| </lane> | ||
| <lane id="-2" type="border" level="false"> | ||
| <link> | ||
| <predecessor id="-2"/> | ||
| </link> | ||
| <width a="0.20000000298023224" b="0.0" c="0.0" d="0.0" sOffset="0"/> | ||
| <roadMark sOffset="0" type="none" weight="standard" color="standard" height="0.02"/> | ||
| </lane> | ||
| </right> | ||
| </laneSection> | ||
| </lanes> | ||
| </road> | ||
| </OpenDRIVE> |
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examples/scenario_example/scenario_example_two_vehicles.xosc
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| <?xml version="1.0" encoding="utf-8"?> | ||
| <OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="OpenScenario.xsd"> | ||
| <FileHeader description="dsc_scenario" author="blender_dsc" revMajor="1" revMinor="2" date="2024-08-07T10:38:04.330385"/> | ||
| <CatalogLocations> | ||
| <VehicleCatalog> | ||
| <Directory path="catalogs/vehicles"/> | ||
| </VehicleCatalog> | ||
| </CatalogLocations> | ||
| <RoadNetwork> | ||
| <LogicFile filepath="environment_example.xodr"/> | ||
| <SceneGraphFile filepath="../environment_example/environment_example.xoma"/> | ||
| </RoadNetwork> | ||
| <Entities> | ||
| <ScenarioObject name="car_0"> | ||
| <CatalogReference catalogName="VehicleCatalog" entryName="car_0"/> | ||
| </ScenarioObject> | ||
| <ScenarioObject name="car_1"> | ||
| <CatalogReference catalogName="VehicleCatalog" entryName="car_0"/> | ||
| </ScenarioObject> | ||
| </Entities> | ||
| <Storyboard> | ||
| <Init> | ||
| <Actions> | ||
| <Private entityRef="car_0"> | ||
| <PrivateAction> | ||
| <TeleportAction> | ||
| <Position> | ||
| <LanePosition roadId="1" laneId="-1" offset="0.0" s="3.0"> | ||
| <Orientation type="relative" h="0.0" p="0.0" r="0" /> | ||
| </LanePosition> | ||
| </Position> | ||
| </TeleportAction> | ||
| </PrivateAction> | ||
| <PrivateAction> | ||
| <LongitudinalAction> | ||
| <SpeedAction> | ||
| <SpeedActionDynamics dynamicsShape="step" value="1.0" dynamicsDimension="time"/> | ||
| <SpeedActionTarget> | ||
| <AbsoluteTargetSpeed value="14.0"/> | ||
| </SpeedActionTarget> | ||
| </SpeedAction> | ||
| </LongitudinalAction> | ||
| </PrivateAction> | ||
| <PrivateAction> | ||
| <LateralAction> | ||
| <LaneChangeAction> | ||
| <LaneChangeActionDynamics dynamicsShape="cubic" value="2.0" dynamicsDimension="rate"/> | ||
| <LaneChangeTarget> | ||
| <RelativeTargetLane value="1" entityRef="car_0"/> | ||
| </LaneChangeTarget> | ||
| </LaneChangeAction> | ||
| </LateralAction> | ||
| </PrivateAction> | ||
| </Private> | ||
| <Private entityRef="car_1"> | ||
| <PrivateAction> | ||
| <TeleportAction> | ||
| <Position> | ||
| <WorldPosition x="9.603965759277344" y="-0.11001241207122803" z="0.0" h="3.0412473678588867"/> | ||
| </Position> | ||
| </TeleportAction> | ||
| </PrivateAction> | ||
| <PrivateAction> | ||
| <TeleportAction> | ||
| <Position> | ||
| <LanePosition roadId="1" laneId="-1" offset="0.0" s="15.0"> | ||
| <Orientation type="relative" h="0.0" p="0.0" r="0" /> | ||
| </LanePosition> | ||
| </Position> | ||
| </TeleportAction> | ||
| </PrivateAction> | ||
| <PrivateAction> | ||
| <LongitudinalAction> | ||
| <SpeedAction> | ||
| <SpeedActionDynamics dynamicsShape="step" value="1.0" dynamicsDimension="time"/> | ||
| <SpeedActionTarget> | ||
| <AbsoluteTargetSpeed value="12.0"/> | ||
| </SpeedActionTarget> | ||
| </SpeedAction> | ||
| </LongitudinalAction> | ||
| </PrivateAction> | ||
| <PrivateAction> | ||
| <LateralAction> | ||
| <LaneChangeAction> | ||
| <LaneChangeActionDynamics dynamicsShape="cubic" value="2.0" dynamicsDimension="rate"/> | ||
| <LaneChangeTarget> | ||
| <RelativeTargetLane value="0" entityRef="car_1"/> | ||
| </LaneChangeTarget> | ||
| </LaneChangeAction> | ||
| </LateralAction> | ||
| </PrivateAction> | ||
| </Private> | ||
| </Actions> | ||
| </Init> | ||
| <Story name="story_act_empty"> | ||
| <Act name="act_empty"> | ||
| <ManeuverGroup name="empty" maximumExecutionCount="1"> | ||
| <Actors selectTriggeringEntities="false"/> | ||
| </ManeuverGroup> | ||
| <StartTrigger/> | ||
| <StopTrigger/> | ||
| </Act> | ||
| </Story> | ||
| <StopTrigger/> | ||
| </Storyboard> | ||
| </OpenSCENARIO> |