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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
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Support for ALKS Test Scenarios using OpenSCENARIO 1.1 #4899

Open jdsika opened 3 years ago

jdsika commented 3 years ago

Dear team,

at BMW we have published an interpretation and implementation of the ALKS Regulation No. 157 using the ASAM OpenX. It is a community effort for a common understanding of the necessary test scenarios to be conducted and the requirements arsing from the continously developing law towards a scenario language. We are aming to showcase the usage of these test sceanrios with all available open source simulators and are most succesfull using the tools esmini from Volvo and OpenPass from BMW.

The goal is to tackle some of the questions below which in our experience are often a problem in collaborations:

With the attached instruction we provide in the README we can execute a subset of the sceanrios but also only using the OpenSCENARIO version 1.0. This excludes e.g. constraints and parameter variations which are quite important. It would be great if you would consider adding the support for these scenarios in CARLA and maybe add them to your CI build pipeline as emsini has showcased already. Please also have a note about the open PR mentioned below which never made it into the master. Controller activation maybe an interseting toipic as well.

I would be happy to work together on this topic with my colleagues and assist you if you need anything.

Best regards Carlo van Driesten

The execution in the open source simulator "CARLA" under Ubuntu 20.04 is described here:

  1. Clone or download this repository to your local drive.
  2. Download CARLA and the compatible scenario-runner for CARLA (tested successfully with CARLA 0.9.11 and scenario_runner-0.9.11
  3. Follow the installation instructions for CARLA and the scenario_runner (be sure to install all the required tools and libs from requirements.txt (mentioned in "Installation summary" and to set the environment variables (mentioned in "B. Download ScenarioRunner from source"))
  4. Once you can run the .xosc scenarios delivered with CARLA, run the ALKS scenarios like this: a) Start the CARLA simulator: Go to the CARLA installation folder and type "./CarlaUE4.sh" b) Start the scenario runner: Go to the scenario_runner installation folder and type e.g. "python scenario_runner.py --openscenario /path/to/OSC-ALKS-scenarios/Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc"

Note: For execution with CARLA please use the release v0.3.2 with scenarios in OpenSCENARIO 1.0 format.

Execution with esmini or openPASS on Linux hasn't been tested yet.

Notes regarding CARLA

With CARLA version 0.9.11 the following scenarios are supported: 4.1_1, 4.2_1, 4.2_2, 4.2_4.

Note: 4.2_X scenarios do only work if the pedestrian is modeled directly in the scenario and not in a catalog or is exchanged by a vehicle. Please refer to the bug fix in this PR

jdsika commented 2 years ago

It would be great to keep a continous discussion here. Just ping if you want to setup a meeting next year if you have specific questions!

jdsika commented 2 years ago

Any updates?

stale[bot] commented 2 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

jdsika commented 2 years ago

This should not be stale...

Dephinate commented 1 year ago

Hi, Are there any updates on the issues. I am facing similar issue of incompatible against Openscenario Version 1.1. As of now, Carla supports only version 1.0. To provide more context, I am trying to run scenarios from Safety Pool which are in ASAM Openscenario format 1.1

Thank you