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Add constraints, create distribution files for variation and add units for parameters #45

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Aug 4, 2021
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Add constraints, create distribution files for variation and add units for parameters #45

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531b5de
Add constraints for parameters and fix trail setting for esmini
arauschert Jun 29, 2021
618e0e4
Add variation files for logical scenarios
arauschert Jul 6, 2021
9c5d29f
Update README.md
arauschert Jul 8, 2021
c00aa4a
Update speed variations and constraints
arauschert Jul 8, 2021
9b4111a
Remove not needed parameters
arauschert Jul 9, 2021
d65c10e
Added units to parameters, removed duration parameter
arauschert Jul 9, 2021
24f6d7a
Update dates in scenarios
arauschert Jul 9, 2021
d6d91ea
Bugfixes while testing with esmini 2.12.0
arauschert Jul 13, 2021
4270c88
Updates after review
arauschert Jul 22, 2021
130fc8f
Updated outdated link to SET Level project
arauschert Jul 22, 2021
9fdc487
Updated to latest OpenDRIVE release
arauschert Jul 22, 2021
9cc567b
Fixed behaviour for left-hand traffic
arauschert Jul 22, 2021
d7ce25f
Initial position of lead vehicles is now precisely the desired headwa…
arauschert Jul 23, 2021
3f7d788
Testing manual line breaks in yaml
arauschert Jul 23, 2021
58aa448
Updated esmini version for test
arauschert Jul 26, 2021
7680a8e
Added variation of curvature for 4.1-4.3
arauschert Jul 30, 2021
9e5bec2
Added variation of acceleration for Cut-in
arauschert Aug 2, 2021
5c9ab7c
Temporary comment openPASS execution in script for 1.1 scenarios
arauschert Aug 2, 2021
2c80e49
Updated esmini version for testing
arauschert Aug 4, 2021
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2 changes: 1 addition & 1 deletion .github/workflows/validate_maps_and_scenarios_with_xmllint.yml
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Expand Up @@ -15,7 +15,7 @@ jobs:
- name: Validate all scenarios
uses: ./.github/actions/xmllint
with:
FILE: ./Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.1_2_SwervingLeadVehicle_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.1_3_SwervingSideVehicle_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_1_FullyBlockingTarget_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_2_PartiallyBlockingTarget_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_4_MultipleBlockingTargets_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.4_1_CutInNoCollision_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.4_2_CutInUnavoidableCollision_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.5_1_CutOutFullyBlocking_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.5_2_CutOutMultipleBlockingTargets_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.6_1_ForwardDetectionRange_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.6_2_LateralDetectionRange_TEMPLATE.xosc ./Catalogs/Controllers/ControllerCatalog.xosc ./Catalogs/MiscObjects/MiscObjectCatalog.xosc ./Catalogs/Vehicles/VehicleCatalog.xosc ./Catalogs/Pedestrians/PedestrianCatalog.xosc
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FILE: ./Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.1_2_SwervingLeadVehicle_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.1_3_SwervingSideVehicle_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_1_FullyBlockingTarget_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_2_PartiallyBlockingTarget_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.2_4_MultipleBlockingTargets_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.4_1_CutInNoCollision_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.4_2_CutInUnavoidableCollision_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.5_1_CutOutFullyBlocking_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.5_2_CutOutMultipleBlockingTargets_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.6_1_ForwardDetectionRange_TEMPLATE.xosc ./Scenarios/ALKS_Scenario_4.6_2_LateralDetectionRange_TEMPLATE.xosc ./Catalogs/Controllers/ControllerCatalog.xosc ./Catalogs/MiscObjects/MiscObjectCatalog.xosc ./Catalogs/Vehicles/VehicleCatalog.xosc ./Catalogs/Pedestrians/PedestrianCatalog.xosc ./Variations/ALKS_Scenario_4.1_1_FreeDriving_Variation.xosc ./Variations/ALKS_Scenario_4.1_2_SwervingLeadVehicle_Variation.xosc ./Variations/ALKS_Scenario_4.1_3_SwervingSideVehicle_Variation.xosc ./Variations/ALKS_Scenario_4.2_1_FullyBlockingTarget_Variation.xosc ./Variations/ALKS_Scenario_4.2_2_PartiallyBlockingTarget_Variation.xosc ./Variations/ALKS_Scenario_4.2_3_CrossingPedestrian_Variation.xosc ./Variations/ALKS_Scenario_4.2_4_MultipleBlockingTargets_Variation.xosc ./Variations/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_Variation.xosc ./Variations/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_Variation.xosc ./Variations/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_Variation_Reference.xosc ./Variations/ALKS_Scenario_4.4_1_CutInNoCollision_Variation.xosc ./Variations/ALKS_Scenario_4.5_1_CutOutFullyBlocking_Variation.xosc ./Variations/ALKS_Scenario_4.5_2_CutOutMultipleBlockingTargets_Variation.xosc ./Variations/ALKS_Scenario_4.6_1_ForwardDetectionRange_Variation.xosc ./Variations/ALKS_Scenario_4.6_2_LateralDetectionRange_Variation.xosc
SCHEMA: ./.github/workflows/OpenSCENARIO_StrictValidation_1_1.xsd
- name: Validate all maps
uses: ./.github/actions/xmllint
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22 changes: 11 additions & 11 deletions Catalogs/Vehicles/VehicleCatalog.xosc
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Expand Up @@ -92,13 +92,13 @@
<Property name="SteeringRatio" value="15.0" />
</Properties>
<BoundingBox>
<Center x="1.3" y="0.0" z="0.8" />
<Dimensions width="1.8" length="4.5" height="1.5" />
<Center x="7.0" y="0.0" z="1.75" />
<Dimensions width="2.5" length="18.75" height="3.5" />
</BoundingBox>
<Performance maxSpeed="70" maxDeceleration="10" maxAcceleration="10" />
<Performance maxSpeed="30" maxDeceleration="6" maxAcceleration="4" />
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.8" trackWidth="1.68" positionX="2.98" positionZ="0.4" />
<RearAxle maxSteering="0" wheelDiameter="0.8" trackWidth="1.68" positionX="0" positionZ="0.4" />
<FrontAxle maxSteering="0.5" wheelDiameter="1.05" trackWidth="2.2" positionX="14.0" positionZ="0.525" />
<RearAxle maxSteering="0" wheelDiameter="1.05" trackWidth="2.2" positionX="0" positionZ="0.525" />
</Axles>
</Vehicle>
<Vehicle name="van" vehicleCategory="truck">
Expand Down Expand Up @@ -159,13 +159,13 @@
<Property name="SteeringRatio" value="15.0" />
</Properties>
<BoundingBox>
<Center x="1.3" y="0.0" z="0.8" />
<Dimensions width="1.8" length="4.5" height="1.5" />
<Center x="4.0" y="0.0" z="1.75" />
<Dimensions width="2.5" length="13.5" height="3.5" />
</BoundingBox>
<Performance maxSpeed="70" maxDeceleration="10" maxAcceleration="10" />
<Performance maxSpeed="30" maxDeceleration="6" maxAcceleration="4" />
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.8" trackWidth="1.68" positionX="2.98" positionZ="0.4" />
<RearAxle maxSteering="0" wheelDiameter="0.8" trackWidth="1.68" positionX="0" positionZ="0.4" />
<FrontAxle maxSteering="0.5" wheelDiameter="1.05" trackWidth="2.2" positionX="8.0" positionZ="0.525" />
<RearAxle maxSteering="0" wheelDiameter="1.05" trackWidth="2.2" positionX="0" positionZ="0.525" />
</Axles>
</Vehicle>
<Vehicle name="motorbike" vehicleCategory="motorbike">
Expand Down Expand Up @@ -199,4 +199,4 @@
</Axles>
</Vehicle>
</Catalog>
</OpenSCENARIO>
</OpenSCENARIO>
38 changes: 20 additions & 18 deletions README.md
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@@ -1,41 +1,43 @@
ALKS Scenario Interpretation in OpenSCENARIO
============================================

The "ALKS Regulation UN R157" ECE/TRANS/WP.29/2020/81 <sup>[[1]](https://unece.org/transport/documents/2021/03/standards/un-regulation-no-157-automated-lane-keeping-systems-alks)</sup> is necessary for the approval of an "Automated Lane Keeping System" on motorways presented in the [UNECE Press Release](https://unece.org/transport/press/un-regulation-automated-lane-keeping-systems-milestone-safe-introduction-automated).
As presented in the [UNECE Press Release](https://unece.org/transport/press/un-regulation-automated-lane-keeping-systems-milestone-safe-introduction-automated), the "UN Regulation No. 157 - Automated Lane Keeping Systems (ALKS)" ECE/TRANS/WP.29/2020/81 <sup>[[1]](https://unece.org/transport/documents/2021/03/standards/un-regulation-no-157-automated-lane-keeping-systems-alks)</sup> describes the necessary requirements to be fulfilled for the approval of an ALKS, which is a level 3 automated driving system on motorways.

## Goal
The ALKS regulation also contains test scenarios at a functional level, which are to be carried out in close coordination with a technical service:

BMW has taken on the task of implementing the test scenarios from the ALKS regulation using [OpenSCENARIO](https://www.asam.net/standards/detail/openscenario/) and [OpenDRIVE](https://www.asam.net/standards/detail/opendrive/) resulting in a bundle of XML files executable with standard compliant simulators. The ALKS regulation itself leaves room for interpretation, therefore the coordination on a common interpretation with partners is recommended. This work has been conducted in the context of the German research project [SET Level](https://sl4to5.de/).
*"Until [...] specific test provisions have been agreed, the Technical Service shall ensure that the ALKS is subject to at least the tests outlined in Annex 5."*

## Content
## Goal

The ALKS document contains test scenarios at a functional level, which are to be carried out in close coordination with a technical service:
The ALKS regulation itself leaves room for interpretation, therefore one goal of this publication is the coordination on a common interpretation with partners. Hence, this work has also been conducted in the context of the German research project [SET Level](https://sl4to5.de/).

*"Until [...] specific test provisions have been agreed, the Technical Service shall ensure that the ALKS is subject to at least the tests outlined in Annex 5."*
BMW has taken on the task of implementing the test scenarios from the ALKS regulation. Since exchange and compatibility via the tool landscape is vital, another goal is the implementation of the scenarios using an international standard. At the [ASAM e.V.](https://www.asam.net/standards/domain-simulation/) members are developing the so called "OpenX" standards for the simulation domain like OpenSCENARIO (Release v1.1 Q1/21) for scenario definitions and OpenDRIVE (Release v1.6 Q1/2020) for road network definitions. The implementation is using [OpenSCENARIO](https://www.asam.net/standards/detail/openscenario/) and [OpenDRIVE](https://www.asam.net/standards/detail/opendrive/), resulting in a bundle of XML files executable with standard compliant simulators.

The here provided 15 executable test scenarios are derived from the 6 subject areas analogous to Annex 5, Chapter 4.1-4.6 as an initial attempt to clarify the described set of functional scenarios.
## Content

The implementation of the scenarios should as well be conducted using an international standard to ensure exchange and compatibility via the tool landscape. At the [ASAM e.V.](https://www.asam.net/standards/domain-simulation/) members are developing the so called "OpenX" standards for the simulation domain like OpenSCENARIO (Release v1.1 Q1/21) for test scenario definitions and OpenDRIVE (Release v1.6 Q1/2020) for road network definitions.
The here provided 15 concrete parametrized test scenarios are derived from the 6 subject areas analogous to Annex 5, Chapter 4.1-4.6 as an initial attempt to clarify the described set of functional scenarios.

The focus of the scenarios is on securing the planning aspects of an "Automated Lane Keeping System". By extending the scenarios with references to e.g. 3D models or environmental conditions (e.g. light, rain), aspects of sensor and actuator technology could also be simulated and validated.
Each concrete scenario is complemented by a variation file to form a logical scenario, which then represents a set of concrete scenarios. By applying the parameter variation defined in the variation files to the parameters in the concrete scenarios, multiple concrete scenarios can be derived or generated to cover the required scenario space.

## Running on Windows
The focus of the here provided scenarios is on securing the planning aspects of an "Automated Lane Keeping System". By extending the scenarios with environmental conditions (e.g. light, rain or wind) or references to e.g. 3D models, aspects of sensor and actuator technology could also be simulated and validated.

The execution in the open source tools "esmini", a basic OpenSCENARIO player, and "openPASS", a simulation platform for traffic simulation, is described on Windows:
## Executing on Windows

The execution of the concrete scenarios in the open source tools "esmini", a basic OpenSCENARIO player, and "openPASS", a simulation platform for traffic simulation, is described on Windows:

_Note:_ Currently only esmini supports the OpenSCENARIO 1.1 format. For openPASS please use the [release v0.3.2](https://github.com/asam-oss/OSC-ALKS-scenarios/releases/tag/v0.3.2) with scenarios in OpenSCENARIO 1.0 format.

_Note:_ The execution with openPASS expects xsltproc on the system path. Check out the "Notes regarding openPASS" for more information.

1. Clone or download this repository to your local drive.
2. a) Download the [latest esmini release](https://github.com/esmini/esmini/releases) (e.g. esmini-bin_win_x64.zip) (tested successfully with [esmini 2.8.2](https://github.com/esmini/esmini/releases/tag/v2.8.2)),
2. a) Download the [latest esmini release](https://github.com/esmini/esmini/releases) (e.g. esmini-bin_win_x64.zip) (tested successfully with [esmini 2.12.0](https://github.com/esmini/esmini/releases/tag/v2.12.0)),
or
b) Download the [latest openPASS release](https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass) (tested successfully with [openPASS v0.7](https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass/-/tree/openPASS_0.7))
3. a) Create an environment variable "ESMINI", which directs to the "bin" folder of esmini. E.g. "C:\MyFolder\esmini\bin\",
or
b) Create an environment variable "OPENPASS", which directs to the installation directory of openPASS. E.g. "C:\MyFolder\openPASS\"
4. Execute the script "run_Scenario.bat", located in the "Scenarios" folder of the local repository
5. By changing the parameter values in the parameter declaration section of the OpenSCENARIO files, the concrete scenarios can be varied.
5. By changing the parameter values in the parameter declaration section of the OpenSCENARIO files within their defined constraints, the concrete scenarios can be varied.

#### Notes regarding esmini:

Expand All @@ -58,26 +60,26 @@ Similar to esmini, openPASS does not provide an ALKS. Therefore, for demonstrati

Currently openPASS does not support the controller concept of OpenSCENARIO. Instead, entities and their controlling components are defined in the ProfilesCatalog.xml. Sourrounding entities are also controlled by the Algorithm Following Driver Model. Therefore, the velocities of the surrounding entities may differ slightly from the definitions in the scenarios.

## Running on Linux
## Executing on Linux

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

_Note:_ For execution with CARLA please use the [release v0.3.2](https://github.com/asam-oss/OSC-ALKS-scenarios/releases/tag/v0.3.2) with scenarios in OpenSCENARIO 1.0 format.

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](https://github.com/carla-simulator/carla/releases/tag/0.9.11) and [scenario_runner-0.9.11](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.11)
3. Follow the installation instructions for [CARLA](https://carla.readthedocs.io/en/0.9.11/) and the [scenario_runner](https://github.com/carla-simulator/scenario_runner/blob/master/Docs/getting_scenariorunner.md) (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](https://github.com/asam-oss/OSC-ALKS-scenarios/releases/tag/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](https://github.com/carla-simulator/scenario_runner/pull/713)
_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](https://github.com/carla-simulator/scenario_runner/pull/713)

## Quality Measures

Expand All @@ -87,7 +89,7 @@ The validation of the scenarios and maps provided in this repository is integrat
1. Syntactic validation of the scenarios and maps against the XSD schemas of the OpenSCENARIO 1.1 and OpenDRIVE 1.6 standards with xmllint
2. Syntactic and semantic validation of the scenarios with the *Standalone Checker* of the [OpenSCENARIO API](https://github.com/RA-Consulting-GmbH/openscenario.api.test). Integration into the CI is prepared by a [GitHub action](https://github.com/ahege/openscenario.ci.test) and an [example](https://github.com/ahege/opensceanrio.ci.example.test/)

_NOTE:_ The *Standalone Checker* does not yet support OpenSCENARIO 1.1. Those checks are only applied including [release v0.3.2](https://github.com/asam-oss/OSC-ALKS-scenarios/releases/tag/v0.3.2)
_Note:_ The *Standalone Checker* does not yet support OpenSCENARIO 1.1. Those checks are only applied including [release v0.3.2](https://github.com/asam-oss/OSC-ALKS-scenarios/releases/tag/v0.3.2)

## Legal

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16 changes: 11 additions & 5 deletions Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc
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@@ -1,10 +1,15 @@
<?xml version="1.0" encoding="utf-8"?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.1_1 FreeDriving Template" author="BMW AG" />
<FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.1_1 FreeDriving Template" author="BMW AG" />
<ParameterDeclarations>
<!--The ParameterDeclarations section is needed for easy variation.-->
<ParameterDeclaration name="Ego_InitSpeed_Ve0" parameterType="double" value="16.66666667" />
<ParameterDeclaration name="Duration" parameterType="double" value="300" />
<ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
<ConstraintGroup>
<!--The scenarios are meant to be run with a positive ego speed up to 60 kph.-->
<ValueConstraint rule="greaterThan" value="0.0" />
<ValueConstraint rule="lessOrEqual" value="60.0" />
</ConstraintGroup>
</ParameterDeclaration>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
Expand Down Expand Up @@ -47,7 +52,7 @@
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
<AbsoluteTargetSpeed value="${$Ego_InitSpeed_Ve0_kph / 3.6}" />
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
Expand Down Expand Up @@ -97,7 +102,8 @@
<ConditionGroup>
<Condition name="End" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="$Duration" rule="greaterOrEqual" />
<!--A duration of at least 5 minutes is required for this scenario. The whole road is a bit more than 5000 m long and should be covered. With the maximum speed of 60 kph this would take exactly 5 minutes. With lower speeds it takes longer.-->
<SimulationTimeCondition value="${5000.0 / ($Ego_InitSpeed_Ve0_kph / 3.6)}" rule="greaterOrEqual"></SimulationTimeCondition>
</ByValueCondition>
</Condition>
</ConditionGroup>
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