Scenario_name: example
Ego:
End_pos: [2,-2,45,0,1] # End position [Road index, Lane id, s, offset, orientation]
Start_pos: [0,2,66,0,1] # Start position [Road index, Lane id, s, offset, orientation]
Start_speed: 50 # Ego's start speed (km/h)
Map: # Clockwise index
- 121
- 17
- 144
- 16
Actors:
Agents:
# Agent 1
- Type: 'car_red'
Start_pos: [0,1,55,0,1] # Start pos [Road index, Lane id, s, offset, orientation]
Start_speed: 50 # Agent's speed (km/hr)
Start_trigger: # (ego reach init pos)
lane: 2
road: 0
s: 60
offset: 0
type: absolute
Acts:
- Type: cut_in # Agent1's Act1
Delay: 1 # Overall delay
Events:
- Type: cut # Act1's position action
Dynamic_delay: 0
Dynamic_duration: 2
Dynamic_shape: linear
End: 2
Use_route: null
- Type: speed # Act1's speed action
Dynamic_delay: 0
Dynamic_duration: 3
Dynamic_shape: linear
End: 20
Use_route: null
- Type: turn
# ... Agent1's Act2
# Agent 2
- Type: 'car_red'
Start_pos: [2,1,5,0]
# ...
Pedestrians:
...
依 Ego 觸發 Agent 的位置分為:
0:( x = 右邊幾個車道)
0: Agent 前方
Agent
Pedestrian
Cut Action
Type: cut
Dynamic_delay: 1 # Trigger觸發後過多久開始動
Dynamic_duration: 3 # 花多少時間cut
Dynamic_shape: linear
End: [-2,0] # Target [lane id, offset]
Use_route: null # irrelevant
Position Action