OpenSCENARIO Support

The scenario_runner provides support for the OpenSCENARIO 1.0 standard. The current implementation covers initial support for maneuver Actions, Conditions, Stories and the Storyboard. If you would like to use evaluation criteria for a scenario to evaluate pass/fail results, these can be implemented as StopTriggers (see below). However, not all features for these elements are yet available. If in doubt, please see the module documentation in srunner/tools/openscenario_parser.py

An example for a supported scenario based on OpenSCENARIO is available here

In addition, it is recommended to take a look into the official documentation available here and here.

Migrating OpenSCENARIO 0.9.x to 1.0

The easiest way to convert old OpenSCENARIO samples to the official standard 1.0 is to use xsltproc and the migration scheme located in the openscenario folder. Example:

xsltproc -o newScenario.xosc migration0_9_1to1_0.xslt oldScenario.xosc

Level of support

In the following the OpenSCENARIO attributes are listed with their current support status.

General OpenSCENARIO setup

This covers all part that are defined outside the OpenSCENARIO Storyboard

Attribute Support Notes
FileHeader Use "CARLA:" at the beginning of the description to use the CARLA coordinate system.
CatalogLocations
ControllerCatalog
While the catalog is supported, the reference/usage may not work.
CatalogLocations
EnvironmentCatalog
CatalogLocations
ManeuverCatalog
CatalogLocations
MiscObjectCatalog
CatalogLocations
PedestrianCatalog
CatalogLocations
RouteCatalog
While the catalog is supported, the reference/usage may not work.
CatalogLocations
TrajectoryCatalog
While the catalog is supported, the reference/usage may not work.
CatalogLocations
VehicleCatalog
ParameterDeclarations
RoadNetwork
LogicFile
The CARLA level can be used directly (e.g. LogicFile=Town01). Also any OpenDRIVE path can be provided.
RoadNetwork
SceneGraphFile
The provided information is not used.
RoadNetwork
TafficSignals
The provided information is not used.
Entities
EntitySelection
The provided information is not used.
Entities ScenarioObject
CatalogReference
The provided information is not used.
Entities ScenarioObject
MiscObject
The name should match a CARLA vehicle model, otherwise a default vehicle based on the vehicleCategory is used. BoundingBox entries are ignored.
Entities ScenarioObject
ObjectController
The provided information is not used.
Entities ScenarioObject
Pedestrian
The name should match a CARLA vehicle model, otherwise a default vehicle based on the vehicleCategory is used. BoundingBox entries are ignored.
Entities ScenarioObject
Vehicle
The name should match a CARLA vehicle model, otherwise a default vehicle based on the vehicleCategory is used. The color can be set via properties ('Property name="color" value="0,0,255"'). Axles, Performance, BoundingBox entries are ignored.


OpenSCENARIO Storyboard

OpenSCENARIO Actions

The OpenSCENARIO Actions can be used for two different purposes. First, Actions can be used to define the initial behavior of something, e.g. a traffic participant. Therefore, Actions can be used within the OpenSCENARIO Init. In addition, Actions are also used within the OpenSCENARIO story. In the following, the support status for both application areas is listed. If an action contains of submodules, which are not listed, the support status applies to all submodules.

GlobalAction
GlobalAction Init support Story support Notes
EntityAction
EnvironmentAction
ParameterAction
InfrastructureAction TrafficSignalAction
TrafficAction
InfrastructureAction TrafficSignalAction
TrafficSignalControllerAction
InfrastructureAction TrafficSignalAction
TrafficSignalStateAction
As traffic signals in CARLA towns have no unique ID, they have to be set by providing their position (Example: TrafficSignalStateAction name="pos=x,y" state="green"). The id can also be used for none CARLA town (Example: TrafficSignalStateAction name="id=n" state="green")


UserDefinedAction
UserDefinedAction Init support Story support Notes
CustomCommandAction This action is currently used to trigger the execution of an additional script. Example: type="python /path/to/script args".


PrivateAction
PrivateAction Init support Story support Notes
ActivateControllerAction Can be used to activate/deactive the CARLA autopilot.
ControllerAction AssignControllerAction is supported, but a Python module has to be provided for the controller implementation, and in OverrideControllerValueAction all values need to be False.
LateralAction
LaneChangeAction
Currently all lane changes have a linear dynamicShape, the dynamicDimension is defined as the distance and are relative to the actor itself (RelativeTargetLane).
LateralAction
LaneOffsetAction
Currently all type of dynamicShapes are ignored and depend on the controller. This action might not work as intended if the offset is high enough to make the vehicle exit its lane
LateralAction
LateralDistanceAction
LongitudinalAction
LongitudinalDistanceAction
LongitudinalAction
SpeedAction
SynchronizeAction
TeleportAction
VisibilityAction
RoutingAction
AcquirePositionAction
RoutingAction
AssignRouteAction
Route Options (shortest/fastest/etc) are supported. Shortests means direct path between A and B, all other will use the shortest path along the road network between A and B
RoutingAction
FollowTrajectoryAction


OpenSCENARIO Conditions

Conditions in OpenSCENARIO can be defined either as ByEntityCondition or as ByValueCondition. Both can be used for StartTrigger and StopTrigger conditions. The following two tables list the support status for each.

ByEntityCondition
EntityCondition Support Notes
AccelerationCondition
CollisionCondition
DistanceCondition *freespace* attribute is still not supported
EndOfRoadCondition
OffroadCondition
ReachPositionCondition
RelativeDistanceCondition *freespace* attribute is still not supported
RelativeSpeedCondition
SpeedCondition
StandStillCondition
TimeHeadwayCondition
TimeToCollisionCondition
TraveledDistanceCondition


ByValueCondition
ValueCondition Support Notes
ParameterCondition The level of support depends on the parameter. It is recommended to use other conditions if possible. Please also consider the note below.
SimulationTimeCondition
StoryboardElementStateCondition startTransition, stopTransition, endTransition and completeState are currently supported.
TimeOfDayCondition
TrafficSignalCondition As traffic signals in CARLA towns have no unique ID, they have to be set by providing their position (Example: TrafficSignalCondition name="pos=x,y" state="green"). The id can also be used for none CARLA town (Example: TrafficSignalCondition name="id=n" state="green")
TrafficSignalControllerCondition
UserDefinedValueCondition


Note

In the OpenSCENARIO 1.0 standard, a definition of test / evaluation criteria is not defined. For this purpose, you can re-use StopTrigger conditions with CARLA. The following StopTrigger conditions for evaluation criteria are supported through ParameterConditions by providing the criteria name for the condition:

  • criteria_RunningStopTest
  • criteria_RunningRedLightTest
  • criteria_WrongLaneTest
  • criteria_OnSideWalkTest
  • criteria_KeepLaneTest
  • criteria_CollisionTest
  • criteria_DrivenDistanceTest
OpenSCENARIO Positions

There are several ways of defining positions in OpenSCENARIO. In the following we list the current support status for each definition format.

Position Support Notes
LanePosition
RelativeLanePosition
RelativeObjectPosition
RelativeRoadPosition
RelativeWorldPosition
RoadPosition
RoutePosition
WorldPosition