opencda.core.application.platooning package

Submodules

opencda.core.application.platooning.fsm module

Finite State Machine

class opencda.core.application.platooning.fsm.FSM(value)

Bases: enum.Enum

The finite state machine class for platooning. These classes are used to indicate the current status of the CAV during platooning.

SEARCHING

The vehicle is not in any platoon and currently searching one to join.

Type

int

OPEN_GAP

The platoon member is increasing the gap for other vehicle to merge.

Type

int

MOVE_TO_POINT

The merging vehicle is moving to the meeting points for joining.

Type

int

JOINING

The merging vehicle is operating the joining maneuver(lane change).

Type

int

MAINTINING

The platoon member is following the leader and maintain the time gap.

Type

int

BACK_JOINING

The merging vehicle is in back-join state.

Type

int

CUT_IN_TO_BACK

The merging vehicle abandons cut-in-join and switch to back join.

Type

int

JOINING_FINISHED

Indicate the joining finished and the vehicle will switch to maintaining state.

Type

int

LEADING_MODE

The vehicle is the platoon leader.

Type

int

ABONDON

Current joining is abandoned.

DISABLE

V2X is not available and thus won’t join any platoon.

ABONDON = 10
BACK_JOINING = 5
CUT_IN_TO_BACK = 6
DISABLE = 11
FRONT_JOINING = 7
JOINING = 3
JOINING_FINISHED = 8
LEADING_MODE = 9
MAINTINING = 4
MOVE_TO_POINT = 2
OPEN_GAP = 1
SEARCHING = 0

opencda.core.application.platooning.platoon_behavior_agent module

Behavior manager for platooning specifically

class opencda.core.application.platooning.platoon_behavior_agent.PlatooningBehaviorAgent(vehicle, vehicle_manager, v2x_manager, behavior_yaml, platoon_yaml, carla_map)

Bases: opencda.core.plan.behavior_agent.BehaviorAgent

Platoon behavior agent that inherits the single vehicle behavior agent.

Parameters

  • vehicle (carla.Vehicle) – The carla vehicle.

  • vehicle_manager (opencda object) – The vehicle manager, used when joining platoon finished.

  • v2x_manager (opencda object) – Used to received and deliver information.

  • behavior_yaml (dict) – The configuration dictionary for BehaviorAgent.

  • platoon_yaml (dict.) – The configuration dictionary for platoon behavior.

  • carla_map (carla.Map) – The HD Map used in the simulation.

vehicle_manager

The weak reference of the vehicle manager, used when joining platoon finished.

Type

opencda object

v2x_manager

The weak reference of the v2x_manager

Type

opencda object

debug_helper
A debug helper used to record the driving performance

during platooning

Type

opencda Object

inter_gap

The desired time gap between each platoon member.

Type

float

calculate_gap(distance)

Calculate the current vehicle and frontal vehicle’s time/distance gap.

Parameters

distance (float) – Distance between the ego vehicle and frontal vehicle.

joining_finish_manager(insert_vehicle='front')

Called when a joining is finish to update the platoon manager list.

Parameters

insert_vehicle (string) – indicate use the front or rear vehicle index to update the platoon manager list.

platooning_following_manager(inter_gap)

Car following behavior in platooning with gap regulation.

Parameters

inter_gap (float) – The gap designed for platooning.

platooning_merge_management(frontal_vehicle_vm)

Merge the vehicle into the platooning.

Parameters

frontal_vehicle_vm (opencda object) – The vehivle manager of the front vehicle.

Returns

  • target_speed (float) – The target speed for ego vehicle.

  • target_waypoint (carla.waypoint) – The target waypoint for ego vehicle.

run_step(target_speed=None, collision_detector_enabled=True, lane_change_allowed=True)

Run a single step for navigation under platooning agent. Finite state machine is used to switch between different platooning states.

Parameters

  • target_speed (float) – Target speed in km/h

  • collision_detector_enabled (bool) – Whether collision detection enabled.

  • lane_change_allowed (bool) – Whether lane change is allowed.

run_step_back_joining()

Back-joining Algorithm.

Returns

  • target_speed (float) – The target speed for ego vehicle.

  • target_waypoint (carla.waypoint) – The target waypoint for ego vehicle.

run_step_cut_in_joining()

Check if the vehicle has been joined successfully.

Returns

  • target_speed (float) – The target speed for ego vehicle.

  • target_waypoint (carla.waypoint) – The target waypoint for ego vehicle.

run_step_cut_in_move2point()

The vehicle is trying to get to the move in point.

Returns

  • target_speed (float) – The target speed for ego vehicle.

  • target_waypoint (carla.waypoint) – The target waypoint for ego vehicle.

run_step_front_joining()

Front-joining algorithm.

Returns

  • target_speed (float) – The target speed for ego vehicle.

  • target_waypoint (carla.waypoint) – The target waypoint for ego vehicle.

run_step_maintaining()

Next step behavior planning for speed maintaining.

Returns

  • target_speed (float) – The target speed for ego vehicle.

  • target_waypoint (carla.waypoint) – The target waypoint for ego vehicle.

run_step_open_gap()

Open gap for cut-in vehicle.

Returns

  • target_speed (float) – The target speed for ego vehicle.

  • target_waypoint (carla.waypoint) – The target waypoint for ego vehicle.

update_information(ego_pos, ego_speed, objects)

Update the perception and localization information to the behavior agent.

Parameters

  • ego_pos (carla.Transform) – Ego position from localization module.

  • ego_speed (float) – km/h, ego speed.

  • objects (dictionary) – Objects detection results from perception module.

opencda.core.application.platooning.platoon_debug_helper module

Analysis + visualization functions for platooning

class opencda.core.application.platooning.platoon_debug_helper.PlatoonDebugHelper(actor_id)

Bases: opencda.core.plan.planer_debug_helper.PlanDebugHelper

This class aims to save statistics for platoon behaviour

Parameters

actor_id (int) – The actor ID of the selected vehcile.

time_gap_list

The list containing intra-time-gap(s) of all time-steps.

Type

list

dist_gap_list

The list containing distance gap(s) of all time-steps.

Type

list

update(ego_speed, ttc, time_gap=None, dist_gap=None)

Update the platoon related vehicle information.

Parameters

  • ego_speed (float) – Ego vehcile speed.

  • ttc (float) – Ego vehicle time-to-collision.

  • time_gap (float) – Ego vehicle time gap with the front vehicle.

  • dist_gap (float) – Ego vehicle distance gap with front vehicle.

opencda.core.application.platooning.platooning_manager module

Platooning Manager

class opencda.core.application.platooning.platooning_manager.PlatooningManager(config_yaml, cav_world)

Bases: object

Platoon manager. Used to manage all vehicle managers inside the platoon.

Parameters

  • config_yaml (dict) – The configuration dictionary for platoon.

  • cav_world (opencda object) – CAV world that stores all CAV information.

pmid

The platooning manager ID.

Type

int

vehicle_manager_list

A list of all vehciel managers within the platoon.

Type

list

destination

The destiantion of the current plan.

Type

carla.location

center_loc

The center location of the platoon.

Type

carla.location

leader_target_speed

The speed of the leader vehicle.

Type

float

origin_leader_target_speed

The original planned target speed of the platoon leader.

Type

float

recover_speed_counter

The counter that record the number of speed recovery attempts.

Type

int

add_member(vehicle_manager, leader=False)

Add memeber to the current platooning

Parameters

  • leader (boolean) – Indicator of whether this cav is a leader.

  • vehicle_manager (opencda object) – The vehicle manager class.

cal_center_loc()

Calculate and update center location of the platoon.

destroy()

Destroy platoon vehicles actors inside simulation world.

evaluate()

Used to save all members’ statistics.

Returns

  • figure (matplotlib.figure) – The figure drawing performance curve passed back to save to the disk.

  • perform_txt (str) – The string that contains all evaluation results to print out.

reset_speed()

After joining request accepted for certain steps, the platoon will return to the origin speed.

response_joining_request(request_loc)

Identify whether to accept the joining request based on capacity.

Parameters

request_loc (carla.Location)) – Request vehicle location.

Returns

  • response (boolean)

  • Indicator of whether the joining request is accepted.

run_step()

Run one control step for each vehicles.

Returns

control_list – The control command list for all vehicles.

Return type

list

set_destination(destination)

Set desination of the vehicle managers in the platoon.

set_lead(vehicle_manager)

Set the leader of the platooning

Parameters

vehicle_manager (opencda object) – The vehicle manager class.

set_member(vehicle_manager, index, lead=False)

Set member at specific index

Parameters

  • lead (boolean) – Indicator of whether this cav is a leader.

  • vehicle_manager (opencda object) – The vehicle manager class.

  • index (int) – The platoon index of the current vehicle.

update_information()

Update CAV world information for every member in the list.

update_member_order()

Update the members’ front and rear vehicle. This should be called whenever new member added to the platoon list.

opencda.core.application.platooning.platooning_plugin module

Platooning plugin for communication and track FSM

class opencda.core.application.platooning.platooning_plugin.PlatooningPlugin(search_range, cda_enabled)

Bases: object

Platooning plugin inside the V2X manager.

Parameters

  • search_range (float) – The search range of the communication equipment.

  • cda_enabled (boolean) – Whether connectivity is supported.

leader

Boolean indicator of the platoon leader status.

Type

boolean

platooning_object

The current platoon object.

Type

opencda object

platooning_id

The current platoon ID.

Type

int

in_id

The position in the platoon.

Type

int

status

The current platooning status.

Type

enum

ego_pos

The current position (i.e., location and rotation) of the ego vehicle.

Type

carla.transformation

ego_spd

The current speed(km/h) of the ego vehicle.

Type

float

platooning_blacklist

The platoon in the black list won’t be considered again.

Type

list

front_vehicle

The front vehicle manager of the ego vehicle.

Type

opencda object

rear_vechile

The rear vehicle manager of the ego vehicle.

Type

opencda object

match_platoon(cav_world)

A naive way to find the best position to join a platoon

Parameters

cav_world (opencda object) – Object that contains all information about CAVs.

Returns

  • matched (bool) – The boolean indicator of matching result.

  • min_index (int) – The minimum index inside the selected platoon.

  • platoon_vehicle_list (list) – The list of platoon members.

reset()

Reset to the origin status.

search_platoon(ego_pos, cav_world)

Search platoon candidate in the range

Parameters

  • ego_pos (carla.Transform) – Ego vehicle current position.

  • cav_world (opencda object) – Object that contains all information about CAVs.

Returns

  • pmid (int) – Platoon manager ID.

  • pm (opencda object) – Platoon manager ID.

set_platoon(in_id, platooning_object=None, platooning_id=None, leader=False)

Set platooning status.

Parameters

  • in_id (int) – Inner platoon ID of the vehicle.

  • platooning_object (opencda object) – The current platoon object.

  • platooning_id (int) – The current platoon ID.

  • leader (bool) – Boolean indicator of the platoon leader status.

set_status(status)

Set FSM status

Parameters

status (str) – The current platooning status.

update_info(ego_pos, ego_spd)

Update the ego position and speed

Parameters

  • ego_pos (carla.Transform) – Ego pose.

  • ego_spd (float) – Ego speed(km/h).

Module contents