opencda.core.common package

Submodules

opencda.core.common.cav_world module

class opencda.core.common.cav_world.CavWorld(apply_ml=False)

Bases: object

A customized world object to save all CDA vehicle information and shared ML models.

Parameters

apply_ml (bool) – Whether apply ml/dl models in this simulation, please make sure you have install torch/sklearn before setting this to True.

vehicle_id_set

A set that stores vehicle IDs.

Type

set

_vehicle_manager_dict

A dictionary that stores vehicle managers.

Type

dict

_platooning_dict

A dictionary that stores platooning managers.

Type

dict

ml_manager

The machine learning manager class.

Type

opencda object.

get_platoon_dict()

Return existing platoons.

get_vehicle_managers()

Return vehicle manager dictionary.

locate_vehicle_manager(loc)

Locate the vehicle manager based on the given location.

Parameters

loc (carla.Location) – Vehicle location.

Returns

target_vm – The vehicle manager at the give location.

Return type

opencda object

update_platooning(platooning_manger)

Add created platooning.

Parameters

platooning_manger (opencda object) – The platooning manager class.

update_vehicle_manager(vehicle_manager)

Update created CAV manager to the world.

Parameters

vehicle_manager (opencda object) – The vehicle manager class.

opencda.core.common.data_dumper module

Dumping sensor data.

class opencda.core.common.data_dumper.DataDumper(perception_manager, localization_manager, vehicle_id, save_time)

Bases: object

Data dumper class to save data in local disk.

Parameters

  • perception_manager (opencda object) – The perception manager contains rgb camera data and lidar data.

  • localization_manager (opencda object) – The localization manager contains gnss and imu data.

  • vehicle_id (int) – The carla.Vehicle id.

  • save_time (str) – The timestamp at the beginning of the simulation.

rgb_camera

A list of opencda.CameraSensor that containing all rgb sensor data of the managed vehicle.

Type

list

lidar ; opencda object

The lidar manager from perception manager.

save_parent_folder

The parent folder to save all data related to a specific vehicle.

Type

str

count

Used to count how many steps have been executed. We dump data every 10 steps.

Type

int

run_step(perception_manager, localization_manager)

Dump data at running time.

Parameters

  • perception_manager (opencda object) – OpenCDA perception manager.

  • localization_manager (opencda object) – OpenCDA localization manager.

save_lidar_points()

Save 3D lidar points to disk.

save_rgb_image()

Save camera rgb images to disk.

save_yaml_file(perception_manager, localization_manager)

Save objects positions/spped, true ego position, predicted ego position, sensor transformations.

Parameters

  • perception_manager (opencda object) – OpenCDA perception manager.

  • localization_manager (opencda object) – OpenCDA localization manager.

opencda.core.common.misc module

Module with auxiliary functions.

opencda.core.common.misc.cal_distance_angle(target_location, current_location, orientation)

Calculate the vehicle current relative distance to target location.

Parameters

  • target_location (carla.Location) – The target location.

  • current_location (carla.Location) – The current location .

  • orientation (carla.Rotation) – Orientation of the reference object.

Returns

  • distance (float) – The measured distance from current location to target location.

  • d_angle (float)) – The measured rotation (angle) froM current location to target location.

opencda.core.common.misc.compute_distance(location_1, location_2)

Euclidean distance between 3D points.

Parameters

  • location_1 (carla.Location) – Start point of the measurement.

  • location_2 (carla.Location) – End point of the measurement.

opencda.core.common.misc.distance_vehicle(waypoint, vehicle_transform)

Returns the 2D distance from a waypoint to a vehicle

Parameters

  • waypoint (carla.Waypoint) – Actual waypoint.

  • vehicle_transform (carla.transform) – Transform of the target vehicle.

opencda.core.common.misc.draw_trajetory_points(world, waypoints, z=0.25, color=<carla.libcarla.Color object>, lt=5, size=0.1, arrow_size=0.1)

Draw a list of trajectory points

Parameters

  • size (float) – Time step between updating visualized waypoint.

  • lt (int) – Number of waypoints being visualized.

  • color (carla.Color) – The trajectory color.

  • world (carla.world) – The simulation world.

  • waypoints (list) – The waypoints of the current plan.

  • z (float) – The height of the visualized waypoint.

opencda.core.common.misc.draw_waypoints(world, waypoints, z=0.5)

Draw a list of waypoints at a certain height given in z.

Parameters

  • world (carla.world) – The simulation world.

  • waypoints (list) – List or iterable container with the waypoints to draw.

  • z (float) – Height in meters.

opencda.core.common.misc.get_acc(vehicle, meters=False)

Compute acceleration of a vehicle.

Parameters

  • meters (bool) – Whether to use m/s^2 (True) or km/h^2 (False).

  • vehicle (carla.vehicle) – The vehicle for which speed is calculated.

Returns

acceleration – The vehicle speed.

Return type

float

opencda.core.common.misc.get_speed(vehicle, meters=False)

Compute speed of a vehicle in Km/h.

Parameters

  • meters (bool) – Whether to use m/s (True) or km/h (False).

  • vehicle (carla.vehicle) – The vehicle for which speed is calculated.

Returns

speed – The vehicle speed.

Return type

float

opencda.core.common.misc.positive(num)

Return the given number if positive, else 0

opencda.core.common.misc.vector(location_1, location_2)

Returns the unit vector from location_1 to location_2.

Parameters

  • location_1 (carla.location) – Start location of the vector.

  • location_2 (carla.location) – End location of the vector.

opencda.core.common.v2x_manager module

Communication manager for cooperation

class opencda.core.common.v2x_manager.V2XManager(cav_world, config_yaml)

Bases: object

V2X Manager for platooning, cooperative perception and so on.

Parameters -cav_world : opencda object

CAV world.

-config_yamldict

The configuration dictionary of the v2x module.

Attributes -_recieved_buffer : dict

A buffer for receive data.

-platooning_pluginopencda object

The platooning plugin for communication during platooning.

add_platoon_blacklist(pmid)

Add an existing platoon to current blacklist.

Parameters

pmid (-) – The target platoon manager ID.

get_platoon_front_rear()

Get the ego vehicle’s front and rear cav in the platoon

get_platoon_manager()

Retrieve the platoon manager the cav belongs to and the corresponding id :return:

get_platoon_status()

Retrive the FSM status for platooning application

in_platoon()

Check whether the vehicle is inside the platoon.

Parameters

detection result (-) – Flag indication whether in a platoon.

match_platoon()

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

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

Set platooning status

Args -platooning_object (platoon object): platooning world that contains

all platoon information

-platooning_id (int): platoon id the cav belongs to. -in_id (int): the position in the platoon,

etc. 0 represents leader and 1 represents the second position.

-leader (boolean): indicate whether this cav is a leader in platoon.

set_platoon_front(vm)

Set the frontal vehicle to another vehicle

Args

  • vm (vehicle manager):The target vehicle manager.

set_platoon_rear(vm)

Set the rear vehicle to another vehicle

Parameters

vm (-) – The target vehicle manager.

set_platoon_status(status)

Set the cav to a different fsm status.

Args

-status (string): fsm status.

update_info(ego_pos, ego_spd)

Update all communication plugins with current localization info.

opencda.core.common.vehicle_manager module

Basic class of CAV

class opencda.core.common.vehicle_manager.VehicleManager(vehicle, config_yaml, application, carla_map, cav_world, current_time='', data_dumping=False)

Bases: object

A class manager to embed different modules with vehicle together.

Parameters

  • vehicle (carla.Vehicle) – The carla.Vehicle. We need this class to spawn our gnss and imu sensor.

  • config_yaml (dict) – The configuration dictionary of the localization module.

  • application (list) – The application category, currently support:[‘single’,’platoon’].

  • carla_map (carla.Map) – The CARLA simulation map.

  • cav_world (opencda object) – CAV World.

  • current_time (str) – Timestamp of the simulation beginning.

  • data_dumping (bool) – Indicates whether to dump sensor data during simulation.

v2x_manager

The current V2X manager.

Type

opencda object

localizer

The current localization manager.

Type

opencda object

perception_manager

The current V2X perception manager.

Type

opencda object

agent
The current carla agent that handles the basic behavior

planning of ego vehicle.

Type

opencda object

controller

The current control manager.

Type

opencda object

data_dumper

Used for dumping sensor data.

Type

opencda object

destroy()

Destroy the actor vehicle

run_step(target_speed=None)

Execute one step of navigation.

set_destination(start_location, end_location, clean=False, end_reset=True)

Set global route.

Parameters

  • start_location (carla.location) – The CAV start location.

  • end_location (carla.location) – The CAV destination.

  • clean (bool) – Indicator of whether clean waypoint queue.

  • end_reset (bool) – Indicator of whether reset the end location.

update_info()

Call perception and localization module to retrieve surrounding info an ego position.

Module contents