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

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: 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. Note: please use groundtruth position of the frontal vehicle to calculate the correct distance.

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 (dict) – 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: 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_nearby)

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

Parameters:

cav_nearby (dict) – The dictionary contains all the cavs nearby.

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_loc, cav_nearby)

Search platoon candidate in the range

Parameters:

  • ego_loc (carla.Location) – Ego vehicle current position.

  • cav_nearby (dict) – The dictionary contains all the cavs nearby.

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