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. During co-simulation, it is also used to save the sumo-carla id mapping.

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

_rsu_manager_dict

A dictionary that stores RSU 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_rsu_manager(rsu_manager)

Add rsu manager.

Parameters

rsu_manager (opencda object) – The RSU manager class.

update_sumo_vehicles(sumo2carla_ids)

Update the sumo carla mapping dict. This is only called when cosimulation is conducted.

Parameters

sumo2carla_ids (dict) – Key is sumo id and value is carla id.

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, 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.

  • 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

static matrix2list(matrix)

To generate readable yaml file, we need to convert the matrix to list format.

Parameters

matrix (np.ndarray) – The extrinsic/intrinsic matrix.

Returns

matrix_list – The matrix represents in list format.

Return type

list

run_step(perception_manager, localization_manager, behavior_agent)

Dump data at running time.

Parameters

  • perception_manager (opencda object) – OpenCDA perception manager.

  • localization_manager (opencda object) – OpenCDA localization manager.

  • behavior_agent (opencda object) – Open

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, behavior_agent)

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.

  • behavior_agent (opencda object) – OpenCDA behavior agent.

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.get_speed_sumo(sumo2carla_ids, carla_id)

Get the speed of the vehicles controlled by sumo.

Parameters

  • sumo2carla_ids (dict) – Sumo-carla mapping dictionary.

  • carla_id (int) – Carla actor id.

Returns

speed – The speed retrieved from the sumo server, -1 if the carla_id not found.

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, vid)

Bases: object

V2X Manager for platooning, cooperative perception and so on.

Parameters

  • cav_world (opencda object) – CAV world.

  • config_yaml (dict) – The configuration dictionary of the v2x module.

  • vid (str) – The corresponding vehicle manager’s uuid.

_recieved_buffer

A buffer for receive data.

Type

dict

cav_nearby

The dictionary that contains the cavs in the communication range.

Type

dict

platooning_plugin

The platooning plugin for communication during platooning.

Type

opencda object

ego_pos

Ego position.

Type

carla.transform

ego_spd

Ego speed(km/h).

Type

float

add_platoon_blacklist(pmid)

Add an existing platoon to current blacklist.

Parameters

pmid (int) – The target platoon manager ID.

get_ego_pos()

Add noise and lag to the current ego position and send to other CAVs. This is for simulate noise and lagging during communication.

Returns

processed_ego_pos – The ego position after adding noise and lagging.

Return type

carla.Transform

get_ego_speed()

Add noise and lag to the current ego speed.

Returns

processed_ego_speed – The ego speed after adding noise and lagging.

Return type

float

get_platoon_front_rear()

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

Returns

  • front_vehicle (opencda object) – Front vehicle of the ego vehicle in the platoon.

  • rear_vehicle (opencda object) – Rear vehicle of the ego vehicle in the platoon.

get_platoon_manager()

Retrieve the platoon manager the cav belongs to and the corresponding id.

Returns

  • platoon_object (opencda object) – The PlatoonManager object.

  • in_id (int) – The ego vehicle’s in team id.

get_platoon_status()

Retrieve the FSM status for platooning application

Returns

status – The vehicle’s current platoon status.

Return type

enum

in_platoon()

Check whether the vehicle is inside the platoon.

Returns

flag – Whether this vehicle is inside a platoon.

Return type

bool

match_platoon()

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

search()

Search the CAVs nearby.

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

Set platooning status

Parameters

  • 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

Parameters

vm (opencda object) – The target vehicle manager.

set_platoon_rear(vm)

Set the rear vehicle to another vehicle

Parameters

vm (opencda object) – The target vehicle manager.

set_platoon_status(status)

Set the cav to a different fsm status.

Parameters

status (str) – fsm status.

update_info(ego_pos, ego_spd)

Update all communication plugins with current localization info.

opencda.core.common.vehicle_manager module

Module contents