CARLA Scenario Runner 0.9.15

🚀 New Features

• New scenarios:
  • InvadingTurn: vehicles at the opposite direction lane partially invade the ego's one, forcing it to leave space for them,moving slightly off-center.
  • EnterActorFlow: the ego has to enter a highway lane filled with incoming traffic
  • MergerIntoslowtraffic. variation of EnterActorFlow but with slow traffic.
  • InterurbanActorFlow and InterurbanAdvancedActorFlow: actor flow scenarios for the new interurban intersections with dedicated lanes present at Town12 and Town13.
  • Accident: the ego is met with an accident, forcing it to lane change to avoid it.
  • AccidentTwoWays: same as Accident but having to invade an opposite direction lane.
  • ParkedObstacle: similar to Accident but with a parked obstacle instead.
  • ParkedObstacleTwoWays: same as ParkedObstacle but having to invade an opposite direction lane.
  • HazardAtSideLane: similar to Accident but with a moving group of bicycles in the rightmost park of the lane
  • HazardAtSideLaneTwoWays: same as HazardAtSideLane but having to invade an opposite direction lane.
  • ConstructionObstacleTwoWays: same as ConstructionObstacle but having to invade an opposite direction lane.
  • VehicleOpensDoorTwoWays: similar to Accident but this time the blockage is cause by a vehicle opening its door.
  • StaticCutIn: the ego is meant with an adversary that exits a stopped lane, cutting in front of the ego.
  • ParkingCutIn: similar to StaticCutIn but the adversary starts at a parking lane.
  • HighwayCutIn: the ego is met with a vehicle that tries to enter the highway by cutting in front of it.
  • ParkingExit: Only usable at the beginning of the routes, makes the ego start at a parking lane.
  • HardBreakRoute: uses the BackgroundActivity to make all vehicles in front of the ego hard break.
  • YieldToEmergencyVehicle: the ego finds an emergency vehicle behind, having to lane chane to give way.
  • VehicleTurningRoutePedestrian: variation of VehicleTurningRoute but with a pedestrian crossing instead of a bycicle.
  • BlockedIntersection: with low visibility, the ego performs a turn only to find out that the end is blocked by another vehicle.
  • CrossingBicycleFlow: the ego has to do a turn at an intersection but it has to cross a bycicle lane full of traffic.
  • PedestrianCrossing: a group of pedestrians crossing a crosswalk. Easier version of DynamicObjectCrossing with no occluder.
  • ParkingCrossingPedestrian: variation of DynamicObjectCrossing, but using a parked vehicle as the occluder.
  • OppositeVehicleTakingPriority: variation of OppositeVehicleRunningRedLight but without traffic lights.
  • NonSignalizedJunctionLeftTurn: variation of SignalizedJunctionLeftTurn but without traffic lights.
  • NonSignalizedJunctionRightTurn: variation of SignalizedJunctionRightTurn but without traffic lights.
  • PriorityAtJunction: utility scenario during routes to add a green traffic light at the next intersection.
  • NoSignalJunctionCrossingRoute: Does nothing but wait for the ego to exit an intersection.
• Improvements to old scenarios:
  • ControlLoss: Added actual noise to the ego's control (currently only during routes).
  • All VehicleTurning variations: more robustness and better synchronization.
  • OppositeVehicleRunningRedLight: Improvement synchronization and the opposite vehicle's behavior.
  • SignalizedJunctionLeftTurn: it is now an actor flow that ego has to cross.
  • SignalizedJunctionRightTurn. it is now an actor flow that the ego has to merge into.
  • Renamed ConstructionSetupCrossing to ConstructionObstacle, and prepared it for routes.
• Improvements to the CarlaDataProvider:
  • Added a lock when checking the dictionaries to avoid issues in multithreading
  • Added the transform argument to all register function to avoid returning None during the first frame
  • Added the get_global_route_planner and get_all_actors to avoid repeating these costly calls more than necessary
  • Added set_runtime_init_mode and is_runtime_init_mode, used by the Leaderboard to initialize scenarios during the simulation
  • At the create_blueprint function, replaced the safe argument with the attribute_filter, for a more generic parsing of any of the blueprint attributes.
  • Removed the CarlaDataProvider.get_ego_vehicle_route() and CarlaDataProvider.set_ego_vehicle_route() functions as this is now information available to all scenarios.
• Improvements to the routes:
  • Scenarios are no longer position based, but instead part of a route's xml.
  • Routes now also include the criteria of its scenarios.
  • waypoint have been renamed to position and are part of the waypoints category.
  • More than one weather are allowed, creating a dynamic one based on the ego vehicle's completed percentage of the route.
  • Changed the timeout to also be dependent on the distance driven by the ego vehicle.
  • Added the RouteLightsBehavior to control of all scene and vehicle lights during runtime
  • Added a new criteria for routes, CheckMinSpeed, that checks the ego's speed and compares it with the rest of the traffic
  • Separated the route argument into two, route for the file path, and route-id, for the name of route. the functionality remains unchanged.
  • Simplified the overall parsing.
• The BackgroundActivity part of the routes has been completely remade, with the objective of creating the sensation of traffic around the ego will increasing the performance
• Added a Backgroundmanager to interact with the new BackgroundActivity, to allow it to adapt to incoming scenarios
• Added new atomic behaviors:
  • SyncArrivalWithAgent
  • CutIn
  • AddNoiseToRouteEgo
  • ConstantVelocityAgentBehavior
  • AdaptiveConstantVelocityAgentBehavior
  • WaitForever
  • BatchActorTransformSetter
  • OppositeActorFlow
  • InvadingActorFlow
  • BicycleFlow
  • OpenVehicleDoor
  • SwitchWrongDirectionTest
  • SwitchMinSpeedCriteria
  • WalkerFlow
  • AIWalkerBehavior
  • ScenarioTimeout
  • MovePedestrianWithEgo
• Improved the Criterion class for a more comprehensive base criteria and easier use in the results_writer class.
• Added new atomic criteria:
  • MinimumSpeedRouteTest
  • YieldToEmergencyVehicleTest
  • ScenarioTimeoutTest
• Added new atomic trigger conditions
  • WaitUntilInFrontPosition
• Merged the Scenario class into the BasicScenario one.
• Scenarios can now have parameters as part of the their xml definition, which is saved as a dictionary at config.other_parameters
• Simplified and improved how routes are parsed.
• Added the wait-for-repetitions argument at the manual control for a smoother transition between scenarios / repetitions
• Updated numpy's version to avoid issues with newer version of Python 3

🐛 Bug Fixes

• Fixed bug at OtherLeadingVehicle scenario causing the vehicles to move faster than intended
• Fixed bug causing some debris at ControlLoss scenario to be floating, instead of at ground level

CARLA Scenario Runner 0.9.13

🚀 New Features

• OpenSCENARIO support:
  • Added support for ParameterAction
  • Extended ParameterCondition support to use as an event trigger condition

🐛 Bug Fixes

• Fixed metrics parsing and remade the example recordings
• Fixed a bug with repetitions / scenario groups causing the simulation to crash after the second one.
• Fixed use of OSC Parameters as entry names for catalogs

👻 Maintenance

• Removed CARLA example dependencies

CARLA Scenario Runner 0.9.12

IMPORTANT: From now on, only Python 3.x is supported

🚀 New Features

• OpenSCENARIO support:
  • Added support for LongitudinalDistanceAction
  • Extended RelativeDistanceCondition with support for 'longitudinal' and 'lateral' distance along with freespace.
  • Added support for RelativeRoadPosition
  • Added support for RoadPosition
  • Added --openscenarioparams argument to overwrite global ParameterDeclaration
  • Added controller using CARLA's autopilot (in replacement for ActivateControllerAction)
  • Added support for storyboards with multiple stories
• Additional Pythonic Scenarios:
  • Added Construction setup scenario.

🐛 Bug Fixes

• Fixed LaneOffset (+ vs. -) for OpenSCENARIO
• Fixed RelativeLanePosition for OpenSCENARIO causing exception when using ds != 0
• Fixed bug at the Getting Started docs which caused an import error
• Fixed neverending lane change maneuver in OpenSCENARIO
• Fixed bug causing the spawning of an actor with request_new_actor to never activate the autopilot.
• Fixed handling of evaluation criteria in OpenSCENARIO (using a delay value of .0 caused an exception)

👻 Maintenance

• Improvements for OpenSCENARIO:
  • Eliminated unnecessary reloads of OpenDRIVE maps
  • Extended SimpleVehicleController (OSC) to handle traffic lights
  • Generalized visualizer attached to OSC controllers
• Fixed bug at the Getting Started docs which caused an import error
• Improved the watchdog. It can now be paused, resumed and uses the same thread, instead of opening and closing new ones each frame.
• Added simple-watchdog-timer library to the requirements, as it is used by the new watchdog.
• Extended CarlaDataProvider's spawning functions to allow filtering the safer blueprint, and optionally tick the server
• Improved cleanup handling to resolve memory leak issues and resolve timeouts

CARLA Scenario Runner 0.9.11

🚀 New Features

• Added a sensor barrier for the agents to ensure that the simulation waits for them to render their data.
• Added an option to produce a machine-readable JSON version of the scenario report.
• Added a static obstacle evasion OpenSCENARIO scenario
• Added support for OSC Routing options
• Added support for OSC SynchronizeAction
• Added support for OSC LaneOffsetAction
• Added support to place OSC controller implementation alongside the OSC scenario
• Updated GameTime.restart() at srunner/scenariomanager/timer.py to also reset the frame number

🐛 Bug Fixes

• Fixed metrics-manager.py failing to run with port argument
• Fixed exception when using OSC scenarios without EnvironmentAction inside Storyboard-Init
• Fixed bug causing the TrafficManager to not be correctly updated at asynchronous simualtions
• Fixed shutdown issue in ScenarioRunner causing to not switch to asynchronous mode
• Fixed OSC TeleportAction within Story
• Fixed runtime exception on RouteScenario without an agent parameter
• Fixed bug causing the InTimeToArrivalToVehicle atomic to crash if one of the actors was a a static object
• Fixed writing result files when using OpenSCENARIO under Windows (CARLA: prefix is removed from the filename)

👻 Maintenance

• Added check to ensure OSC names (for story/act/maneuver) are unique

CARLA Scenario Runner 0.9.10

🚀 New Features

• Renamed some agent labels inside Jenkins CI pipelines for new standard proposals.

• Added support for Jenkins CI pipelines doing automated testing and docker images creation.

• Very important: CarlaActorPool has been removed and all its functions moved to the CarlaDataProvider:

  • The spawning functions have been refactored. All the setup functions have been removed, and its functionalities moved to their request counterparts. For example, previously request_new_actor just called setup_actor, but now setup_actor no longer exists, and the spawning is done via request_new_actor. They have also been unified and are now more consistent.
  • Changed ActorConfiguration to ActorConfigurationData.parse_from_node
  • Renamed the map element at routes to town, matching the scenario configuration files

• Added new environment variables needed. They can be seen at (Docs/getting_scenariorunner.md).

• Improved the visual display of the information from the output and file arguments.

• Routes are now deterministic in regards to the spawning scenarios when more than one are at the same location

• The BackgroundActivity functionality has been unchanged but some tweaks have been made, fixing a previous patch. As a result, the amount parameter at ActorConfigurationData has been removed.

• Remade how ScenarioRunner reads the scenarios files. It now reads all scenarios inside the srunner/scenarios folder without needing to import them. Scenarios outside that folder will still need the --additionalScenario argument.

• The new weather parameters (related to fog) are now correctly read when running scenarios outside routes.

• Enable weather animation during scenario execution (requires ephem pip package)

• Changed manual control to be in par with the CARLA version. Among others, added vehicle lights, recording and some new sensors

• Removed unsupported scenarios (ChallengeBasic and BackgroundActivity, VehicleTurnLeftAtJunction)

• Added a new metrics module, which gives access to all the information about a scenario in order to allow the user to extract any desired information about the simulation. More information here

• Removed the default randomness at the ControlLoss scenario

• OpenSCENARIO support:

  • Added support for controllers and provided default implementations for vehicles and pedestrians. This required changing the handling of actors, which results in that now all actors are controlled by an OSC controller. Supported controllers:
    • Pedestrian controller
    • NPC vehicle controller (based on CARLA LocalPlanner)
    • Simple vehicle controller to set velocities not brake/throttle, and consider obstacles in the forward-facing region.
    • External controller (to forward control to external entities)
  • Added initial speed support for pedestrians for OpenSCENARIO
  • Support for EnvironmentActions within Story (before only within Init). This allows changing weather conditions during scenario execution
  • Added support for RelativeSpeedCondition
  • Added support for AccelerationCondition
  • Added support for TimeOfDayCondition
  • Added support for OffroadCondition
  • Added support for CollisionCondition
  • Added support for EndOfRoadCondition
  • Added support for TimeHeadwayCondition
  • Added support for TrafficSignalCondition
  • Added support for AcquirePositionAction
  • Extended FollowLeadingVehicle example to illustrate weather changes
  • Created example scenarios to illustrate usage of controllers and weather changes
  • Reworked the handling of Catalogs to make it compliant to the 1.0 version (relative paths have to be relative to the scenario file)
  • The RoadNetwork can be defined as global Parameter
  • Fixed handling of relative positions with negative offset
  • Added support for local ParamaterDeclarations
  • Added support for Parameters within Catalogs
  • Added support for ParameterAssignments for CatalogReferences
  • Fixed name handling of Parameters: Parameter declerations must not start with a leading '$', but when the parameter is used a leading '$' is required.
  • Fixed use of Parameters for multiple instances of the same Catalog element
  • Fixed use of relative initial positions for any actor
  • Added possibility to use synchronous execution mode with OpenSCENARIO
  • Fixed use of relative paths in CustomCommandAction
  • Fixed use of ControllerCatalogs

• Atomics:

  • Several new atomics to enable usage of OSC controllers
  • WeatherBehavior to simulate weather over time
  • UpdateWeather to update weather to a new setting, e.g. sun to rain
  • UpdateRoadFriction to update the road friction while running
  • new RelativeVelocityToOtherActor trigger condition, used to compare velocities of two actors
  • new TriggerAcceleration trigger condition which compares a reference acceleration with the actor's one.
  • new TimeOfDayComparison trigger condition, comparing the simulation time (set up by the new weather system) with a given datetime.
  • Added new OffRoadTest criteria.
  • Added new EndofRoadTest criteria, to detect when a vehicle changes between OpenDRIVE roads.
  • CollisionTest criterion can now filter the collisions for a specific actor, or actor type_id.
  • Added a duration argument to OnSidewalkTest criteria, which makes the criteria fail after a certain time has passed, instead of doing so immediately. The default behavior has been unchanged.
  • InTimeToArrivalToVehicle has had its two actor arguments swapped, to match all the other behaviors.
  • Added along_route flag to InTimeToArrivalToVehicle, to take into account the topology of the road
  • Changed the inputs to TrafficLightStateSetter to match the other atomics, but the functionality remains unchanged

🐛 Bug Fixes

• Fixed bug causing parsing RelativeTargetSpeed tag to fail.
• Fixed missing 'six' in requirements.txt
• Support OpenSCENARIO parameters also if they're only part of a string value
• Support Routes in Catalogs
• Fix parsing of properties within ControllerCatalogs
• Add cleanup of instantiated OpenSCENARIO controllers
• Do not register SIGHUP signal in windows
• Fixed initial speed of vehicles using OpenSCENARIO
• Fixed bug causing an exception when calling BasicScenario's _initialize_actors with no other_actors.
• Fixed bug causing the route to be downsampled (introduced by mistake at 0.9.9)
• Fixed bug causing output argument to not display the correct number with InRouteTest and RouteCompletionTest criterias (the succces and failure was correctly displayed)
• Fixed bug causing OpenSCENARIO's SpeedCondition to not work as intended
• Fixed bug causing CollisionConditions not to work properly in OpenSCENARIO
• Fixed bug causing the group: functionality to behave incorrectly when moving scenarios around.
• Fixed bug causing FollowLeadingVehicle and FollowLeadingVehicleWithObstacle scenarios to not properly end
• Fixed bug causing CollisionTest to ignore multiple collisions with scene objects
• Fixed bug causing NoSignalJunctionCrossing to not output the results of the scenario
• Fixed bug causing SyncArrival to fail when the actor was destroyed after the behavior ended
• Fixed bug with ending roads near stop signals to break the simulation
• Fixed exception bug in spawn function of CarlaDataProvider
• Fixed access to private member of CARLA LocalPlanner inside OSC NpcVehicleControl
• Fixed handling of OSC LanePosition (#625)
• Fixed bug causing the route repetitions to spawn different background activity
• Fixed bug causing the rotate_point function inside RunningRedLightTest to not function properly.

👻 Maintenance

• Exposed traffic manager port flag to enable the execution of multiple scenarios on a single machine.

CARLA Scenario Runner 0.9.9

🚀 New Features

• OpenSCENARIO support:
  • Support for OpenSCENARIO 1.0 (a converter for old scenarios is available)
  • Added support for position with Lane information (roadId and laneId)
  • Added support to use a non-CARLA OpenDRIVE map (instead of CARLA towns)
  • Added support for TimeOfDay tag
  • Added support for scenarios with no actors
• Scenario updates:
  • Scenarios that are part of RouteScenario have had their triggering condition modified. This will only activate when a certain parameter is set, and if not, the old trigger condition will still be applied.
• Atomics:
  • ChangeAutopilot now calls a TM instance, and allows to change its parameters
  • Added WaitUntilInFront behavior and InTimeToArrivalToVehicleSideLane trigger condition, useful for cut ins
  • Added new trigger condition, AtRightestLane, which checks if the actor is at the rightmost driving lane
  • Added new criteria, ActorSpeedAboveThresholdTest, useful to check if the ego vehicle has been standing still for long periods of time.
• Setting up actors in batch now also randomizes their colors
• When running routes, the weather parameters of each route can now be changed at will. Check the first route at srunner/data/routes_training.xml to see the correct format to do so. By default the weather is now a sunny midday.
• Important All challenge related content has been removed. This functionality has been improved and is now part of the Leaderboard. As a consequence:
  • The path to the autoagents has changed from .../challenge/autoagents to .../autoagents
  • The path to the route and scenario descriptions has changed from .../challenge to .../data

🐛 Bug Fixes

• Fixed spawning bugs for scenario DynamicObjectCrossing when it is part of a route
• Fixed spawning bugs for scenarios VehicleTurningRight, VehicleTurningLeft when they are part of a route
• Fixed bug causing the GPS coordinates given to the agents to be wrongly calculated
• Fixed bug when setting up actors in batch causing to ignore the spawn points given.
• Fixed bug where CollisionTest was counting as multiple hits collisions that displaced the actor for a long distance.
• Fixed bug causing the simulation to end after running in synchronous mode
• Fixed bug when using the WaypointFollower atomic to create new LocalPlanners for on-the-fly created actors (#502)
• Fixed bug causing the scenarios to run faster than real time.

👻 Maintenance

• Removed perform_carla_tick() function at CarlaDataProvider, which was a workaround for world.tick()

CARLA Scenario Runner 0.9.8

🚀 New Features

• Added "--timeout" command line parameter to set a user-defined timeout value
• Scenario updates:
  • Changed traffic light behavior of scenarios 7, 8 and 9. The new sequence is meant to greatly improve the chances of the ego vehicle having to interact at junctions.
• OpenSCENARIO support:
  • Add initial support for Catalogs (Vehicle, Pedestrian, Environment, Maneuver, and and MiscObject types only)

🐛 Bug Fixes

• Fixed #471: Handling of weather parameter (cloudyness -> cloudiness adaption)
• Fixed #472: Spawning issue of pedestrians in OpenSCENARIO
• Fixed #374: Usage of evaluation critieria with multiple ego vehicles in OpenSCENARIO
• Fixed #459: Add initial support for Catalogs (Vehicle, Pedestrian, Environment, Maneuver, and and MiscObject types only)
• Fixed wrong StandStill behavior which return SUCCESS immediatly on a standing actor
• Fixed scenario bug causing junction related scenarios (4, 7, 8 and 9) to not spawn due to lane changes.

👻 Maintenance

• Added watchdog to ScenarioManager to handle timeouts and CARLA crashes
• Added timeout for CARLA tick() calls to avoid blocking CARLA server calls

CARLA Scenario Runner 0.9.7

Highlights

🚀 New Features

• Challenge routes can be directly executed with the ScenarioRunner using the --route option
• Agents can be used with the ScenarioRunner (currently only for route-based scenarios)
• New scenarios:
  • Added example scenario for lane change
  • Added cut-in example scenario
• Scenario updates:
  • Scenarios 7 to 10 are now visible when running routes (instead of being triggered in the background). Their
    methodology has remained unchanged
• Scenario atomics:
  • Added new OutsideRouteLanesTest atomic criter that encompasses both SidewalkTest and WrongLaneTest, returning
    the percentage of route that has been traveled outside the lane.
  • InRouteTest is now more forgiving. The max distance has been increased, but staying above the previous one will eventually
    also cause failure
  • Changed SidewalkTest atomic criteria to also track other type of out of lane conditions
  • SidewalkTest and WrongLaneTest atomic criterias now track the amount of meters traversed
  • CollisionTest atomic criteria now correctly ignores multiple micro-collisions with the same object
  • Added LaneChange and TrafficLightSateSetter behavior atomics
  • Added AccelerateToCatchUp behavior atomic
  • Added get_transform() method for CarlaDataProvider
  • Added support for weather conditions
  • Added basic version check to ensure usage of correct CARLA version
  • WaypointFollower atomic can handle pedestrians
  • Extensions in WaypointFollower atomic for consecutive WaypointFollowers (one WF cancels the previous one)
• Extended OpenScenario support:
  • Added support for UserDefinedActions (e.g. to run additional scripts)
  • Added init speed behavior for vehicles
  • Added support for relative velocities
  • Extended convert_position_to_transform with RelativeWorld, RelativeObject and RelativeLane osc_positions
  • Added new trigger atomics InTriggerDistanceToOSCPosition and InTimeToArrivalToOSCPosition to support relative osc_positions
  • Added new atomic behaviour ActorTransformSetterToOSCPosition
  • Workaround for relative osc_positions: World is started earlier to support relative osc_positions in story init
  • Added delay condition support in convert_condition_to_atomic
  • Added support for pedestrians
  • Full support for SimulationTime condition
  • Added weather support
  • Updated implementation to be closer to upcoming OpenSCENARIO standard
  • AfterTermination, AtStart conditions are supported
  • Added initial support for lateral action: LaneChange
  • Added initial support for OSCGlobalAction to set state of traffic signal
  • FollowRoute action is supported for vehicles and pedestrians, for global world positions.
  • Added support for RoadCondition: Friction
  • Redundant rolename object property is no longer required
  • Added support for global parameters
  • Fixed coordinate system to use right-hand as default. Left-hand CARLA system can be used by adding "CARLA:" at the start of the description in the FileHeader.
  • Added support to change actor color
  • Added support for a default actor model, in case the stated model is not available
  • Added support for MiscObjects (besides vehicles and pedestrians)
  • Reworked traffic signal handling: The name has to start now either with "id=" or "pos=" depending on whether the position or id is used as unique identifier
  • Actor physics can now be set via Object Properties ()

👻 Maintenance

• Compatible with CARLA 0.9.7
• Increased speed of actor initialization by using CARLA batch mode and buffering CARLA blueprint library
• Split of behaviors into behaviors and conditions
• Moved atomics into new submodule scenarioatomics
• Updated documentation for all behaviors, conditions and test criteria
• Extended WaypointFollower atomic behavior to be able to use the current actor speed

CARLA Scenario Runner 0.9.6

Highlights

• Updated documentation
• Adapted to CARLA API changes
  • Frame rate is set now via Python
  • Renamed frame_count and frame_number to frame
  • Removed wait_for_tick() calls

CARLA Scenario Runner 0.9.5.1

CARLA Scenario_Runner 0.9.5.1 is the last release compatible with CARLA 0.9.5

Highlights

• Added initial support for OpenScenario v0.9.1
• Added support for multiple ego vehicles plus an example
• Added commandline option for output directory
• Added option to load external scenario implementations (in python)
• Added option to scenario_runner to load external scenario XMLs
• Atomic behaviors:
  • Extended KeepVelocity atomic behavior to support duration/distance based termination
  • Extended StandStill atomic behavior to support duration based termination
  • Added behavior to activate/deactivate autopilot
  • Fixed WaypointFollower initialization