scenic.domains.driving
Domain for driving scenarios.
The world model defines Scenic classes for cars, pedestrians, etc., actions for dynamic agents which walk or drive, as well as simple behaviors like lane-following. Scenarios for the driving domain should import the model as follows:
model scenic.domains.driving.model
Scenarios written for the driving domain should work without changes [1] in any of the following simulators:
CARLA, using the model scenic.simulators.carla.model
LGSVL, using the model scenic.simulators.lgsvl.model
the built-in Newtonian simulator, using the model scenic.simulators.newtonian.driving_model
For example, the examples/driving/badlyParkedCarPullingIn.scenic
scenario is
written for the driving domain and can be run in multiple simulators:
no simulator, for viewing the initial scene:
$ scenic examples/driving/badlyParkedCarPullingIn.scenicthe built-in Newtonian simulator, for quick debugging without having to install an external simulator:
$ scenic -S --model scenic.simulators.newtonian.driving_model \ examples/driving/badlyParkedCarPullingIn.scenicCARLA, using the default map specified in the scenario:
$ scenic -S --model scenic.simulators.carla.model \ examples/driving/badlyParkedCarPullingIn.scenicLGSVL, specifying a map which it supports:
$ scenic -S --model scenic.simulators.lgsvl.model \ --param map tests/formats/opendrive/maps/LGSVL/borregasave.xodr \ --param lgsvl_map BorregasAve \ examples/driving/badlyParkedCarPullingIn.scenic
Footnotes
Submodules
Actions for dynamic agents in the driving domain. |
|
Library of useful behaviors for dynamic agents in driving scenarios. |
|
Low-level controllers useful for vehicles. |
|
Scenic world model for scenarios using the driving domain. |
|
Library for representing road network geometry and traffic information. |
|
Abstract interface to simulators supporting the driving domain. |
|
Workspaces for the driving domain. |