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:

For example, the examples/driving/badlyParkedCarPullingIn.scenic scenario is written for the driving domain and can be run in multiple simulators:

  • no simulator, for debugging:

    $ scenic examples/driving/badlyParkedCarPullingIn.scenic
    
  • CARLA, using the default map specified in the scenario:

    $ scenic -S --model scenic.simulators.carla.model \
        examples/driving/badlyParkedCarPullingIn.scenic
    
  • LGSVL, 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
    

Submodules

model

Scenic world model for scenarios using the driving domain.

behaviors

Library of useful behaviors for dynamic agents in driving scenarios.

actions

Actions for dynamic agents in the driving domain.

roads

Library for representing road network geometry and traffic information.

controllers

Low-level controllers useful for vehicles.

workspace

Workspaces for the driving domain.

Footnotes

1

Assuming the simulator supports the selected map. If necessary, the map may be changed from the command line using the --param option; see the model documentation for details.