scenic.domains.driving

Domain for driving scenarios.

This domain must currently be used in 2D Compatibility Mode.

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.scenic
  

• the 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.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
  

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.

Submodules

actions	Actions for dynamic agents in the driving domain.
behaviors	Library of useful behaviors for dynamic agents in driving scenarios.
controllers	Low-level controllers useful for vehicles.
model	Scenic world model for scenarios using the driving domain.
roads	Library for representing road network geometry and traffic information.
simulators	Abstract interface to simulators supporting the driving domain.
workspace	Workspaces for the driving domain.