scenic.simulators.carla.behaviors

Behaviors for dynamic agents in CARLA scenarios.

Summary of Module Members

Classes

AutopilotBehavior

Behavior causing a vehicle to use CARLA’s built-in autopilot.

CrossingBehavior

This behavior dynamically controls the speed of an actor that will perpendicularly (or close to) cross the road, so that it arrives at a spot in the road at the same time as a reference actor.

WalkBehavior

WalkForwardBehavior

Member Details

class AutopilotBehavior(*args, **kwargs)[source]

Bases: scenic.core.dynamics.Behavior

Behavior causing a vehicle to use CARLA’s built-in autopilot.

class CrossingBehavior(*args, **kwargs)[source]

Bases: scenic.core.dynamics.Behavior

This behavior dynamically controls the speed of an actor that will perpendicularly (or close to) cross the road, so that it arrives at a spot in the road at the same time as a reference actor.

Parameters
  • min_speed (float) – minimum speed of the crossing actor. As this is a type of “synchronization action”, a minimum speed is needed, to allow the actor to keep moving even if the reference actor has stopped

  • threshold (float) – starting distance at which the crossing actor starts moving

  • final_speed (float) – speed of the crossing actor after the reference one surpasses it