Repository navigation
Expand file tree
/
Copy pathfile_7.yaml
More file actions
288 lines (280 loc) · 7.94 KB
/
Copy pathfile_7.yaml
File metadata and controls
288 lines (280 loc) · 7.94 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
carla_traffic_manager:
global_distance: 4.0
global_speed_perc: -50
ignore_lights_percentage: 0
vehicle_list:
- spawn_position:
- 100.0337
- 143.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 56.7748
- 146.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 55.626
- 136.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 128.068
- 149.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 70.9991
- 143.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 148.1325
- 143.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 145.4621
- 136.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 102.0434
- 136.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 107.3715
- 146.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 125.3755
- 146.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 83.4049
- 146.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 135.6879
- 143.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 96.1414
- 146.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 77.1162
- 149.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
- spawn_position:
- 89.786
- 143.51
- 0.3
- 0
- 0
- 0
vehicle_speed_perc: -200
vehicle_base:
sensing:
perception:
activate: true # when not activated, objects positions will be retrieved from server directly
camera:
visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
# relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
positions:
- [ 2.5, 0, 1.0, 0 ]
- [ 0.0, 0.3, 1.8, 100 ]
- [ 0.0, -0.3, 1.8, -100 ]
- [ -2.0, 0.0, 1.5, 180 ]
lidar: # lidar sensor configuration, check CARLA sensor reference for more details
visualize: true
localization: &base_localize
activate: false # when not activated, ego position will be retrieved from server directly
gnss: # gnss sensor configuration
heading_direction_stddev: 0.1 # degree
speed_stddev: 0.2
debug_helper:
show_animation: false # whether to show real-time trajectory plotting
x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
map_manager:
visualize: false
activate: false
behavior: &base_behavior
max_speed: 70 # maximum speed, km/h
tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
overtake_allowed: false # whether overtake allowed, typically false for platoon leader
collision_time_ahead: 1.1 # used for collision checking
platoon_base:
max_capacity: 10
inter_gap: 0.2 # desired time gap
open_gap: 1.0 # open gap
warm_up_speed: 30 # required speed before cooperative merging
scenario:
single_cav_list: # this is for merging vehicle or single cav without v2x
- name: cav1
spawn_position: [121.7194, 139.51, 0.3, 0, 0, 0]
destination: [606.87, 145.39, 0]
sensing:
perception:
activate: true
camera:
visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
# relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
positions:
- [2.5, 0, 1.0, 0]
- [0.0, 0.3, 1.8, 100]
- [0.0, -0.3, 1.8, -100]
- [-2.0, 0.0, 1.5, 180]
lidar: # lidar sensor configuration, check CARLA sensor reference for more details
visualize: true
v2x:
communication_range: 35
platoon_init_pos: 1
pldm: true
behavior:
<<: *base_behavior
max_speed: 70 # maximum speed, km/h
tailgate_speed: 111
overtake_allowed: false
local_planner:
debug_trajectory: true
debug: false
- name: cav2
spawn_position: [111.7194, 139.51, 0.3, 0, 0, 0]
destination: [606.87, 145.39, 0]
sensing:
perception:
activate: true
camera:
visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
# relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
positions:
- [2.5, 0, 1.0, 0]
- [0.0, 0.3, 1.8, 100]
- [0.0, -0.3, 1.8, -100]
- [-2.0, 0.0, 1.5, 180]
lidar: # lidar sensor configuration, check CARLA sensor reference for more details
visualize: true
v2x:
communication_range: 35
platoon_init_pos: 2
pldm: true
behavior:
<<: *base_behavior
max_speed: 100 # maximum speed, km/h
tailgate_speed: 111
overtake_allowed: true
local_planner:
debug_trajectory: true
debug: false
- name: cav3
spawn_position: [101.7194, 139.51, 0.3, 0, 0, 0]
destination: [606.87, 145.39, 0]
sensing:
perception:
activate: true
camera:
visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
# relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
positions:
- [2.5, 0, 1.0, 0]
- [0.0, 0.3, 1.8, 100]
- [0.0, -0.3, 1.8, -100]
- [-2.0, 0.0, 1.5, 180]
lidar: # lidar sensor configuration, check CARLA sensor reference for more details
visualize: true
v2x:
communication_range: 35
platoon_init_pos: 3
pldm: true
behavior:
<<: *base_behavior
max_speed: 100 # maximum speed, km/h
tailgate_speed: 111
overtake_allowed: true
local_planner:
debug_trajectory: true
debug: false
- name: cav4
spawn_position: [91.7194, 139.51, 0.3, 0, 0, 0]
destination: [606.87, 145.39, 0]
sensing:
perception:
activate: true
camera:
visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
# relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
positions:
- [2.5, 0, 1.0, 0]
- [0.0, 0.3, 1.8, 100]
- [0.0, -0.3, 1.8, -100]
- [-2.0, 0.0, 1.5, 180]
lidar: # lidar sensor configuration, check CARLA sensor reference for more details
visualize: true
v2x:
communication_range: 35
platoon_init_pos: 4
pldm: true
behavior:
<<: *base_behavior
max_speed: 100 # maximum speed, km/h
tailgate_speed: 111
overtake_allowed: true
local_planner:
debug_trajectory: true
debug: false