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Commit c4fdd74d authored by Tuan Duong Quang's avatar Tuan Duong Quang
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Merge branch 'develop' into 'main' 

Merge v0.10

See merge request eclipse/simopenpass/simopenpass!94
parents 792020fa 10a9a72a
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README.md
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# What is openPASS
OpenPASS (Open Platform for Assessment of Safety Systems) is an open source simulation platform for the effectiveness analysis of advanced driver and assistance systems (ADAS) and autonomous driving (AD) systems. OpenPASS takes a specific but configurable traffic situation and offers possibilities to repeat this situation under varying conditions, each generated from a diverse set of user defined probability distributions, such as for vehicle speeds. As a result, multiple simulation outputs are generated which can be evaluated in each case.
OpenPASS (Open Platform for Assessment of Safety Systems) is an open source simulation platform for the effectiveness analysis of advanced driver assistance systems (ADAS) and autonomous driving (AD) systems. OpenPASS takes a specific but configurable traffic situation and offers possibilities to repeat this situation under varying conditions, each generated from a diverse set of user defined probability distributions, such as for vehicle speeds. As a result, multiple simulation outputs are generated which can be evaluated in each case.
The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually. Over time, especially the graphical user interface evolved to a single entry point, enabling the average user to use openPASS as a “monolithic” tool.
......@@ -23,11 +23,13 @@ Continuous integration (CI) is used to automatically integrate and test code cha
A list of frequently asked questions:
1. __Which standards does openPASS support?__
* ASAM OpenSCENARIO 1.0
* ASAM OpenDRIVE 1.6
* OSI 3.2.0 (a switch to OSI 3.3 is planned)
* FMI 1
* FMI 2
* ASAM OpenSCENARIO
* ASAM OpenDRIVE
* ASAM OSI (Open Simulation Interface)
* FMI
* SSP (upcoming)
For detail information regarding supported versions and features please visit our [documentation](https://www.eclipse.org/simopenpass/content/html/index.html).
2. __Which traffic signs does openPASS support?__
......@@ -43,11 +45,11 @@ Depending on the chosen logger library, the output of each simulation is written
5. __Can openPASS calculate criticality KPIs?__
OpenPASS can calculate Time-To-Collision (TTC) and Time-To-Headway (THW). The output of those numbers is quite challenging. It is possible to extract those numbers over a FMU.
OpenPASS can calculate Time-To-Collision (TTC) and Time-Headway (THW). The output of those numbers is quite challenging. It is possible to extract those numbers over an FMU.
6. __Which probability distributions for parameter variations can be used in openPASS?__
Parameters can either be simple or stochastic. Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters. If a parameter is stochastic, a distribution can be choosen from [this list](https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass/-/blob/servant/sim/src/core/opSimulation/modules/Stochastics/stochastics_implementation.h). In future (with OpenSCENARIO 1.1) the number of distributions will be extended.
Parameters can either be simple or stochastic. Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters. If a parameter is stochastic, a distribution can be choosen from [this list](https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass/-/blob/servant/sim/src/core/opSimulation/modules/Stochastics/stochastics_implementation.h). In future (with OpenSCENARIO) the number of distributions will be extended.
# Contact
......
doc/source/_ext/api_doc.py
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......@@ -17,6 +17,7 @@ from sphinx.directives.other import TocTree
class ARGS:
"""Default argument values"""
API_DOC_BUILD_DEACTIVATED = "off"
DEFAULT_API_DOC_ROOT = "../../../sim"
DEFAULT_API_DOC_BUILD = API_DOC_BUILD_DEACTIVATED
DEFAULT_API_DOC_PATH = "api"
DEFAULT_API_DOC_TITLE = "Source Code Documentation"
......@@ -48,15 +49,15 @@ def on_config_inited(app, config):
# These arguments are required
"containmentFolder": f"./{config.api_doc_path}",
"rootFileName": "index.rst",
"rootFileTitle": f"{config.api_doc_title}",
"doxygenStripFromPath": "../../../sim",
"rootFileTitle": config.api_doc_title,
"doxygenStripFromPath": config.api_doc_root,
# Suggested optional arguments
"createTreeView": True,
# TIP: if using the sphinx-bootstrap-theme, you need
# "treeViewIsBootstrap": True,
"exhaleExecutesDoxygen": True,
"exhaleDoxygenStdin": dedent('''
INPUT = ../../../sim/src
"exhaleDoxygenStdin": dedent(f'''
INPUT = {config.api_doc_root}/src
WARN_IF_UNDOCUMENTED = NO
WARN_AS_ERROR = NO
PREDEFINED += DOXYGEN_SHOULD_SKIP_THIS
......@@ -136,6 +137,8 @@ def setup(app):
app.add_directive(ApiDoc.API_DOC_DIRECTIVE, ApiDoc)
app.add_config_value(name='api_doc_root',
default=ARGS.DEFAULT_API_DOC_ROOT, rebuild='env')
app.add_config_value(name='api_doc_build',
default=ARGS.DEFAULT_API_DOC_BUILD, rebuild='env')
app.add_config_value(name='api_doc_path',
......
doc/source/advanced_topics/simulator/agent_components.rst
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......@@ -369,6 +369,8 @@ If there is no signal in one time step, then the signal of the previous time ste
* PrioritizerDynamics
.. _agentcomponents_componentcontroller:
ComponentController
-------------------
......
doc/source/advanced_topics/simulator/coordinate_systems.rst 0 → 100644
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..
*******************************************************************************
Copyright (c) 2021 in-tech GmbH
2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
This program and the accompanying materials are made available under the
terms of the Eclipse Public License 2.0 which is available at
http://www.eclipse.org/legal/epl-2.0.
SPDX-License-Identifier: EPL-2.0
*******************************************************************************
.. _coordinatesystems:
Coordinate Systems
==================
|op| uses three different coordinate systems.
All systems rotate counterclockwise and use radian.
.. _coordinatesystems_world:
World Coordinate System
-----------------------
The world coordinate system is absolute. It is the parent coordinate system and all other systems are relative to the world coordinate system.
This system consists of *x*, *y* and *z* (*z* is currently unused).
.. figure:: ./images/WorldCoordinateSystem.png
World Coordinate System
.. _coordinatesystems_road:
Road Coordinate System
----------------------
The road coordinate system is relative to the position of the road in the world coordinate system.
It consists of *s* and *t* coordinates, where *s* describes the longitudinal position along the road.
At the beginning of the road *s* = 0, increasing with the downstream direction of the road.
The coordinate *t* describes the lateral position relative to the center of the road, where *t* > 0 indicates left side and *t* < 0 right side of the road with respect to the road direction.
.. figure:: ./images/RoadCoordinateSystem.png
Road Coordinate System
.. _coordinatesystems_agent:
Agent Coordinate System
~~~~~~~~~~~~~~~~~~~~~~~
The agent coordinate system is relative to the position of the agent in the world coordinate system.
It uses longitudinal, lateral and height (height currently unused).
The system originates at the *reference point*, which is located at the center of the rear axle.
The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car
.. figure:: ./images/AgentCoordinateSystem.png
Agent Coordinate System
.. _coordinatesystems_sensor:
Sensor Coordinate System
------------------------
Each sensor has its own coordinate system whose origin is the mounting position of the sensor.
The *x* axis points in the direction of the sensor as defined by the mounting orientation.
All values in the OSI SensorData generated by a sensor are in its sensor coordinate system.
Vectorial values such as velocity and acceleration are relative to the own vehicle's velocity and acceleration at the sensor position.
.. _coordinatesystems_sensor_transformation:
Conversions between SensorData coordinate systems
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Since all values in the SensorData are relative to the sensor the following conversions are needed.
In the Sensor_OSI where the SensorData is written, data for other objects is calculated according to these steps:
#) Get position, velocity and acceleration from the SensorView in world coordinates
#) For the position:
#) Translation by the sensor position (in world coordinates, inverse)
#) Rotation by the sensor orientation (in world coordinates, inverse)
#) For the velocity and acceleration (vectorial):
#) Subtract own velocity / acceleration at sensor position
#) Rotation by the sensor orientation (in world coordinates, inverse)
ADAS using SensorData may need to convert the values back to the agent coordinate system.
The SensorFusion_Errorless also converts the merged SensorData to agent coordinate and sets the mounting position to the agents reference point.
This calculation follows the following steps:
#) Get position, velocity and acceleration from the SensorData in sensor coordinates
#) For the position:
#) Rotation by the sensor orientation (mounting position in agent coordinates)
#) Translation by the sensor position (mounting position in agent coordinates)
#) For the velocity and acceleration (vectorial):
#) Calculate the difference between the ego velocity / acceleration at the sensor position to the reference point (in world coordinates)
#) Rotation of this difference by the inverse agent orientation
#) Rotation of objects' velocity / acceleration by the sensor orientation (mounting position in agent coordinates)
#) Add results of the two previous steps
doc/source/advanced_topics/simulator/images/CN/AnnouceHighwayExit1km-50b.svg 0 → 100644
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