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<!DOCTYPE html>
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<h1 class="page-header">LawBreaker <small>Traffic Laws Translation-actual code</small></h1>
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<p>
In this part, we provide 1.Scripts of Chinese Traffic laws. 2.AVUnit scenarios scripts.
</p>
<p>
1.Scripts of Chinese Traffic laws.
</p>
<pre>
<code>
...DSL description for scenario0
Trace trace = EXE(scenario0);
//law38
//Green Lights
law38_sub1_1 = (trafficLightAhead.color == green) & (stoplineAhead(2) | junctionAhead(2)) & ~PriorityNPCAhead & ~PriorityPedsAhead;
law38_sub1_2 = F[0,2](speed > 0.5);
law38_sub1 = G (law38_sub1_1 -> law38_sub1_2);
//Yellow Lights
law38_sub2_1 = ((trafficLightAhead.color == yellow) & (stoplineAhead(0) | currentLane.number == 0)) -> (F[0,2] (speed > 0.5));
law38_sub2_2 = ((trafficLightAhead.color == yellow) & stoplineAhead(3.5) & ~stoplineAhead(0.5) & currentLane.number > 0) -> (F[0,3] (speed < 0.5));
law38_sub2 = G (law38_sub2_1 & law38_sub2_2);
//Red LightS
law38_sub3_1 = ((trafficLightAhead.color == red) & (stoplineAhead(2) | junctionAhead(2)) & ~(direction == right)) -> (F[0,3] (speed < 0.5));
law38_sub3_2 = ((trafficLightAhead.color == red) & (stoplineAhead(2) | junctionAhead(2)) & direction == right & ~PriorityNPCAhead & ~PriorityPedsAhead) -> (F[0,2] (speed > 0.5));
law38_sub3 = G (law38_sub3_1 & law38_sub3_2);
law38 = law38_sub1 & law38_sub2 & law38_sub3;
//law44
law44_sub1 = currentLane.number >= 2;
law44_sub2 = (speed >= speedLimit.lowerLimit) & (speed <= speedLimit.upperLimit);
law44_sub3 = isChangingLane & currentLane.number >= 2;
law44_sub4 = G(law44_sub1 -> law44_sub2);
law44_sub5 = G(law44_sub3 -> ~PriorityNPCAhead);
law44 = law44_sub4 & law44_sub5;
//law45
law45 = G( speed >= speedLimit.lowerLimit & speed <= speedLimit.upperLimit);
//law46
law_46_sub2 = G( (direction == left | direction == right | isTurningAround) -> (speed <= 30 ));
law_46_sub3 = G( (rain >= 0.5 | fog >= 0.5 | snow >=0.5 | visibility <= 50 ) -> (speed <= 30));
law46 = (law_46_sub2) & (law_46_sub3);
//law47
law47_sub1 = (turnSignal == left) & ((F[-1,2](hornOn)) | ((highBeamOn & (highBeamOn -> (F[0, 2](lowBeamOn)) ) ) | (lowBeamOn & (lowBeamOn -> (F[0, 2](highBeamOn)) ) ))) & (F[0, 10]( (turnSignal == right) & (((isChangingLane) -> (NearestNPC(5))) & (isChangingLane) ) ));
law47 = G(isOverTaking -> law47_sub1);
//law50
law50 = G( (PriorityNPCAhead | crosswalkAhead(2)) -> ~(gear == 2) );
//law51
//turn_left
law51_sub3_1 =(trafficLightAhead.color == green & direction == left & Time <= 20:00 & Time >= 7:00) -> (turnSignal == left);
law51_sub3_2 =(trafficLightAhead.color == green & direction == left & (Time >= 20:00 | Time <= 7:00)) -> (turnSignal == left & lowBeamOn);
law51_sub3 = G(law51_sub3_1 & law51_sub3_2);
//go_in_line_at_green
law51_sub4_1 = trafficLightAhead.color == green & (~NPCAhead(8) | (( NPCAhead(8) -> F[0,2](NPCAhead.speed > 0.5) ) & NPCAhead(8)));
law51_sub4_2 = (F[0, 3](speed > 0.5)) & ~NPCAhead(0.5);
law51_sub4 = G(law51_sub4_1 -> law51_sub4_2);
//stop_in_line_at_red
law51_sub5_1 = trafficLightAhead.color == red & (stoplineAhead(2) | junctionAhead(2) | NPCAhead(0.5));
law51_sub5_2 = F[0, 2](speed < 0.5);
law51_sub5 = G(law51_sub5_1 -> law51_sub5_2);
//tuen_right_stop_in_line_at_red
law51_sub6 = G((direction == right & NPCAhead(2) & (F[0, 2](NPCAhead.speed < 0.5)) ) -> F[0, 3] (speed < 0.5));
//priority_for_straight
law51_sub7 = G(((direction == right | direction == left) & (PriorityNPCAhead | PriorityPedsAhead)) -> F[0, 2] (speed < 0.5));
law51 = law51_sub3 & law51_sub4 & law51_sub5 & law51_sub6 & law51_sub7;
//law52
law52 = G((signalAhead == 0 & (PriorityNPCAhead | PriorityPedsAhead) & junctionAhead(1)) -> F[0, 2] (speed < 0.5));
//law53
law53 = G((isTrafficJam & (NPCAhead.speed < 0.5 | NPCAhead(0.5) | junctionAhead(1) ))-> F[0, 2] (speed < 0.5));
//law57
law57_sub1 = G(direction == left -> turnSignal == left);
law57_sub2 = G(direction == right -> turnSignal == right);
law57 = law57_sub1 & law57_sub2;
//law58
law58_sub1_1 = (~streetLightOn & (Time >= 20:00 | Time <= 7:00) ) | (rain >= 0.5 | fog >= 0.5 | snow >= 0.5);
law58_sub1 = (law58_sub1_1 & ~NPCAhead(10))-> highBeamOn;
law58_sub2 = NPCAhead(10) -> ~highBeamOn;
law58_sub3 = fog >= 0.5 -> (fogLightOn & warningFlashOn);
law58 = G(law58_sub1 & law58_sub2 & law58_sub3);
//law59
law59_sub1 = (crosswalkAhead(5) | (signalAhead == 0 & junctionAhead(1)) ) & (Time >= 20:00 | Time <= 7:00);
law59_sub2 = F[0,3](highBeamOn & (highBeamOn -> F[0,3](lowBeamOn)) ) | F[0,3](lowBeamOn & (lowBeamOn -> F[0,3](highBeamOn)) );
law59 = G(law59_sub1 -> law59_sub2);
//law62
law62 = G (~honkingAllowed -> ~hornOn);
trace |= law38 & law44 & law45 & law46 & law47 & law50 & law51 & law52 & law53 & law57 & law58 & law59 & law62;
</code>
</pre>
<p>
2.AVUnit scenarios scripts. The following three AVUnit Scenario Scripts are tested in the experiment.
</p>
<p>
Scenario1
</p>
<pre>
<code>
// road merging or T junction
map_name = "san_francisco";
car_model = "gt_sensors";
initial_position = "lane_317" -> 240;
ego_init_state = (initial_position);
target_position = "lane_321" -> 50;
ego_target_state = (target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: move from lane_328 to lane_320
npc1_init_position = "lane_328"->20;
npc1_init_state = (npc1_init_position, ,5.0);
wp11 = ("lane_328"->100, ,5.0);
wp12 = ((553307.261867189, 4183201.9591673343), , 4.5);
wp13= ((553309.3614155288, 4183208.8865965335), , 4.0);
wp14= ((553305.65, 4183212.53), , 5.0);
wp15 = ("lane_320"->50, ,6.0);
npc1_waypoints = (wp11, wp12, wp13, wp14, wp15);
npc1_destination = ("lane_320"->100);
npc1 = Vehicle(npc1_init_state, Waypoint(npc1_waypoints));
//npc2: move from lane_331 to lane_321
npc2_init_position = "lane_331"->20;
npc2_init_state = (npc2_init_position, ,5.0);
wp21 = ("lane_331"->100, ,5.0);
wp22 = ("lane_1160"->0, , 4.5);
wp23= ((553315.2383076187, 4183207.2174681155), , 4.0);
wp24= ((553312.2639423843, 4183213.1879271), , 4.0);
wp25 = ("lane_321"->50, ,6.0);
npc2_waypoints = (wp21, wp22, wp23, wp24, wp25);
npc2_destination = ("lane_321"->100);
npc2 = Vehicle(npc2_init_state, Waypoint(npc2_waypoints), npc2_destination);
//npc3: move from lane_330 to lane_322
npc3_init_position = "lane_330"->20;
npc3_init_state = (npc3_init_position, ,5.0);
wp31 = ("lane_330"->100, ,5.0);
wp32 = ("lane_1161"->0, , 4.5);
wp33= ((553319.5, 4183208.69), , 4.0);
wp34 = ((553314.3420368667, 4183217.027038428), , 5.0);
wp35 = ("lane_322"->50, ,6.0);
npc3_waypoints = (wp31, wp32, wp33, wp34, wp35);
npc3_destination = ("lane_322"->100);
npc3 = Vehicle(npc3_init_state, Waypoint(npc3_waypoints), npc3_destination);
//npc4: move from lane_329 to lane_323
npc4_init_position = "lane_329"->20;
npc4_init_state = (npc4_init_position, ,5.0);
wp41 = ("lane_329"->50, ,6.0);
wp42 = ("lane_1162"->0, , 5);
wp43= ((553322.757594728, 4183206.63), , 3);
wp44 = ((553316.4349628921, 4183219.8604124514), , 7.0);
wp45 = ("lane_323"->50, ,5.0);
npc4_waypoints = (wp41, wp42, wp43, wp44, wp45);
npc4_destination = ("lane_323"->100);
npc4 = Vehicle(npc4_init_state, Waypoint(npc4_waypoints), npc4_destination);
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3, npc4};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<p>
Scenario2
</p>
<pre>
<code>
//lane change in the same road
map_name = "san_francisco";
car_model = "gt_sensors";
initial_position = "lane_221" -> 10;
ego_init_state = (initial_position);
target_position = "lane_220" -> 100;
ego_target_state = (target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: start from lane_221
npc1_init_position = "lane_221" -> 20;
npc1 = Vehicle((npc1_init_position, ,7.0));
//npc2: start from lane_221
npc2_init_position = "lane_221" -> 50;
npc2 = Vehicle((npc2_init_position, , 7.0));
//npc3: move from lane_220 to lane_231
npc3_init_position = "lane_220" -> 10;
npc3 = Vehicle((npc3_init_position, , 5.5), , ("lane_231"->100));
//npc4: start from lane_220
npc4_init_position = "lane_220" -> 30;
npc4 = Vehicle((npc4_init_position, , 6.0));
//npc5: move from lane_220 to lane_253
npc5_init_state = ("lane_220" -> 50, ,7.0);
npc5_waypoint = (("lane_220" -> 100, ,6.0), ("lane_1037" -> 0, ,5.0), ("lane_1037" -> 10, ,4.0), ("lane_253" -> 10, ,8.0));
npc5 = Vehicle(npc5_init_state, Waypoint(npc5_waypoint),("lane_253" -> 200));
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3, npc4, npc5};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<p>
Scenario3
</p>
<pre>
<code>
// intersection with two double direction roads
map_name = "san_francisco";
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
car_model = "gt_sensors";
ego_init_position ="lane_540"->50;
ego_init_state = (ego_init_position);
ego_target_position = "lane_572"->50;
ego_target_state = (ego_target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: move from lane_574 to lane_569
npc1_init_position = "lane_574"->100;
npc1_init_state = (npc1_init_position, ,6);
npc1_dest_state = ("lane_569"->30);
npc1_model = "Sedan";
npc1_type = (npc1_model);
npc1 = Vehicle(npc1_init_state, , npc1_dest_state, npc1_type);
//npc2: move from lane_564 to lane_568
npc2_init_position = "lane_564"->10;
npc2_init_state = (npc2_init_position, ,6);
npc2_dest_state = ("lane_568"->50);
npc2 = Vehicle(npc2_init_state, , npc2_dest_state);
//npc3: move from lane_565 to lane_569
npc3_init_position = "lane_565"->10;
npc3_init_state = (npc3_init_position, ,6);
npc3_dest_state = ("lane_569"->50);
npc3 = Vehicle(npc3_init_state, , npc3_dest_state);
//npc4: move from lane_570 to lane_566
npc4_init_position = "lane_570"->10;
npc4_init_state = (npc4_init_position, ,6);
npc4_dest_state = ("lane_566"->50);
npc4 = Vehicle(npc4_init_state, , npc4_dest_state);
//npc5: move from lane_571 to lane_567
npc5_init_position = "lane_571"->77;
npc5_init_state = (npc5_init_position, ,6);
npc5_dest_state = ("lane_567"->30);
npc5 = Vehicle(npc5_init_state, , npc5_dest_state);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3, npc4, npc5};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<p>
The Followings are other Scenario Scripts of AVUnit.
</p>
<pre>
<code>
//Intersection with mixed-direction roads
map_name = "san_francisco";
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
car_model = "gt_sensors";
ego_init_position = "lane_150"->150;
ego_init_state = (ego_init_position);
ego_target_position = "lane_158"->50;
ego_target_state = (ego_target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: move from lane_153 to lane_617
npc1_init_position = "lane_153"->50;
npc1_init_state = (npc1_init_position, ,6);
npc1_dest_state = ("lane_617"->100);
npc1 = Vehicle(npc1_init_state, , npc1_dest_state);
//npc2: move from lane_153 to lane_158
npc2_init_position = "lane_153"->70;
npc2_init_state = (npc2_init_position, ,6);
npc2_dest_state = ("lane_158"->100);
npc2 = Vehicle(npc2_init_state, , npc2_dest_state);
//npc3: move from lane_153 to lane_157
npc3_init_position = "lane_153"->90;
npc3_init_state = (npc3_init_position, ,6);
npc3_dest_state = ("lane_157"->100);
npc3 = Vehicle(npc3_init_state, , npc3_dest_state);
//npc4: move from lane_152 to lane_616
npc4_init_position = "lane_152"->50;
npc4_init_state = (npc4_init_position, ,6);
npc4_waypoint =(("lane_157"->110, ,8), ("lane_157"->200, ,5), ("lane_910"->2, ,5), ("lane_616"->10, ,10));
npc4_dest_state = ("lane_616"->100);
npc4 = Vehicle(npc4_init_state, Waypoint(npc4_waypoint) , npc4_dest_state);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3, npc4};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<!-- <p>
The Fourth Scenario Script of AVUnit.
</p> -->
<pre>
<code>
//Junction with stop sign
map_name = "san_francisco";
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
car_model = "gt_sensors";
ego_init_position = "lane_53"->50;
ego_init_state = (ego_init_position);
ego_target_position = "lane_50"->50;
ego_target_state = (ego_target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: move from lane_61 to lane_33
npc1_init_position = "lane_61"->30;
npc1_init_state = (npc1_init_position, ,5.8);
npc1_waypoint = (("lane_707"->1, , 3), ("lane_33"->5, ,7));
npc1_dest_state = ("lane_33"->50);
npc1 = Vehicle(npc1_init_state, Waypoint(npc1_waypoint) , npc1_dest_state);
//npc2: move from lane_60 to lane_32
npc2_init_position = "lane_60"->20;
npc2_init_state = (npc2_init_position, ,5);
npc2_waypoint = (("lane_708"->1, , 3), ("lane_32"->5, ,7));
npc2_dest_state = ("lane_32"->50);
npc2 = Vehicle(npc2_init_state, Waypoint(npc2_waypoint) , npc2_dest_state);
//npc3: move from lane_60 to lane_51
npc3_init_position = "lane_60"->30;
npc3_init_state = (npc3_init_position, ,5.5);
npc3_waypoint = (("lane_696"->1, , 3), ("lane_51"->5, ,7));
npc3_dest_state = ("lane_51"->50);
npc3 = Vehicle(npc3_init_state, Waypoint(npc3_waypoint) , npc3_dest_state);
//npc4: move from lane_34 to lane_51
npc4_init_position = "lane_34"->150;
npc4_init_state = (npc4_init_position, ,5.5);
npc4_waypoint = (("lane_697"->1, , 3), ("lane_51"->5, ,7));
npc4_dest_state = ("lane_51"->50);
npc4 = Vehicle(npc4_init_state, Waypoint(npc4_waypoint) , npc4_dest_state);
//npc5: move from lane_35 to lane_63
npc5_init_position = "lane_35"->170;
npc5_init_state = (npc5_init_position, ,5.5);
npc5_waypoint = (("lane_704"->1, , 3), ("lane_63"->5, ,7));
npc5_dest_state = ("lane_63"->50);
npc5 = Vehicle(npc5_init_state, Waypoint(npc5_waypoint) , npc5_dest_state);
//npc6: move from lane_34 to lane_50
npc6_init_position = "lane_34"->170;
npc6_init_state = (npc6_init_position, ,5.5);
npc6_waypoint = (("lane_710"->1, , 3), ("lane_50"->5, ,7));
npc6_dest_state = ("lane_50"->150);
npc6 = Vehicle(npc6_init_state, Waypoint(npc6_waypoint) , npc6_dest_state);
//npc7: move from lane_34 to lane_62
npc7_init_position = "lane_34"->160;
npc7_init_state = (npc7_init_position, ,5.4);
npc7_dest_state = ("lane_62"->50);
npc7 = Vehicle(npc7_init_state,, npc7_dest_state);
npc = {npc1, npc2, npc3, npc4, npc5, npc6, npc7};
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
npc;
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<!--
<p>
The Fifth Scenario Script of AVUnit.
</p> -->
<pre>
<code>
//lane change far away from the intersection
map_name = "san_francisco";
car_model = "gt_sensors";
initial_position = "lane_221" -> 10;
ego_init_state = (initial_position);
target_position = "lane_231" -> 100;
ego_target_state = (target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: move from lane_221 to lane_230
npc1_init_position = "lane_221" -> 20;
npc1 = Vehicle((npc1_init_position, ,5.6), ,("lane_230"->30));
//npc2: start from lane_221
npc2_init_position = "lane_221" -> 50;
npc2 = Vehicle((npc2_init_position, , 7.0));
//npc3: move from lane_220 to lane_231
npc3_init_position = "lane_220" -> 50;
npc3 = Vehicle((npc3_init_position, , 5), ,("lane_231"->110));
//npc4: start from lane_220
npc4_init_position = "lane_220" -> 30;
npc4 = Vehicle((npc4_init_position, , 5.0));
//npc5: move from lane_220 to lane_253
npc5_init_state = ("lane_220" -> 10, ,5.0);
npc5_waypoint = (("lane_220" -> 100, ,4.0), ("lane_1037" -> 10, ,3.0), ("lane_253" -> 10, ,8.0));
npc5 = Vehicle(npc5_init_state, Waypoint(npc5_waypoint),("lane_253" -> 200));
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3, npc4, npc5};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<!--
<p>
The Seventh Scenario Script of AVUnit.
</p> -->
<pre>
<code>
//lane change near the intersection
map_name = "san_francisco";
car_model = "gt_sensors";
initial_position = "lane_221" -> 10;
ego_init_state = (initial_position);
target_position = "lane_231" -> 30;
ego_target_state = (target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: start from lane_221
npc1_init_position = "lane_221" -> 20;
npc1 = Vehicle((npc1_init_position, ,5.0));
//npc2: start from lane_221
npc2_init_position = "lane_221" -> 50;
npc2 = Vehicle((npc2_init_position, , 7.0));
//npc3: move from lane_220 to lane_231
npc3_init_position = "lane_220" -> 50;
npc3 = Vehicle((npc3_init_position, , 5.5), , ("lane_231"->100));
//npc4: start from lane_220
npc4_init_position = "lane_220" -> 30;
npc4 = Vehicle((npc4_init_position, , 5.0));
//npc5: move from lane_220 to lane_253
npc5_init_state = ("lane_220" -> 10, ,5.0);
npc5_waypoint = (("lane_220" -> 100, ,4.0), ("lane_1037" -> 10, ,3.0), ("lane_253" -> 10, ,8.0));
npc5 = Vehicle(npc5_init_state, Waypoint(npc5_waypoint),("lane_253" -> 200));
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3, npc4, npc5};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<!-- <p>
The Eighth Scenario Script of AVUnit.
</p>
-->
<pre>
<code>
// overtaking with static agents ahead
map_name = "san_francisco";
car_model = "gt_sensors";
initial_position = "lane_221" -> 5;
ego_init_state = (initial_position);
target_position = "lane_221" -> 110;
ego_target_state = (target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: start from lane_221
npc1_init_position = "lane_221" -> 20;
npc1 = Vehicle((npc1_init_position,,0.5));
//npc2: start from lane_221
npc2_init_position = "lane_221" -> 40;
npc2 = Vehicle((npc2_init_position,,1));
//npc3: start from lane_221
npc3_init_position = "lane_221" -> 60;
npc3 = Vehicle((npc3_init_position,,1.2));
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<!--
<p>
The Nineth Scenario Script of AVUnit.
</p> -->
<pre>
<code>
// road merging or T junction
map_name = "san_francisco";
car_model = "gt_sensors";
initial_position = "lane_317" -> 240;
ego_init_state = (initial_position);
target_position = "lane_321" -> 50;
ego_target_state = (target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
//npc1: move from lane_328 to lane_320
npc1_init_position = "lane_328"->20;
npc1_init_state = (npc1_init_position, ,5.0);
wp11 = ("lane_328"->100, ,5.0);
wp12 = ((553307.261867189, 4183201.9591673343), , 4.5);
wp13= ((553309.3614155288, 4183208.8865965335), , 4.0);
wp14= ((553305.65, 4183212.53), , 5.0);
wp15 = ("lane_320"->50, ,6.0);
npc1_waypoints = (wp11, wp12, wp13, wp14, wp15);
npc1_destination = ("lane_320"->100);
npc1 = Vehicle(npc1_init_state, Waypoint(npc1_waypoints));
//npc2: move from lane_331 to lane_321
npc2_init_position = "lane_331"->20;
npc2_init_state = (npc2_init_position, ,5.0);
wp21 = ("lane_331"->100, ,5.0);
wp22 = ("lane_1160"->0, , 4.5);
wp23= ((553315.2383076187, 4183207.2174681155), , 4.0);
wp24= ((553312.2639423843, 4183213.1879271), , 4.0);
wp25 = ("lane_321"->50, ,6.0);
npc2_waypoints = (wp21, wp22, wp23, wp24, wp25);
npc2_destination = ("lane_321"->100);
npc2 = Vehicle(npc2_init_state, Waypoint(npc2_waypoints), npc2_destination);
//npc3: move from lane_330 to lane_322
npc3_init_position = "lane_330"->20;
npc3_init_state = (npc3_init_position, ,5.0);
wp31 = ("lane_330"->100, ,5.0);
wp32 = ("lane_1161"->0, , 4.5);
wp33= ((553319.5, 4183208.69), , 4.0);
wp34 = ((553314.3420368667, 4183217.027038428), , 5.0);
wp35 = ("lane_322"->50, ,6.0);
npc3_waypoints = (wp31, wp32, wp33, wp34, wp35);
npc3_destination = ("lane_322"->100);
npc3 = Vehicle(npc3_init_state, Waypoint(npc3_waypoints), npc3_destination);
//npc4: move from lane_329 to lane_323
npc4_init_position = "lane_329"->20;
npc4_init_state = (npc4_init_position, ,5.0);
wp41 = ("lane_329"->50, ,6.0);
wp42 = ("lane_1162"->0, , 5);
wp43= ((553322.757594728, 4183206.63), , 3);
wp44 = ((553316.4349628921, 4183219.8604124514), , 7.0);
wp45 = ("lane_323"->50, ,5.0);
npc4_waypoints = (wp41, wp42, wp43, wp44, wp45);
npc4_destination = ("lane_323"->100);
npc4 = Vehicle(npc4_init_state, Waypoint(npc4_waypoints), npc4_destination);
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
{npc1, npc2, npc3, npc4};
{}; // no pedestrians;
{}; // no obstacles;
evn;
};
Trace trace = EXE(scenario0);
</code>
</pre>
<pre>
<code>
// intersection turn left
//map_name = "san_francisco";
map_name = "san_francisco";
car_model = "gt_sensors";
car_color = green;
//ego_init_position = ENU (553090.0522572036, 4182687.8);
ego_init_position = "lane_8"->5;
ego_init_state = (ego_init_position);
ego_target_position = "lane_45"->100;
ego_target_state = (ego_target_position);
vehicle_type = (car_model, car_color);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);
heading1 = 10 deg related to ego_vehicle;
npc_init_state = ("lane_8"->20, , 10.0);
npc1_type = "Sedan";
npc_state1 = (("lane_45"->2, ,6), ("lane_35"->1, ,3),("lane_55"->1, ,6), ("lane_43"->30, ,25));
npc1_destination = ("lane_43"->150);
npc1 = Vehicle(npc_init_state, Waypoint(npc_state1), npc1_destination, (npc1_type));
heading2 = 50 deg related to npc1;
npc_init_state2 = ("lane_8"->10.0, ,3.0);
npc_state2 = (("lane_780"->1.0, ,10.0), ("lane_782"->10.0, , 4.0), ("lane_76"->0.0, , 4.0), ("lane_40"->20.0, ,5.0));
npc_target_state2 = ("lane_40"->100.0);
npc2_type = "SUV";
npc2 =Vehicle(npc_init_state2, Waypoint(npc_state2), npc_target_state2, (npc2_type));
npc_init_state3 = ("lane_9"->10.0, , 5.0);
npc_target_state3 = ("lane_40"->90.0);
npc3 = Vehicle(npc_init_state3,,npc_target_state3);
npc_init_state4 = ("lane_47"->30.0, ,3.0);
npc_state4 = (("lane_788"->1.0, ,10.0));
npc_target_state4 = ("lane_7"->30.0);
npc4 =Vehicle(npc_init_state4, Waypoint(npc_state4), npc_target_state4);
npc_init_state5 = ("lane_785"->30.0, ,2.0);
npc_state5 = (("lane_44"->1.0, ,10.0));
npc_target_state5 = ("lane_768"->30.0);
npc5 =Vehicle(npc_init_state5, Waypoint(npc_state5), npc_target_state5);
npc = {npc1, npc2, npc3, npc4, npc5};
time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
ped_position = (553020.54, 4182693.69);
ped_heading = 90 deg related to "lane_38"->30;
ped_init_state= (ped_position, ped_heading, 1.0);
ped_state_list = (((553020.54,4182693.69), ped_heading, 1.0),((553023.26, 4182671.82), ped_heading, 1.0));
//ped_state_list = (("lane_759"->7, , 1.0), ("lane_759"->15, , 1.0));
ped_motion = Waypoint(ped_state_list);
ped = Pedestrian(ped_init_state, ped_motion);
scenario0 = CreateScenario{load(map_name);
ego_vehicle;
npc; // no other vehicles;
{ped}; // no pedestrians;
{}; // no obstacles;
evn; // default environment
};
Trace trace = EXE(scenario0);
</code>
</pre>
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