added violations recording for pedestrian collisions

dash/Dashboard.py

@@ -118,7 +118,8 @@ def run_dash_process(self, traffic_state_sharr, debug_shdata):
                             self.plot_vehicle_sd(traj, cand)
                         #behavior tree
                         self.tree_msg.delete("1.0", "end")
-                        self.tree_msg.insert("1.0", btree_snapshot)                    
+                        if btree_snapshot:
+                            self.tree_msg.insert("1.0", btree_snapshot)                    
                     else:
                         #vehicles without planner:
                         self.plot_cartesian_chart(vid, vehicles, pedestrians)

requirements/RequirementViolationEvents.py

@@ -60,6 +60,21 @@ def __init__(self, agent_id, vid):
 		# That reassignment is necessary for the update to work in multiprocessing
 		agent_collisions[agent_id] = collision_state
 
+class CollisionWithPedestrian(UnmetRequirement):
+	def __init__(self, agent_id, pid):
+		collision_state = agent_collisions[agent_id]
+
+		if pid not in collision_state or agent_ticks[agent_id] - 5 > collision_state[pid]:
+			self.raise_it(agent_id, {
+				'colliderId': pid,
+				'message': 'v' + str(agent_id) + ' bounding box overlapped with the pedestrian agent p' + str(pid),
+			})
+
+		collision_state[pid] = agent_ticks[agent_id]
+
+		# That reassignment is necessary for the update to work in multiprocessing
+		agent_collisions[agent_id] = collision_state
+
 class GlobalTick:
 	def __init__(self):
 		global global_tick

requirements/RequirementsChecker.py

@@ -3,7 +3,7 @@
 from math import cos, radians, sin
 
 from Actor import ActorSimState
-from requirements.RequirementViolationEvents import CollisionWithVehicle, GoalOvershot, ScenarioCompletion, ScenarioEnd
+from requirements.RequirementViolationEvents import CollisionWithVehicle, CollisionWithPedestrian, GoalOvershot, ScenarioCompletion, ScenarioEnd
 from sv.SDVTrafficState import *
 
 class RequirementsChecker:
@@ -23,6 +23,9 @@ def analyze(self, traffic_state:TrafficState):
 		self.vehicles.update(traffic_state.traffic_vehicles)
 		self.vehicles.update(traffic_state.traffic_vehicles_orp)
 
+		self.pedestrians = {}
+		self.pedestrians.update(traffic_state.pedestrians)
+
 		for condition in self.conditions:
 			condition(traffic_state)
 
@@ -65,8 +68,16 @@ def detect_collisions(self, traffic_state:TrafficState):
 				vehicle_box = self.calculate_rectangular_bounding_box(vehicle)
 				if self.do_polygons_intersect(ego_box, vehicle_box):
 					CollisionWithVehicle(ego_vehicle.id, vid)
+
+		for pid, pedestrian in self.pedestrians.items():
+			if pedestrian.sim_state not in [ActorSimState.ACTIVE, ActorSimState.ACTIVE.value]:
+				continue
+
+			pedestrian_pos = [pedestrian.state.x, pedestrian.state.y]
 
-
+			if self.check_circle_rectangle_collision(pedestrian_pos, ego_box, pedestrian.PEDESTRIAN_RADIUS):
+				CollisionWithPedestrian(ego_vehicle.id, pid)
+
 	def detect_goal_overshot(self, traffic_state:TrafficState):
 		""" Checks if the vehicle has reached or passed the goal point in the frenet frame.
 		"""
@@ -102,6 +113,11 @@ def detect_goal_overshot(self, traffic_state:TrafficState):
 			if self.goal_ends_simulation:
 				ScenarioEnd()
 				raise ScenarioCompletion()
+
+	def forced_exit(self):
+		#store data upon forced exit
+		ScenarioEnd()
+		raise ScenarioCompletion
 
 	def do_polygons_intersect(self, polygon_a, polygon_b):
 		"""
@@ -159,6 +175,19 @@ def do_polygons_intersect(self, polygon_a, polygon_b):
 					return False;
 
 		return True
+
+	def check_circle_rectangle_collision(self, centre, rectangle, radius):
+		"""
+		checks if the circular bounding box of a pedestrian intersects with the bounding box of a vehicle
+		"""
+		centre_x, centre_y = centre
+
+		closest_x = np.clip(centre_x, np.min(rectangle[:, 0]), np.max(rectangle[:, 0]))
+		closest_y = np.clip(centre_y, np.min(rectangle[:, 1]), np.max(rectangle[:, 1]))
+
+		distance = np.sqrt((centre_x - closest_x)**2 + (centre_y - closest_y)**2)
+
+		return distance < radius
 
 	def rotate(self, center_x, center_y, x, y, degree_theta):
 		radian_theta = radians(degree_theta)

sp/Pedestrian.py

@@ -30,7 +30,9 @@ class Pedestrian(Actor):
     EP_TYPE = 3
     SP_TYPE = 4
 
-    PEDESTRIAN_RADIUS = 0.2
+    # Source NCAP: https://cdn.euroncap.com/media/58226/euro-ncap-aeb-vru-test-protocol-v303.pdf
+    # Pedestrian dimensions (width: 0.5 m, length: 0.6 m) approximated by a circle with radius 0.27 m
+    PEDESTRIAN_RADIUS = 0.27
 
     def __init__(self, id, name='', start_state=[0.0,0.0,0.0, 0.0,0.0,0.0], yaw=0.0):
         super().__init__(id, name, start_state, yaw=yaw)