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Merge pull request #453 from OpenSimulationInterface/feature/tp/longitudinal-distance-action
Add some new Actions in OSI::TrafficCommand
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‎osi_trafficcommand.proto‎

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@@ -47,7 +47,6 @@ message TrafficCommand
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// all actions are executed in parallel.
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//
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repeated TrafficAction action = 4;
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}
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//
@@ -98,6 +97,26 @@ message TrafficAction
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// An EndActionsAction
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//
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optional EndActionsAction end_actions_action = 7;
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// A CustomAction
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//
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optional CustomAction custom_action = 8;
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// A LongitudinalDistanceAction
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//
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optional LongitudinalDistanceAction longitudinal_distance_action = 9;
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// A LaneOffsetAction
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//
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optional LaneOffsetAction lane_offset_action = 10;
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// A LateralDistanceAction
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//
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optional LateralDistanceAction lateral_distance_action = 11;
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// A TeleportAction
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//
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optional TeleportAction teleport_action = 12;
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}
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//
@@ -210,8 +229,8 @@ message FollowTrajectoryAction
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//
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// \brief Follow path action.
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//
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// Controls a traffic participant to follow a trajectory using vertices
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// with timings. It specifies the motion in space independent of time.
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// Controls a traffic participant to follow a path using vertices. It
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// specifies the motion in space independent of time.
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//
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// \note The StatePoint messages in path_point only requires a specified
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// position field. The orientation can be set optionally. Any
@@ -461,8 +480,205 @@ message SpeedAction
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}
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// \brief Longitudinal Distance Action
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//
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// The action tells the (host) traffic participant to reach a certain longitudinal distance
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// relative to a target traffic participant. The longitudinal distance is defined as the distance
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// along the centerline of the lane, on which the (host) traffic participant is currently located.
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// The interpolation strategy between centerline points for calculating
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// that distance along the centerline is open to the traffic participant modeller.
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//
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// \note This action is aligned with LongitudinalDistanceAction of OpenSCENARIO 1.0
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// defining the reference traffic participant and the distance.
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//
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// \note Limitation: This concept currently only works for lanes with a centerline, i.e. for lanes
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// of TYPE_DRIVING, not for lanes of TYPE_NONDRIVING or TYPE_INTERSECTION.
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//
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message LongitudinalDistanceAction
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{
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// Action Header of the message
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//
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optional ActionHeader action_header = 1;
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// Unique Id of the reference traffic participant to which the distance is defined.
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//
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optional Identifier target_traffic_participant_id = 2;
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// The distance to reach along the lane
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//
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// Unit: m
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//
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optional double distance = 3;
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// Determine the measurement of longitudinal distance between the traffic
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// participant receiving this action and the reference traffic
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// participant.
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// True: Longitudinal distance is measured using the distance between closest bounding box points.
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// False: Longitudinal distance is mesasured using the distance between the center of each object's bounding box.
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//
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optional bool freespace = 4;
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// Define wheather the traffic participant should only reach the distance once
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// or if it should also follow if after having reached it.
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// True: the traffic participant shall approach the reference participant
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// and follow with the distance specified until the action is aborted/ended.
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// False: the action ends as soon as the traffic participant has reached
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// the specified distance.
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//
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optional bool follow = 5;
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// Parameter that assings either unlimited dynamics (if omitted)
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// or limited maxAcceleration/maxDeceleration/maxSpeed to the action.
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//
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optional DynamicConstraints dynamic_constraints = 6;
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}
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// \brief Lateral Distance Action
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//
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// The action tells the (host) traffic participant to reach a certain lateral distance relative to
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// a target traffic participant. The lateral distance is defined along an imaginative perpendicular line
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// with respect to the centerline of the current (host) traffic participant's lane.
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// The interpolation strategy between centerline points for calculating that distance along the imaginative
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// perpendicular line is open to the traffic participant modeller.
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//
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// \note This action is aligned with LateralDistanceAction of OpenSCENARIO 1.0
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// defining the reference traffic participant and the distance.
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//
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// \note Limitation: This concept currently only works for lanes with a centerline, i.e. for lanes
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// of TYPE_DRIVING, not for lanes of TYPE_NONDRIVING or TYPE_INTERSECTION.
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//
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message LateralDistanceAction
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{
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// Action Header of the message
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//
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optional ActionHeader action_header = 1;
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// Id of the reference entity the lateral distance shall be kept to.
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//
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optional Identifier target_traffic_participant_id = 2;
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// Lateral distance value.
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//
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// Unit: m
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//
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optional double distance = 3;
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// Determine the measurement of lateral distance between the traffic
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// participant receiving this action and the reference traffic
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// participant.
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// True: Lateral distance is measured using the distance between closest bounding box points.
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// False: Lateral distance is mesasured using the distance between the center of each object's bounding box.
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//
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optional bool freespace = 4;
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// Define wheather the traffic participant should only reach the distance once
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// or if it should also follow if after having reached it.
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// True: the traffic particpant shall approach the reference participant
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// and follow with the distance specified until the action is aborted/ended.
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// False: the action ends as soon as the traffic participant has reached
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// the specified distance.
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//
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optional bool follow = 5;
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// Parameter that assings either unlimited dynamics (if omitted)
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// or limited maxAcceleration/maxDeceleration/maxSpeed to the action.
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//
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optional DynamicConstraints dynamic_constraints = 6;
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}
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// \brief Lane Offset Action
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//
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// This action assigns a targeted lane offset to a traffic participant.
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// The action can be constrained by specifying the dynamics shape of the
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// lateral transition profile.
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//
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// \note This action is aligned with LaneOffsetAction of OpenSCENARIO 1.0.
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//
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message LaneOffsetAction
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{
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// The Action Header
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//
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optional ActionHeader action_header = 1;
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// Targeted lane offset in meters relative to the centerline of the
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// current traffic participant's lane. Positive values mean left of the centerline,
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// negative values mean right of the centerline.
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//
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// Unit: m
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//
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optional double target_lane_offset = 2;
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// Specified transition shape of reaching the lane offset.
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// If the shape is unspecified (enum value 0), the shape of the
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// transition is open to the traffic participant model.
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//
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optional DynamicsShape dynamics_shape = 3;
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// Definition of dynamic shape of the transition.
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//
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enum DynamicsShape
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{
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// Shape is unspecified.
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//
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DYNAMICS_SHAPE_UNSPECIFIED = 0;
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// Shape is linear.
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//
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DYNAMICS_SHAPE_LINEAR = 1;
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// Shape is cubic.
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//
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DYNAMICS_SHAPE_CUBIC = 2;
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// Shape is sinusoidal.
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//
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DYNAMICS_SHAPE_SINUSOIDAL = 3;
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// Shape is a step function.
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//
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DYNAMICS_SHAPE_STEP = 4;
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}
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}
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// \brief Teleport Action
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//
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// This Action allows to immediately place a traffic participant to
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// another position.
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//
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// \brief Abort actions action
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// \note This action is aligned with the TeleportAction of
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// OpenSCENARIO 1.0 using a WorldPosition position argument.
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//
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message TeleportAction
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{
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// The Action Header
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//
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optional ActionHeader action_header = 1;
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// Position in the global coordinate system.
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//
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// The position refers to the center (x,y,z) of the bounding box.
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//
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// \note Remark: The definition of the reference point follows the
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// specification of the \c BaseMoving message.
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//
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optional Vector3d position = 2;
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// Orientation in the global coordinate system.
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//
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// This is optional, if no orientation is given, the end orientation
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// is under control of the traffic participant.
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//
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optional Orientation3d orientation = 3;
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}
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// \brief AbortActionsAction.
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//
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// This action tells a traffic participant that it should immediately
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// abort the execution of other actions referenced within this action.
@@ -505,3 +721,54 @@ message EndActionsAction
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//
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repeated Identifier target_action_id = 2;
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}
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// \brief DynamicConstraints
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//
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// This message is used in Longitudinal and Lateral Distance Actions as
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// constraints on the TrafficParticipant not allowing them to exceed/drop below
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// certain speeds/acceleration levels.
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//
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message DynamicConstraints
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{
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// Maximum acceleration the distance contoller is allowed to use for keeping distance.
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//
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// Unit: m/s^2
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//
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optional double max_acceleration = 1;
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// Maximum deceleration the distance contoller is allowed to use for keeping distance.
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//
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// Unit: m/s^2
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//
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optional double max_deceleration = 2;
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// Maximum speed the distance contoller is allowed to use for keeping distance.
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//
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// Unit: m/s
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//
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optional double max_speed = 3;
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}
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//
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// \brief Custom Action.
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//
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// This action assigns a custom command to a traffic participant.
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// The syntax and semantics of this action is implementation defined.
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// It is entirely up to each individual traffic participant which
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// custom commands it supports, if any, and how they must be phrased.
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//
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// \note This action is aligned with CustomCommandAction of OpenSCENARIO 1.0
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// providing a customizable user defined action.
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//
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message CustomAction
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{
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// The Action Header
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//
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optional ActionHeader action_header = 1;
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// The custom command given to the traffic participant.
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//
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optional string command = 2;
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}

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