Overview

Adver-City was built with CARLA v0.9.12 and OpenCDA. If you wish to make any modifications to Adver-City, please make sure to check the documentation for CARLA and OpenCDA beforehand, to get acquainted to how they work and get a good understanding of how to make modifications.

On top of OpenCDA's original scenario generation code, Adver-City introduces the following features:

• Traffic Light Manager (allowing traffic light timings to be controlled),
  • Dataset\Scripts\managers\WalkerManager.py
• Walker Manager (spawns pedestrians in desired areas of the map),
  • Dataset\Scripts\managers\TrafficLightManager.py
• Semantic Camera Sensor (positioned in the same location as the RGB Cameras),
  • Dataset\Scripts\sensors\SemanticCameraSensor.py
• GNSS & IMU data dumping (saving data from these sensors to YAML files),
  • Dataset\Scripts\managers\RevampedDataDumper.py -> save_gnss_imu()
• Vehicle lights (the lights for all vehicles are activated),
  • Dataset\Scripts\scenario_runner.py -> turn_on_vehicle_lights()
• Vehicle spawning with parameterized object density around CAV paths, as well as CAV and RSU positions (spawns vehicles in a rectangular area surrounding these locations),
  • Dataset\Scripts\scenario_runner.py -> add_spawn_from_density()
• Detailed weather settings (includes more weather parameters for greater weather variation),
  • Dataset\Scripts\scenario_runner.py -> get_weather_from_config()
• Detailed RGB Camera settings (includes more sensor parameters for more detailed sensor configuration),
  • Dataset\Scripts\sensors\CameraSensor.py
• Script to generate all scenarios iteratively (managing the CARLA server and iterating through scenario configurations),
  • main.py
• Video generation (saves an MP4 video of the frontal RGB cameras for each viewpoint)
  • generate_video.py
• Scenario summary creation (stores from each frame's bounding boxes for faster generation of statistics),
  • generate_summary.py
• Statistics calculation script (from summary files, generates plots and a CSV table).
  • generate_statistics.py
  • Dataset\Scripts\utils\stats.py

Each one of these features is documented in their respective files, so here we will talk about the logic behind Scenario iteration, which involves multiple files and folders within the project structure.

Scenario iteration

The main.py script loads the scenario configuration files and merges each type of configuration to create the specific configuration of each scenario to be generated. Each type of configuration (scenarios, weather and density) has an Enum with the full name of the configuration (say, rural_straight_non_junction) and an abbreviation to be used in folders and file names (say, rsnj).

First, the default.yaml configuration is loaded, which has default settings for all scenario values. Most of the parameters in this file are used by OpenCDA and are similar for all Adver-City scenarios.

Then, the scenario YAML files are loaded and merged into the default.yaml configuration. If a specific scenario is being generated (say, urban_intersection), then only that file will be loaded and the merged configuration will be stored in the scenario_configs list. Otherwise, all 5 scenarios will be loaded and merged with the default configuration, having their data stored in the scenario_configs list. Therefore, if a single scenario is loaded, the scenario_configs list will have a single element, otherwise it will have five.

Next, the weather YAML files are loaded and merged with the elements within scenario_configs list. If a specific weather condition has been chosen, then only the YAML file for that weather condition will be loaded and merged with the scenario configurations, storing the results in the weather_configs list. Otherwise, if all 11 weather configurations are being simulated, then each one of them will be loaded, merged with all configurations in the scenario_configs list and stored in the weather_configs list. If all scenarios and all weather configurations have been loaded so far, the weather_configs list will have 55 elements.

Finally, the density YAML files are loaded and merged with each element from the weather_configs list. Again, if only a single density has been chosen, only that file will be loaded, otherwise all density files will be loaded. After merging, the results are stored in the simulation_configs list, which is then iterated to generate the dataset scenarios with the Dataset\Scripts\scenario_runner.py script.

If you wish to include a new type of configuration (say, sensor_placement) to be used for scenario generation, make sure to:

• Create an Enum for the configuration (SensorPlacements),
• Create an Enum for its abbreviations (SensorPlacementAbbreviations),
• A folder in the Dataset\Configs folder (\SensorPlacements),
• Another loop to load all configurations and merge them with the previous settings on the load_simulation_configs() method.

Remember that whenever YAML configurations are merged, if a value is present in both, the new configuration will overwrite the older one.

The iteration loop within the main.py script manages the CARLA server, killing it after every few simulations to avoid segmentation fault errors that sometimes happen with CARLA. Make sure to check if the path to CARLA in the init_carla() function is correct. The iteration loop also accounts for common execution bugs with the simulator, such as errors spawning walkers or simulations that end up running indefinitely.