diff --git a/carla_sim/visuals/ACC_CONFIG.pdf b/carla_sim/visuals/ACC_CONFIG.pdf new file mode 100644 index 0000000..8eacc15 Binary files /dev/null and b/carla_sim/visuals/ACC_CONFIG.pdf differ diff --git a/carla_sim/visuals/README.md b/carla_sim/visuals/README.md new file mode 100644 index 0000000..d0ba455 --- /dev/null +++ b/carla_sim/visuals/README.md @@ -0,0 +1,10 @@ +# Visuals + +Visuals demonstrating common crash types. Based off of NHTSA data (found in ACC_CONFIG.pdf and crash_type_diagram.pdf) + +## Contents (per crash type) +- README.md: describing the specifics of the crash type +- graphics/: 2D bird's-eye view(s) of the crash type +- simulated/: 3D angled view(s) of the crash type +- scenarios/: 3-5 test scenarios that yield the crash type + - All scenarios done/tested with the CARLA BehaviorAgent set to "normal" behavior \ No newline at end of file diff --git a/carla_sim/visuals/crash_type_diagram.pdf b/carla_sim/visuals/crash_type_diagram.pdf new file mode 100644 index 0000000..a300e21 Binary files /dev/null and b/carla_sim/visuals/crash_type_diagram.pdf differ diff --git a/carla_sim/visuals/head_on/README.md b/carla_sim/visuals/head_on/README.md new file mode 100644 index 0000000..13d4b9b --- /dev/null +++ b/carla_sim/visuals/head_on/README.md @@ -0,0 +1,47 @@ +# Head-On + +## Description +A crash type where two vehicles moving opposite directions collide front-to-front + +## Category +Category 3: Same Trafficway, Opposite Directions + +## ACC_CONFIG +- 301: Same Trafficway, Opposite Direction-Lateral Move [Left / Right], Head-On, Sideswipe, or Angle +- 302: Same Trafficway, Opposite Direction-Lateral Move [Going Straight], Head-On, Sideswipe, or Angle +- 303: Same Trafficway, Opposite Direction-Lateral Move, Other or Unknown + +## Graphics +- head_left: The ego vehicle (EV) performs a lateral move (left) and enters a front-to-front collision with the target vehicle (TV). In this case, the ego is at fault. +- head_straight: The ego vehicle (EV) perofrms a lateral move (straight) and enters a front-to-front collision with the target vehicle (TV). In this case, the ego is at fault. + +## Scenarios +- scenario_1: + - Map: Town01 + - Description: An NPC enters a head-on collision with the ego by driving into the flow of traffic + - Fault: NPC + - ACC_CONFIG + - ego: 302 + - NPC: 302 +- scenario_2: + - Map: Town02 + - Description: The ego enters a head-on collision with an NPC by driving into the flow of traffic + - Fault: ego + - ACC_CONFIG + - ego: 302 + - NPC: 302 +- scenario_3: + - Map: Town03 + - Description: An NPC enters a head-on collision with the ego by driving into the flow of traffic at an angle + - Fault: NPC + - ACC_CONFIG + - ego: 302 + - NPC: 301 + +## Simulated + +Images of a rear end crash simulated in CARLA, spawned from scenarios/scenario_1.yaml. + +- collision_angle: An angled view of the crash +- collision_bird: A bird's-eye view of the crash, mirroring what is seen in the graphics directory +- collision_high: A higher-up view of the crash, similar to what is seen when using the AV-Fuzzer tool (albeit more zoomed in) \ No newline at end of file diff --git a/carla_sim/visuals/head_on/graphics/head_left.png b/carla_sim/visuals/head_on/graphics/head_left.png new file mode 100644 index 0000000..0aa9229 Binary files /dev/null and b/carla_sim/visuals/head_on/graphics/head_left.png differ diff --git a/carla_sim/visuals/head_on/graphics/head_straight.png b/carla_sim/visuals/head_on/graphics/head_straight.png new file mode 100644 index 0000000..e3d0c1a Binary files /dev/null and b/carla_sim/visuals/head_on/graphics/head_straight.png differ diff --git a/carla_sim/visuals/head_on/scenarios/scenario_1.yaml b/carla_sim/visuals/head_on/scenarios/scenario_1.yaml new file mode 100644 index 0000000..f0dfda0 --- /dev/null +++ b/carla_sim/visuals/head_on/scenarios/scenario_1.yaml @@ -0,0 +1,31 @@ +map: + "Town01" + +ev: + start: [213.880447, 59.902679, 0.300000] + end: [243.880447, 59.902679, 0.300000] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [243.880447, 59.902679, 0.300000] + throttle_range: [0.5, 0.5] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 180.0, 0.0] + +npc2: + start: [183.880447, 59.902679, 0.300000] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/head_on/scenarios/scenario_2.yaml b/carla_sim/visuals/head_on/scenarios/scenario_2.yaml new file mode 100644 index 0000000..6fa8c5a --- /dev/null +++ b/carla_sim/visuals/head_on/scenarios/scenario_2.yaml @@ -0,0 +1,31 @@ +map: + "Town02" + +ev: + start: [104.300018, 237.280029, 0.500000] + end: [120.300018, 241.280029, 0.500000] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [110.300018, 237.280029, 0.5] + throttle_range: [0.9, 1.0] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 180.0, 0.0] + +npc2: + start: [124.300018, 241.280029, 0.5] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/head_on/scenarios/scenario_3.yaml b/carla_sim/visuals/head_on/scenarios/scenario_3.yaml new file mode 100644 index 0000000..9e0ab9b --- /dev/null +++ b/carla_sim/visuals/head_on/scenarios/scenario_3.yaml @@ -0,0 +1,31 @@ +map: + "Town03" + +ev: + start: [60.874001, 7.542412, 0.3] + end: [205.874001, 8.542412, 0.3] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [70.874001, 5.542412, 0.3] + throttle_range: [0.5, 0.6] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 170, 0.0] + +npc2: + start: [100.874001, 7.542412, 0.3] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/head_on/simulated/collision_angle.png b/carla_sim/visuals/head_on/simulated/collision_angle.png new file mode 100644 index 0000000..3dea46e Binary files /dev/null and b/carla_sim/visuals/head_on/simulated/collision_angle.png differ diff --git a/carla_sim/visuals/head_on/simulated/collision_bird.png b/carla_sim/visuals/head_on/simulated/collision_bird.png new file mode 100644 index 0000000..665522f Binary files /dev/null and b/carla_sim/visuals/head_on/simulated/collision_bird.png differ diff --git a/carla_sim/visuals/head_on/simulated/collision_high.png b/carla_sim/visuals/head_on/simulated/collision_high.png new file mode 100644 index 0000000..736aa37 Binary files /dev/null and b/carla_sim/visuals/head_on/simulated/collision_high.png differ diff --git a/carla_sim/visuals/rear_end/README.md b/carla_sim/visuals/rear_end/README.md new file mode 100644 index 0000000..dc6fe03 --- /dev/null +++ b/carla_sim/visuals/rear_end/README.md @@ -0,0 +1,46 @@ +# Rear End + +## Description +A crash type where two vehicles moving the same direction collide front-to-rear + +## Category +Category 2: Same Trafficway, Same Direction + +## ACC_CONFIG +- 201: Same Trafficway, Same Direction-Rear End, Trailing Vehicle +- 202: Same Trafficway, Same Direction-Rear End, Lead Vehicle +- 203: Same Trafficway, Same Direction-Rear End, Other or Unknown + +## Graphics +- rear: The ego vehicle (EV) travels down the road and enters a front-to-rear collision with the target vehicle (TV) + +## Scenarios +- scenario_1.yaml: + - Map: Town01 + - Description: The ego fails to stop for a halted NPC + - Fault: EGO + - ACC_CONFIG: + - ego: 201 + - NPC: 202 +- scenario_2.yaml: + - Map: Town02 + - Description: An NPC fails to stop for the ego, which has halted for another NPC + - Fault: NPC + - ACC_CONFIG: + - ego: 202 + - NPC: 201 +- scenario_3.yaml: + - Map: Town03 + - Description: An NPC fails to stop for the ego, which has halted for another NPC + - Fault: NPC + - ACC_CONFIG + - ego: 202 + - NPC: 201 + +## Simulated + +Images of a rear end crash simulated in CARLA, spawned from scenarios/scenario_3.yaml. + +- collision_angle: An angled view of the crash +- collision_bird: A bird's-eye view of the crash, mirroring what is seen in the graphics directory +- collision_high: A higher-up view of the crash, similar to what is seen when using the AV-Fuzzer tool (albeit more zoomed in) \ No newline at end of file diff --git a/carla_sim/visuals/rear_end/graphics/rear.png b/carla_sim/visuals/rear_end/graphics/rear.png new file mode 100644 index 0000000..2a407fe Binary files /dev/null and b/carla_sim/visuals/rear_end/graphics/rear.png differ diff --git a/carla_sim/visuals/rear_end/scenarios/scenario_1.yaml b/carla_sim/visuals/rear_end/scenarios/scenario_1.yaml new file mode 100644 index 0000000..704342a --- /dev/null +++ b/carla_sim/visuals/rear_end/scenarios/scenario_1.yaml @@ -0,0 +1,31 @@ +map: + "Town01" + +ev: + start: [213.880447, 59.902679, 0.300000] + end: [243.880447, 59.902679, 0.300000] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [233.880447, 59.902679, 0.300000] + throttle_range: [0.0, 0.0] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +npc2: + start: [183.880447, 59.902679, 0.300000] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/rear_end/scenarios/scenario_2.yaml b/carla_sim/visuals/rear_end/scenarios/scenario_2.yaml new file mode 100644 index 0000000..5dfbd0b --- /dev/null +++ b/carla_sim/visuals/rear_end/scenarios/scenario_2.yaml @@ -0,0 +1,31 @@ +map: + "Town02" + +ev: + start: [104.300018, 241.280029, 0.500000] + end: [166.300018, 241.280029, 0.500000] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [84.300018, 240.280029, 0.5] + throttle_range: [0.9, 1.0] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +npc2: + start: [124.300018, 241.280029, 0.5] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/rear_end/scenarios/scenario_3.yaml b/carla_sim/visuals/rear_end/scenarios/scenario_3.yaml new file mode 100644 index 0000000..0648fe1 --- /dev/null +++ b/carla_sim/visuals/rear_end/scenarios/scenario_3.yaml @@ -0,0 +1,31 @@ +map: + "Town03" + +ev: + start: [60.874001, 7.542412, 0.3] + end: [205.874001, 8.542412, 0.3] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [50.874001, 7.542412, 0.3] + throttle_range: [0.5, 0.6] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +npc2: + start: [70.874001, 7.542412, 0.3] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/rear_end/simulated/collision_angle.png b/carla_sim/visuals/rear_end/simulated/collision_angle.png new file mode 100644 index 0000000..ab55231 Binary files /dev/null and b/carla_sim/visuals/rear_end/simulated/collision_angle.png differ diff --git a/carla_sim/visuals/rear_end/simulated/collision_bird.png b/carla_sim/visuals/rear_end/simulated/collision_bird.png new file mode 100644 index 0000000..6c3326f Binary files /dev/null and b/carla_sim/visuals/rear_end/simulated/collision_bird.png differ diff --git a/carla_sim/visuals/rear_end/simulated/collision_high.png b/carla_sim/visuals/rear_end/simulated/collision_high.png new file mode 100644 index 0000000..e45b424 Binary files /dev/null and b/carla_sim/visuals/rear_end/simulated/collision_high.png differ diff --git a/carla_sim/visuals/side_swipe/README.md b/carla_sim/visuals/side_swipe/README.md new file mode 100644 index 0000000..bd7e119 --- /dev/null +++ b/carla_sim/visuals/side_swipe/README.md @@ -0,0 +1,46 @@ +# Sideswipe + +## Description +A crash type where two vehicles traveling in the same direction collide in a sideswipe + +## Category +Category 2: Same Trafficway, Same Direction + +## ACC_CONFIG +- 207: Same Trafficway, Same Direction-Sideswipe, Angle, Vehicle on Left +- 208: Same Trafficway, Same Direction-Sideswipe, Angle, Vehicle on Right +- 209: Same Trafficway, Same Direction-Sideswipe, Angle, Other or Unknown + +## Graphics +- sideswipe: The ego vehicle (EV) performs a lane-change and enters a sideswipe collision with the target vehicle (TV) + +## Scenarios +- scenario_1: + - Map: Town01 + - Description: An NPC fails to stop and collides with the ego's side + - Fault: NPC + - ACC_CONFIG + - ego: 208 + - NPC: 207 +- scenario_2: + - Map: Town02 + - Description: An NPC fails to stop and sideswipes the ego + - Fault: NPC + - ACC_CONFIG + - ego: 208 + - NPC: 207 +- scenario_3: + - Map: Town03 + - Description: The ego fails to stop and collides with an NPC's side + - Fault: ego + - ACC_CONFIG + - ego: 207 + - NPC: 208 + +## Simulated + +Images of a rear end crash simulated in CARLA, spawned from scenarios/scenario_3.yaml. + +- collision_angle: An angled view of the crash +- collision_bird: A bird's-eye view of the crash, mirroring what is seen in the graphics directory +- collision_high: A higher-up view of the crash, similar to what is seen when using the AV-Fuzzer tool (albeit more zoomed in) \ No newline at end of file diff --git a/carla_sim/visuals/side_swipe/graphics/sideswipe.png b/carla_sim/visuals/side_swipe/graphics/sideswipe.png new file mode 100644 index 0000000..74603ec Binary files /dev/null and b/carla_sim/visuals/side_swipe/graphics/sideswipe.png differ diff --git a/carla_sim/visuals/side_swipe/scenarios/scenario_1.yaml b/carla_sim/visuals/side_swipe/scenarios/scenario_1.yaml new file mode 100644 index 0000000..f473269 --- /dev/null +++ b/carla_sim/visuals/side_swipe/scenarios/scenario_1.yaml @@ -0,0 +1,31 @@ +map: + "Town01" + +ev: + start: [213.880447, 59.902679, 0.300000] + end: [253.880447, 59.902679, 0.300000] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [213.880447, 55.902679, 0.300000] + throttle_range: [0.8, 0.8] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 15, 0.0] + +npc2: + start: [183.880447, 59.902679, 0.300000] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/side_swipe/scenarios/scenario_2.yaml b/carla_sim/visuals/side_swipe/scenarios/scenario_2.yaml new file mode 100644 index 0000000..7443196 --- /dev/null +++ b/carla_sim/visuals/side_swipe/scenarios/scenario_2.yaml @@ -0,0 +1,31 @@ +map: + "Town02" + +ev: + start: [104.300018, 241.280029, 0.500000] + end: [166.300018, 241.280029, 0.500000] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [105.300018, 238.280029, 0.5] + throttle_range: [0.9, 0.9] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 5, 0.0] + +npc2: + start: [150.300018, 241.280029, 0.5] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/side_swipe/scenarios/scenario_3.yaml b/carla_sim/visuals/side_swipe/scenarios/scenario_3.yaml new file mode 100644 index 0000000..50f533d --- /dev/null +++ b/carla_sim/visuals/side_swipe/scenarios/scenario_3.yaml @@ -0,0 +1,31 @@ +map: + "Town03" + +ev: + start: [60.874001, 7.542412, 0.3] + end: [100.874001, 4.542412, 0.3] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [95.874001, 4.542412, 0.3] + throttle_range: [0.1, 0.1] + brake_chance: 1.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +npc2: + start: [120.874001, 7.542412, 0.3] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/side_swipe/simulated/collision_angle.png b/carla_sim/visuals/side_swipe/simulated/collision_angle.png new file mode 100644 index 0000000..3912ef9 Binary files /dev/null and b/carla_sim/visuals/side_swipe/simulated/collision_angle.png differ diff --git a/carla_sim/visuals/side_swipe/simulated/collision_bird.png b/carla_sim/visuals/side_swipe/simulated/collision_bird.png new file mode 100644 index 0000000..d279e2f Binary files /dev/null and b/carla_sim/visuals/side_swipe/simulated/collision_bird.png differ diff --git a/carla_sim/visuals/side_swipe/simulated/collision_high.png b/carla_sim/visuals/side_swipe/simulated/collision_high.png new file mode 100644 index 0000000..1ce90ab Binary files /dev/null and b/carla_sim/visuals/side_swipe/simulated/collision_high.png differ diff --git a/carla_sim/visuals/turn_across_opposite/README.md b/carla_sim/visuals/turn_across_opposite/README.md new file mode 100644 index 0000000..c7b9521 --- /dev/null +++ b/carla_sim/visuals/turn_across_opposite/README.md @@ -0,0 +1,47 @@ +# Turn Across Path: Initial Opposite Directions + +## Description +A crash type where a vehicle attempts to turn across a lane of traffic and enters a collision with a vehicle traveling the opposite direction + +## Category +Category 4: Change Trafficway Vehicle Turning + +## ACC_CONFIG +- 401: Trafficway Vehicle Turning-Turn Across Path, Initial Opposite Directions [Left / Right] +- 402: Trafficway Vehicle Turning-Turn Across Path, Initial Opposite Directions [Going Straight] +- 407: Trafficway Vehicle Turning-Turn Across Path, Other or Unknown + +## Graphics +- turn_before: The ego vehicle (EV) begins to make a left turn across a lane of traffic flowing in the opposite direction +- turn_crash: The EV has entered a crash with the target vehicle (TV) + +## Scenarios +- scenario_1 + - Map: Town01 + - Description: An NPC runs a red light and enters a crash where the ego vehicle was turning across the lane + - Fault: NPC + - ACC_CONFIG + - ego: 401 + - NPC: 402 +- scenario_2 + - Map: Town02 + - Description: The ego vehicle fails to yield for an NPC vehicle in an intersection + - Fault: ego + - ACC_CONFIG + - ego: 401 + - NPC: 402 +- scenario_3 + - Map: Town03 + - Description: An NPC fails to properly slow down and hits the ego + - Fault: NPC + - ACC_CONFIG + - ego: 401 + - NPC: 402 + +## Simulated + +Images of a rear end crash simulated in CARLA, spawned from scenarios/scenario_3.yaml. + +- collision_angle: An angled view of the crash +- collision_bird: A bird's-eye view of the crash, mirroring what is seen in the graphics directory +- collision_high: A higher-up view of the crash, similar to what is seen when using the AV-Fuzzer tool (albeit more zoomed in) \ No newline at end of file diff --git a/carla_sim/visuals/turn_across_opposite/graphics/turn_before.png b/carla_sim/visuals/turn_across_opposite/graphics/turn_before.png new file mode 100644 index 0000000..33f17dd Binary files /dev/null and b/carla_sim/visuals/turn_across_opposite/graphics/turn_before.png differ diff --git a/carla_sim/visuals/turn_across_opposite/graphics/turn_crash.png b/carla_sim/visuals/turn_across_opposite/graphics/turn_crash.png new file mode 100644 index 0000000..9a093b9 Binary files /dev/null and b/carla_sim/visuals/turn_across_opposite/graphics/turn_crash.png differ diff --git a/carla_sim/visuals/turn_across_opposite/scenarios/scenario_1.yaml b/carla_sim/visuals/turn_across_opposite/scenarios/scenario_1.yaml new file mode 100644 index 0000000..af4c28f --- /dev/null +++ b/carla_sim/visuals/turn_across_opposite/scenarios/scenario_1.yaml @@ -0,0 +1,31 @@ +map: + "Town01" + +ev: + start: [88.619987, 45.583336, 0.300000] + end: [183.880447, 59.902679, 0.300000] + rotation: [0.0, 90.0, 0.0] + +npc1: + start: [92.619987, 65.902679, 0.300000] + throttle_range: [0.7, 0.7] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, -90.0, 0.0] + +npc2: + start: [183.880447, 59.902679, 0.300000] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/turn_across_opposite/scenarios/scenario_2.yaml b/carla_sim/visuals/turn_across_opposite/scenarios/scenario_2.yaml new file mode 100644 index 0000000..97cafa5 --- /dev/null +++ b/carla_sim/visuals/turn_across_opposite/scenarios/scenario_2.yaml @@ -0,0 +1,31 @@ +map: + "Town02" + +ev: + start: [125.300018, 241.280029, 0.500000] + end: [166.300018, 220.280029, 0.500000] + rotation: [0.0, 0.0, 0.0] + +npc1: + start: [142.300018, 237.280029, 0.5] + throttle_range: [1.0, 1.0] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 180.0, 0.0] + +npc2: + start: [150.300018, 241.280029, 0.5] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/turn_across_opposite/scenarios/scenario_3.yaml b/carla_sim/visuals/turn_across_opposite/scenarios/scenario_3.yaml new file mode 100644 index 0000000..aa05f1a --- /dev/null +++ b/carla_sim/visuals/turn_across_opposite/scenarios/scenario_3.yaml @@ -0,0 +1,31 @@ +map: + "Town03" + +ev: + start: [180.874001, 55.542412, 0.3] + end: [160.874001, 80.542412, 0.3] + rotation: [0.0, 180, 0.0] + +npc1: + start: [140.874001, 65.542412, 0.3] + throttle_range: [1.0, 1.0] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +npc2: + start: [120.874001, 7.542412, 0.3] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/turn_across_opposite/simulated/collision_angle.png b/carla_sim/visuals/turn_across_opposite/simulated/collision_angle.png new file mode 100644 index 0000000..669ddfa Binary files /dev/null and b/carla_sim/visuals/turn_across_opposite/simulated/collision_angle.png differ diff --git a/carla_sim/visuals/turn_across_opposite/simulated/collision_bird.png b/carla_sim/visuals/turn_across_opposite/simulated/collision_bird.png new file mode 100644 index 0000000..73269cd Binary files /dev/null and b/carla_sim/visuals/turn_across_opposite/simulated/collision_bird.png differ diff --git a/carla_sim/visuals/turn_across_opposite/simulated/collision_high.png b/carla_sim/visuals/turn_across_opposite/simulated/collision_high.png new file mode 100644 index 0000000..3d64e35 Binary files /dev/null and b/carla_sim/visuals/turn_across_opposite/simulated/collision_high.png differ diff --git a/carla_sim/visuals/turn_into/README.md b/carla_sim/visuals/turn_into/README.md new file mode 100644 index 0000000..945830b --- /dev/null +++ b/carla_sim/visuals/turn_into/README.md @@ -0,0 +1,49 @@ +# Turn Into Path: Turn Into Opposite Directions + +## Description +A crash type where a vehicle attempts to turn into a lane of traffic and enters a collision with a vehicle traveling the opposite direction + +## Category +Category 4: Change Trafficway Vehicle Turning + +## ACC_CONFIG +- 412: Trafficway Vehicle Turning-Turn Into Path, Turn into Opposite Directions [Turning Right] +- 413: Trafficway Vehicle Turning-Turn Into Path, Turn into Opposite Directions [Going Straight, Other Vehicle Turning Right] +- 414: Trafficway Vehicle Turning-Turn Into Path, Turn into Opposite Directions [Turning Left] +- 415: Trafficway Vehicle Turning-Turn Into Path, Turn into Opposite Directions [Going Straight, Other Vehicle Turning Left] +- 416: Trafficway Vehicle Turning-Turn into Path, Other or Unknown + +## Graphics +- turn_before: The ego vehicle (EV) begins to make a left turn into a lane of traffic +- turn_crash: The EV has entered a crash with the target vehicle (TV) + +## Scenarios +- scenario_1: + - Map: Town01 + - Description: The ego runs a red light and gets hit by an NPC + - Fault: ego + - ACC_CONFIG + - ego: 414 + - NPC: 415 +- scenario_2: + - Map: Town02 + - Description: The ego fails to yield during a right turn and hits an NPC + - Fault: ego + - ACC_CONFIG + - ego: 412 + - NPC: 413 +- scenario_3: + - Map: Town03 + - Description: The ego fails to yield during a left turn and gets hit by an NPC + - Fault: ego + - ACC_CONFIG + - ego: 414 + - NPC: 415 + +## Simulated + +Images of a rear end crash simulated in CARLA, spawned from scenarios/scenario_2.yaml. + +- collision_angle: An angled view of the crash +- collision_bird: A bird's-eye view of the crash, mirroring what is seen in the graphics directory +- collision_high: A higher-up view of the crash, similar to what is seen when using the AV-Fuzzer tool (albeit more zoomed in) \ No newline at end of file diff --git a/carla_sim/visuals/turn_into/graphics/turn_before.png b/carla_sim/visuals/turn_into/graphics/turn_before.png new file mode 100644 index 0000000..44cb970 Binary files /dev/null and b/carla_sim/visuals/turn_into/graphics/turn_before.png differ diff --git a/carla_sim/visuals/turn_into/graphics/turn_crash.png b/carla_sim/visuals/turn_into/graphics/turn_crash.png new file mode 100644 index 0000000..a242384 Binary files /dev/null and b/carla_sim/visuals/turn_into/graphics/turn_crash.png differ diff --git a/carla_sim/visuals/turn_into/scenarios/scenario_1.yaml b/carla_sim/visuals/turn_into/scenarios/scenario_1.yaml new file mode 100644 index 0000000..6b08409 --- /dev/null +++ b/carla_sim/visuals/turn_into/scenarios/scenario_1.yaml @@ -0,0 +1,31 @@ +map: + "Town01" + +ev: + start: [100.619987, 54.902679, 0.300000] + end: [89.619987, 80.902679, 0.300000] + rotation: [0.0, 180.0, 0.0] + +npc1: + start: [92.619987, 65.902679, 0.300000] + throttle_range: [0.7, 0.7] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, -90.0, 0.0] + +npc2: + start: [183.880447, 59.902679, 0.300000] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/turn_into/scenarios/scenario_2.yaml b/carla_sim/visuals/turn_into/scenarios/scenario_2.yaml new file mode 100644 index 0000000..ea640f7 --- /dev/null +++ b/carla_sim/visuals/turn_into/scenarios/scenario_2.yaml @@ -0,0 +1,31 @@ +map: + "Town02" + +ev: + start: [133.300018, 227.280029, 0.500000] + end: [100.300018, 237.280029, 0.500000] + rotation: [0.0, 90, 0.0] + +npc1: + start: [142.300018, 237.280029, 0.5] + throttle_range: [1.0, 1.0] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 180.0, 0.0] + +npc2: + start: [150.300018, 241.280029, 0.5] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/turn_into/scenarios/scenario_3.yaml b/carla_sim/visuals/turn_into/scenarios/scenario_3.yaml new file mode 100644 index 0000000..e6226a4 --- /dev/null +++ b/carla_sim/visuals/turn_into/scenarios/scenario_3.yaml @@ -0,0 +1,31 @@ +map: + "Town03" + +ev: + start: [170.874001, 80.542412, 0.3] + end: [100.874001, 4.542412, 0.3] + rotation: [0.0, -90.0, 0.0] + +npc1: + start: [140.874001, 65.542412, 0.3] + throttle_range: [1.0, 1.0] + brake_chance: 0.0 + brake_range: [0.0, 0.5] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +npc2: + start: [120.874001, 7.542412, 0.3] + throttle_range: [0.2, 0.6] + brake_chance: 1.0 + brake_range: [1.0, 1.0] + steer_range: [0.0, 0.0] + rotation: [0.0, 0.0, 0.0] + +pedestrian1: + start: [65.874001, 3.542412, 0.3] + end: [80.874001, 3.542412, 0.5] + +pedestrian2: + start: [55.874001, 3.542412, 0.3] + end: [90.874001, 3.542412, 0.5] diff --git a/carla_sim/visuals/turn_into/simulated/collision_angle.png b/carla_sim/visuals/turn_into/simulated/collision_angle.png new file mode 100644 index 0000000..25b7d40 Binary files /dev/null and b/carla_sim/visuals/turn_into/simulated/collision_angle.png differ diff --git a/carla_sim/visuals/turn_into/simulated/collision_bird.png b/carla_sim/visuals/turn_into/simulated/collision_bird.png new file mode 100644 index 0000000..1247a8c Binary files /dev/null and b/carla_sim/visuals/turn_into/simulated/collision_bird.png differ diff --git a/carla_sim/visuals/turn_into/simulated/collision_high.png b/carla_sim/visuals/turn_into/simulated/collision_high.png new file mode 100644 index 0000000..15f2c74 Binary files /dev/null and b/carla_sim/visuals/turn_into/simulated/collision_high.png differ