Visual Information

carla_sim/visuals/README.md

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+# 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

carla_sim/visuals/head_on/README.md

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+# 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)

carla_sim/visuals/head_on/scenarios/scenario_1.yaml

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+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]

carla_sim/visuals/head_on/scenarios/scenario_2.yaml

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+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]

carla_sim/visuals/head_on/scenarios/scenario_3.yaml

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+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]

carla_sim/visuals/rear_end/README.md

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+# 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)

carla_sim/visuals/rear_end/scenarios/scenario_1.yaml

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+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]

carla_sim/visuals/rear_end/scenarios/scenario_2.yaml

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+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]

carla_sim/visuals/rear_end/scenarios/scenario_3.yaml

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+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]

carla_sim/visuals/side_swipe/README.md

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+# 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)

carla_sim/visuals/side_swipe/scenarios/scenario_1.yaml

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+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]