usdotfhwastoldev/cdasim-config repository overview

⁠Anything In the Loop Vunerable Roaduser Use Case 1

⁠Introduction

This CARMA Config includes the docker-compose and configuration file setup for the Anything In the Loop Vunerable Roaduser Use Case 1 scenario.

⁠Scenario Description

This CARMA Configuration Image creates a XIL (Anything-In-the-Loop) scenario which includes CARLA, SUMO , NS3 (CV2X Model), a Virtual Signal Controller, CARMA Streets and CARMA Platform. The scenario configured in this CARMA Config image is meant to highlight the benefits of Cooperative Perception or VRU (Vulnerable Road User) safety. In this use case, infrastructure sensor infromation is shared with CDA (Cooperative Driving Automation) vehicles via the SDSM(J3224 Sensor Data Sharing Message). The scenario takes place in an intersection in CARLA Town 4 and spawns 1 CARMA Platform Vehicle and 1 CARMA Streets instance deployed at an intesection. The vehicle attempts to take a left turn while a pedestrian, spawned by CARLA ScenarioRunner attempts to cross the street at a signalized intersection. Three large trucks obscure the pedestrian from vehicle's lidar sensor vision. An Infrastructure lidar sensor has an unobscructed view of the pedestrian and shares information with the vehicle via V2X message (SDSM). Using the shared information the vehicle is able to safely avoid the pedestrian.

⁠Traffic Signal Controller configuration

⁠Scenario: West to North Left Turn (A)

⁠Scenario: South to North Through (B)

⁠Simulators

⁠Deployment Instructions

⁠Deployment Steps

1. Copy all files in the xil_vru_uc1_scenario/cdasimconfig/route_config/ directory to /opt/carma/routes/
2. Navigate to xil_vru_uc1_scenario and ./build_image.sh to build CARMA Config image. (Optional if remote image exists)
   1. ./build_image/sh should print resulting image name
3. Run carma config set <carma-config-image-name>
4. Navigate to the cdasim_config/ directory.
5. ./run_simulation script clears all necessary volumes and containers and runs carma start all
6. Launch a second terminal and run ./stop_simulation to stop the simulation and collect data.

⁠Locally Built Docker Images

The Virtual Signal Controller is built locally and currently only available to licenced users.

⁠Data Collection

⁠Carla Recorder

This CARMA Config includes volumes and images that will use Carla's recorder⁠ functionality to record CARLA simulation data into a carla-recorder/ directory. Included will be a Trb2024_1.json file and a Trb2024_1.log file. The name of the file comes from the scenario name defined in the scenario-runner image. The .json file is a criteria file created by the scenario runner image and the .log file the carla simulation recording created by the carla server running in the CDASim image(see https://carla-scenariorunner.readthedocs.io/en/latest/metrics_module/).The⁠ criteria json for the VulnerableRoadUser scenarion should look something like this :

{
    "CollisionTest": {
        "children": [],
        "feedback_message": "",
        "blackbox_level": 4,
        "_terminate_on_failure": false,
        "test_status": "FAILURE",
        "expected_value_success": 0,
        "expected_value_acceptable": null,
        "actual_value": 1,
        "optional": false,
        "_collision_sensor": null,
        "other_actor": null,
        "other_actor_type": null,
        "registered_collisions": [],
        "last_id": null,
        "collision_time": 27.05000040307641,
        "terminate_on_failure": false
    },
    "RunningRedLightTest": {
        "children": [],
        "feedback_message": "",
        "blackbox_level": 4,
        "_terminate_on_failure": false,
        "test_status": "SUCCESS",
        "expected_value_success": 0,
        "expected_value_acceptable": null,
        "actual_value": 0,
        "optional": false,
        "list_traffic_events": [],
        "_last_red_light_id": null,
        "debug": false,
        "terminate_on_failure": false
    }
}

This JSON file will provide information on whether any Collisions and RedLightRunning events took place during the run. Both are considered conditions for a test failure.The JSON should also provide information about the event that caused test failures like time, actor involved, and other event information althoguth this functionality seems to be currently broken, likely due to Carla Scenario Runner bugs.