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种子地图的逻辑场景样例（仿真器B）

自动驾驶云服务 OCTOPUS-merge

merge 简述：地图场景为匝道合流。主车Ego在主道行驶，初始速度为Ego_InitSpeed_Ve0，Ego设定了目标在主道右侧2车道上的目标点Target_position，仿真开始后激活Ego控制器（控制器会影响Ego去往Target_position的寻路算法，但目前仿真器B尚不支持寻路动作acquire_position），从车side_vehicle在匝道行驶，初始速度为SideVehicle_InitSpeed_Ve0.side_vehicle从匝道汇入主道。控制器有时会根据side_vehicle的位置更改主车Ego的速度。地图文件（odr） scenario Merge: m_scene: scenery lane_width: length = [3m, 4m] radius_of_curvature: length = [200m..1000m] ramp_lane_num: int = 1 ramp_length: length = [200m..300m] main_speed: speed = 120kph ramp_speed: speed = 60kph road_aids_type: road_aids_type = ["DType-1", "DType-2", "PType"] merge_1: merge with: keep(it.lane_width == lane_width) keep(it.left_lane_num == 0) keep(it.right_lane_num == 2) keep(it.ramp_lane_num == ramp_lane_num) keep(it.main_speed == main_speed) keep(it.ramp_speed == ramp_speed) keep(it.radius_of_curvature == radius_of_curvature) keep(it.ramp_length == ramp_length) keep(it.road_aids_type == road_aids_type) 场景文件（osc） import standard scenario Merge: # map map: map map.set_map_file("./merge.odr") # parameter Ego_InitSpeed_Ve0: speed = [90kph..110kph] Ego_InitPosition_LaneId: string = ['-1', '-2'] Ego_InitPosition_s: length = [0m..30m] Ego_Odr: odr_point = map.create_odr_point(road_id: '10', lane_id: Ego_InitPosition_LaneId, s: Ego_InitPosition_s, t: 0.0m) Ego_InitPosition: pose_3d with: keep(it.odr_point == Ego_Odr) SideVehicle_InitSpeed_Ve0: speed = [45kph, 50kph, 55kph] SideVehicle_s: length = [30.0m..80.0m] SideVehicle_Odr: odr_point = map.create_odr_point(road_id: '1', lane_id: '-1', s: SideVehicle_s, t: 0.0m) SideVehicle_InitPosition: pose_3d with: keep(it.odr_point == SideVehicle_Odr) Target_xyz: xyz_point = map.create_xyz_point(x: 530m, y: -2m ,z: 0.0m) Target_position: pose_3d with: keep(it.xyz_point == Target_xyz) Duration: time = 100s # entity Ego: vehicle with: keep(it.name == "Saimo") keep(it.initial_bm == "默认驾驶员") side_vehicle: vehicle with: keep(it.name == "Saimo") keep(it.initial_bm == "默认驾驶员") # storyboard do parallel(duration: Duration): # init Ego.assign_init_position(position: Ego_InitPosition) Ego.assign_init_speed(Ego_InitSpeed_Ve0) side_vehicle.assign_init_position(position: SideVehicle_InitPosition) side_vehicle.assign_init_speed(SideVehicle_InitSpeed_Ve0) Ego.activate_controller(true, true) Ego.acquire_position(target: Target_position) 父主题：种子地图的逻辑场景样例（仿真器B）

自动驾驶云服务 OCTOPUS 种子地图的逻辑场景样例（仿真器B）