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Driving Log Replayer Scenario Format Definition#

This section describes the scenario format used in driving_log_replayer.

Notes on the format#

  • Keys are defined in CamelCase.
  • Unless otherwise specified, the coordinate system is map coordinate system.
  • Unless otherwise specified, the following unit system is used.
Distance: m
Velocity: m/s
acceleration: m/s^2
Time: s

Samples#

Sample scenarios are stored in the sample folder.

Format#

The basic structure is as follows. Details of each key are described below.

2.x.x Format#

For localization, performance_diag, yabloc, eagleye and ar_tag_based_localizer evaluation scenarios

ScenarioFormatVersion: 2.x.x
ScenarioName: String
ScenarioDescription: String
SensorModel: String
VehicleModel: String
VehicleId: String
LocalMapPath: String
Evaluation:
  UseCaseName: String
  UseCaseFormatVersion: String
  Conditions: Dictionary # refer use case

3.x.x Format#

For perception and obstacle_segmentation evaluation scenarios.

NOTE: VehicleId and LocalMapPath have been changed to be set for each id of t4_dataset.

ScenarioFormatVersion: 3.x.x
ScenarioName: String
ScenarioDescription: String
SensorModel: String
VehicleModel: String
Evaluation:
  UseCaseName: String
  UseCaseFormatVersion: String
  Datasets:
    - DatasetName:
        VehicleId: String
        LocalMapPath: String
  Conditions: Dictionary # refer use case

ScenarioFormatVersion#

Describe the version information of the scenario format. Use the semantic version.

localization, performance_diag, yabloc, eagleye and ar_tag_based_localizer scenarios use the 2.x.x series. The latest version of 2.x.x is 2.2.0. perception and obstacle_segmentation scenarios use 3.x.x series. The latest version of 3.x.x is 3.0.0

Minor versions are updated each time the format is updated.

ScenarioName#

Describes the name of the scenario, used as the display name of the scenario on the Autoware Evaluator.

ScenarioDescription#

Describes a scenario, used as a scenario description on the Autoware Evaluator.

SensorModel#

Specify sensor_model as argument in autoware_launch/launch/logging_simulator.launch.xml

VehicleModel#

Specify vehicle_model as an argument in autoware_launch/launch/logging_simulator.launch.xml

VehicleId#

Specify vehicle_id as an argument in autoware_launch/launch/logging_simulator.launch.xml

If you don't know vehicle_id, set default.

LocalMapPath#

Describes the path of the map folder to be used in the local environment.

Environment variables such as $HOME can be used.

Evaluation#

Define the evaluation conditions for the simulation.

UseCaseName#

Specify an evaluation program.

The evaluation is executed by calling the launch file with the name specified here. The launch.py file with the same name as specified must exist in the driving_log_replayer/launch folder.

UseCaseFormatVersion#

Describe the version information of the use case format. The semantic version shall be used. Until the major version becomes 1, the minor version is updated every time the format is updated. The initial version is 0.1.0.

Conditions#

Specify conditions that can be set for each use case.

Refer to each use case for the conditions that can be specified.