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参数声明 Parameter Declarations

自动驾驶云服务 OCTOPUS-逻辑场景 Logical scenario

逻辑场景 Logical scenario 逻辑场景的参数声明通过：范围型[最小值..最大值] 和枚举型[值1, 值2] 的方式来实现泛化: 范围型支持float和scalar类型枚举型支持int, float, bool, str, enum和scalar类型，且需要保证枚举列表中的元素均为相同类型. 例1：范围型 m_value: float = [2.0..3.0] v: speed = [5mps..10mps] delay: time = [40s..60s] m_a: acceleration = [0.00mpss..0.03mpss] 例2：枚举型 m_ id: int = [-1, 2] m_value: float = [2.0, 3.0] m_on_road: bool = [true, false] Ego_name: string = ["Audi_A3_2009_black", "Audi_A3_2009_red"] m_shape: dynamics_shape = [linear, sinusoidal] m_side: side_left_right = [left, right] v: speed = [5mps, 7mps, 10mps] m_a: acceleration = [0.01mpss, 0.03mpss] delay: time = [40s, 60s, 100s] 通过泛化参数，可以实现实体entity 、动作act ，以及修饰器modifier 的泛化. Struct类型不能直接泛化，而是通过泛化参数来进行泛化. 例1：entity泛化 Ego_name: string = ["Audi_A3_2009_black", "Audi_A3_2009_red"] Ego_controller: string = "DefaultDriver" Ego: vehicle with: keep(it.name == Ego_name) keep(it.initial_bm == Ego_controller) 例2：act泛化 m_lateral: bool = [true, false] m_speed: speed = [5mps..15mps] m_rate_profile: dynamics_shape = linear Ego.activate_controller(m_lateral, true) Ego.change_speed(target: m_speed, rate_peak: 0.0mpss, rate_profile: m_rate_profile) 例3：modifier泛化 m_speed: speed = [5mps..15mps] Ego.assign_init_speed() with: speed(speed: m_speed) 例4：Struct类型泛化 m_lane_id: int = [-1, 2] m_odr: odr_point = map.create_odr_point(road_id: '0', lane_id:m_lane_id, s: 5.0m, t: 0.0m) m_x: distance = [2m..7.5m] m_position_3d: position_3d = map.create_xyz_point(x: m_x, y: 10.0m ,z: 0.0m) m_pose_3d: pose_3d with: keep(it.odr_point == m_odr) 父主题：参数声明 Parameter Declarations

自动驾驶云服务 OCTOPUS 参数声明 Parameter Declarations
自动驾驶云服务 OCTOPUS-具体场景 Concrete scenario

具体场景 Concrete scenario 具体场景的参数声明支持基础类型、标量(scalar)类型、枚举(enum)类型，和结构(struct)类型：基础类型包含int、float、bool，和string类型.可以直接在等号后赋值. scalar类型包含speed、acceleration、length、time，和angle类型.赋值时需要在值后加上OSC2.0支持的单位（见附录Scalar units）. enum类型包含side_left_right、distance_direction、distance_mode、 lane_change_side、 dynamics_shape，和 catalog.赋值时必须使用枚举列表内的值（见附录Enum list） . struct类型包含odr_point、xyz_point、position_3d、road_point、orientation_3d和pose_3d等，可以使用 keep创建.此外，odr_point、xyz_point，和road_point分别可以使用map的成员函数 create_odr_point 、 create_xyz_point 和create_road_point 来创建（OSC2.0支持的struct类型详见附录Struct）. 给bool型赋值时必须使用'true'和'false'，如果使用'True'或'False'或拼写错误将使语句无效. 例1：基础类型 m_road_id: string = '0' Ego_name: string = "Audi_A3_2009_black" m_lateral: bool = true 例2：scalar类型 v: speed = 5mps delay: time = 40s distance: length = 30.0m m_a: acceleration = 0.01mpss 例3：enum类型 m_side: side_left_right = right m_direction: distance_direction = longitudinal 例4：struct类型，keep创建 my_odr: odr_point with: keep(it.road_id == 0) keep(it.lane_id == -1) keep(it.s == 3.0m) keep(it.t == 0.0m) my_pos: position_3d with: keep(it.x == 1.0m) keep(it.y == 2.0m) keep(it.z == 3.0m) my_xyz: xyz_point with: keep(it.position == my_pos) my_road: road_point with: keep(it.road_id == '1') keep(it.s == 3.0m) keep(it.t == 0.0m) my_orientation: orientation_3d with: keep(it.roll == 1.0rad) keep(it.pitch == 2.0rad) keep(it.yaw == 3.0rad) my_pose: pose_3d with: keep(it.xyz_point == my_xyz) keep(it.orientation == m_orientation) m_trajectory: trajectory with: keep(it.points == [my_pose1, my_pose2, my_pose3]) keep(it.time_stamps == [0s, 5s, 20s] ) 例5：struct类型，map创建 my_odr: odr_point = map.create_odr_point(road_id: m_road_id,lane_id:'-4',s: 5.0m, t: 0.0m) my_xyz: xyz_point = map.create_xyz_point(x: 2.5m, y: 10.0m ,z: 0.0m) my_point: road_point = map.create_road_point(road_id: '1', s: 5.0m, t: 0.0m) 父主题：参数声明 Parameter Declarations

自动驾驶云服务 OCTOPUS 参数声明 Parameter Declarations
自动驾驶云服务 OCTOPUS-逻辑场景 Logical scenario

逻辑场景 Logical scenario 逻辑场景的参数声明通过：范围型[最小值..最大值] 和枚举型[值1, 值2] 的方式来实现泛化: 范围型支持float和scalar类型枚举型支持int, float, bool, str, enum和scalar类型，且需要保证枚举列表中的元素均为相同类型. 例1：范围型 m_value: float = [2.0..3.0] v: speed = [5mps..10mps] delay: time = [40s..60s] m_a: acceleration = [0.00mpss..0.03mpss] 例2：枚举型 m_ id: int = [-1, 2] m_value: float = [2.0, 3.0] m_on_road: bool = [true, false] Ego_name: string = ["Audi_A3_2009_black", "Audi_A3_2009_red"] m_shape: dynamics_shape = [linear, sinusoidal] m_side: side_left_right = [left, right] v: speed = [5mps, 7mps, 10mps] m_a: acceleration = [0.01mpss, 0.03mpss] delay: time = [40s, 60s, 100s] 通过泛化参数，可以实现实体entity 、动作act ，以及修饰器modifier 的泛化. Struct类型不能直接泛化，而是通过泛化参数来进行泛化. 例1：entity泛化 Ego_name: string = ["Audi_A3_2009_black", "Audi_A3_2009_red"] Ego_controller: string = "DefaultDriver" Ego: vehicle with: keep(it.name == Ego_name) keep(it.initial_bm == Ego_controller) 例2：act泛化 m_lateral: bool = [true, false] m_speed: speed = [5mps..15mps] m_rate_profile: dynamics_shape = linear Ego.activate_controller(m_lateral, true) Ego.change_speed(target: m_speed, rate_peak: 0.0mpss, rate_profile: m_rate_profile) 例3：modifier泛化 m_speed: speed = [5mps..15mps] Ego.assign_init_speed() with: speed(speed: m_speed) 例4：Struct类型泛化 m_lane_id: int = [-1, 2] m_odr: odr_point = map.create_odr_point(road_id: '0', lane_id:m_lane_id, s: 5.0m, t: 0.0m) m_x: distance = [2m..7.5m] m_position_3d: position_3d = map.create_xyz_point(x: m_x, y: 10.0m ,z: 0.0m) m_pose_3d: pose_3d with: keep(it.odr_point == m_odr) 父主题：参数声明 Parameter Declarations

自动驾驶云服务 OCTOPUS 参数声明 Parameter Declarations
自动驾驶云服务 OCTOPUS-具体场景 Concrete scenario

具体场景 Concrete scenario 具体场景的参数声明支持基础类型、标量(scalar)类型、枚举(enum)类型，和结构(struct)类型：基础类型包含int、float、bool，和string类型.可以直接在等号后赋值. scalar类型包含speed、acceleration、length、time，和angle类型.赋值时需要在值后加上OSC2.0支持的单位（见附录Scalar units）. enum类型包含side_left_right、distance_direction、distance_mode、 lane_change_side、 dynamics_shape，和 catalog.赋值时必须使用枚举列表内的值（见附录Enum list） . struct类型包含odr_point、xyz_point、position_3d、road_point、orientation_3d和pose_3d等，可以使用 keep创建.此外，odr_point、xyz_point，和road_point分别可以使用map的成员函数 create_odr_point 、 create_xyz_point 和create_road_point 来创建（OSC2.0支持的struct类型详见附录Struct）. 给bool型赋值时必须使用'true'和'false'，若使用'True'或'False'或拼写错误将使语句无效. 例1：基础类型 m_road_id: string = '0' Ego_name: string = "Audi_A3_2009_black" m_lateral: bool = true 例2：scalar类型 v: speed = 5mps delay: time = 40s distance: length = 30.0m m_a: acceleration = 0.01mpss 例3：enum类型 m_side: side_left_right = right m_direction: distance_direction = longitudinal 例4：struct类型，keep创建 my_odr: odr_point with: keep(it.road_id == 0) keep(it.lane_id == -1) keep(it.s == 3.0m) keep(it.t == 0.0m) my_pos: position_3d with: keep(it.x == 1.0m) keep(it.y == 2.0m) keep(it.z == 3.0m) my_xyz: xyz_point with: keep(it.position == my_pos) my_road: road_point with: keep(it.road_id == '1') keep(it.s == 3.0m) keep(it.t == 0.0m) my_orientation: orientation_3d with: keep(it.roll == 1.0rad) keep(it.pitch == 2.0rad) keep(it.yaw == 3.0rad) my_pose: pose_3d with: keep(it.xyz_point == my_xyz) keep(it.orientation == m_orientation) m_trajectory: trajectory with: keep(it.points == [my_pose1, my_pose2, my_pose3]) keep(it.time_stamps == [0s, 5s, 20s] ) 例5：struct类型，map创建 my_odr: odr_point = map.create_odr_point(road_id: m_road_id,lane_id:'-4',s: 5.0m, t: 0.0m) my_xyz: xyz_point = map.create_xyz_point(x: 2.5m, y: 10.0m ,z: 0.0m) my_point: road_point = map.create_road_point(road_id: '1', s: 5.0m, t: 0.0m) 父主题：参数声明 Parameter Declarations

自动驾驶云服务 OCTOPUS 参数声明 Parameter Declarations