batch_processing_config.yaml 3.33 KB
Newer Older
Edmond Irani Liu's avatar
Edmond Irani Liu committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
# paths can be either relative or absolute

# setting
setting:
  # input directory of your intended CommonRoad scenarios
  input_path: ../../scenarios/exercise/
  # output directory of CommonRoad solution files
  output_path: ../../outputs/solutions/
  # overwrite solution file if it already exists
  overwrite: True
  # validate solution with the feasibility checker
  validate_solution: True

  # create gif files for valid solutions
  create_gif: False
  output_path_gif: ../../outputs/gifs

  # choose the number of parallel executions of motion planners
  # the valid range is [1, max number of cpus on your system]
  num_worker_processes: 6

# logging
logging:
  log_to_file: True
  log_file_dir: ../../outputs/logs
  log_file_name: log
  add_timestamp_to_log_file: True

# search parameters for motion planner
# parameters under 'default' is used for all scenarios, except
# the ones with specific scenario ID
# e.g. a parameter section for 'DEU_Hhr-1_1' is added below

default: &default # create an anchor point for default parameters
  # vehicle model, e.g., kinematic single-track model
  vehicle_model: KS
  # vehicle type, e.g, BMW 320i
  vehicle_type: BMW_320i
  # cost function
  cost_function: SM1
  # the planner that is used to solve for solutions.
  # possible values are: bfs, dfs, dls, ucs, gbfs, astar, student, student_example
  planner: astar
  # planning problem index. for cooperative scenarios: 0, 1, 2, ..., otherwise: 0
  planning_problem_idx: 0
  # maximum depth of the search tree
  max_tree_depth: 100
  # timeout time setting for motion planner [s].
  timeout: 30

default_automaton_files:
  FORD_ESCORT: V_0.0_20.0_Vstep_1.0_SA_-0.91_0.91_SAstep_0.23_T_0.5_Model_FORD_ESCORT
  BMW_320i: V_0.0_20.0_Vstep_4.0_SA_-1.066_1.066_SAstep_0.18_T_0.5_Model_BMW_320i
  VW_VANAGON: V_0.0_20.0_Vstep_1.0_SA_-1.023_1.023_SAstep_0.26_T_0.5_Model_VW_VANAGON

# custom settings for specific scenarios
DEU_Hhr-1_1:
  <<: *default # copy parameters from block 'default'
  # parameters can be overwritten here
  vehicle_type: FORD_ESCORT
  max_tree_depth: 400

scenario_loader:
  # scenario load can have the following modes:
  # DEFAULT: loads all scenarios from the specified scenario folder
  # RANDOM: loads randomly selected scenarios from the specified scenario folder
  # SPECIFIC: loads specified scenarios, see below
Edmond Irani Liu's avatar
Edmond Irani Liu committed
68
  inputmode: RANDOM
Edmond Irani Liu's avatar
Edmond Irani Liu committed
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106

  # number of scenarios to be randomly selected. this only works for inputmode set to RANDOM
  random_count: 3

  # specific scenarios to be tested. this only works for inputmode set to SPECIFIC
  # if the given list is empty, all scenarios will be loaded
  scenarios_to_run:
    - DEU_Hhr-1_1
  #  - ZAM_ACC-1_2_S-1
  #  - ZAM_ACC-1_3_S-1
  #  - USA_Peach-4_5_T-1
  #  - CHN_Cho-2_10_T-1
  #  - DEU_Gar-1_2_T-1
  #  - DEU_Muc-1_2_T-1

  # the following scenarios will be skipped
  scenarios_to_skip:
    - ZAM_HW-1_1_S-1  # collision checker error
  # Scenarios with 2 goal states:
    - USA_US101-10_2_T-1
    - USA_US101-14_3_T-1
    - USA_US101-14_4_T-1
    - USA_US101-31_1_T-1
    - USA_US101-32_1_T-1

  # Cooperative Scenarios:
    - C-DEU_B471-2_1
    - C-DEU_B471-1_1_T-1
    - C-USA_Lanker-1_1_T-1
    - C-USA_Lanker-1_2_T-1
    - C-USA_Lanker-2_1_T-1
    - C-USA_Lanker-2_2_T-1
    - C-USA_Lanker-2_3_T-1
    - C-USA_Lanker-2_4_T-1
    - C-USA_US101-30_1_T-1
    - C-USA_US101-31_1_T-1
    - C-USA_US101-32_1_T-1
    - C-USA_US101-33_1_T-1