Highlights

🚀 New Features

• Challenge routes can be directly executed with the ScenarioRunner using the --route option
• Agents can be used with the ScenarioRunner (currently only for route-based scenarios)
• New scenarios:
  • Added example scenario for lane change
  • Added cut-in example scenario
• Scenario updates:
  • Scenarios 7 to 10 are now visible when running routes (instead of being triggered in the background). Their
    methodology has remained unchanged
• Scenario atomics:
  • Added new OutsideRouteLanesTest atomic criter that encompasses both SidewalkTest and WrongLaneTest, returning
    the percentage of route that has been traveled outside the lane.
  • InRouteTest is now more forgiving. The max distance has been increased, but staying above the previous one will eventually
    also cause failure
  • Changed SidewalkTest atomic criteria to also track other type of out of lane conditions
  • SidewalkTest and WrongLaneTest atomic criterias now track the amount of meters traversed
  • CollisionTest atomic criteria now correctly ignores multiple micro-collisions with the same object
  • Added LaneChange and TrafficLightSateSetter behavior atomics
  • Added AccelerateToCatchUp behavior atomic
  • Added get_transform() method for CarlaDataProvider
  • Added support for weather conditions
  • Added basic version check to ensure usage of correct CARLA version
  • WaypointFollower atomic can handle pedestrians
  • Extensions in WaypointFollower atomic for consecutive WaypointFollowers (one WF cancels the previous one)
• Extended OpenScenario support:
  • Added support for UserDefinedActions (e.g. to run additional scripts)
  • Added init speed behavior for vehicles
  • Added support for relative velocities
  • Extended convert_position_to_transform with RelativeWorld, RelativeObject and RelativeLane osc_positions
  • Added new trigger atomics InTriggerDistanceToOSCPosition and InTimeToArrivalToOSCPosition to support relative osc_positions
  • Added new atomic behaviour ActorTransformSetterToOSCPosition
  • Workaround for relative osc_positions: World is started earlier to support relative osc_positions in story init
  • Added delay condition support in convert_condition_to_atomic
  • Added support for pedestrians
  • Full support for SimulationTime condition
  • Added weather support
  • Updated implementation to be closer to upcoming OpenSCENARIO standard
  • AfterTermination, AtStart conditions are supported
  • Added initial support for lateral action: LaneChange
  • Added initial support for OSCGlobalAction to set state of traffic signal
  • FollowRoute action is supported for vehicles and pedestrians, for global world positions.
  • Added support for RoadCondition: Friction
  • Redundant rolename object property is no longer required
  • Added support for global parameters
  • Fixed coordinate system to use right-hand as default. Left-hand CARLA system can be used by adding "CARLA:" at the start of the description in the FileHeader.
  • Added support to change actor color
  • Added support for a default actor model, in case the stated model is not available
  • Added support for MiscObjects (besides vehicles and pedestrians)
  • Reworked traffic signal handling: The name has to start now either with "id=" or "pos=" depending on whether the position or id is used as unique identifier
  • Actor physics can now be set via Object Properties ()

👻 Maintenance

• Compatible with CARLA 0.9.7
• Increased speed of actor initialization by using CARLA batch mode and buffering CARLA blueprint library
• Split of behaviors into behaviors and conditions
• Moved atomics into new submodule scenarioatomics
• Updated documentation for all behaviors, conditions and test criteria
• Extended WaypointFollower atomic behavior to be able to use the current actor speed