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evaluate_scenario_I.py
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evaluate_scenario_I.py
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"""
See paper: CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles
Experiment: Sec. IV.B Evaluation on Scenarios
"""
from commonroad_crime.data_structure.configuration import CriMeConfiguration
from commonroad_crime.data_structure.crime_interface import CriMeInterface
from commonroad_crime.measure import TTC, BTN, PF, ALongReq, ALatReq, STN, P_MC, DA
import commonroad_crime.utility.visualization as utils_vis
import commonroad_crime.utility.logger as utils_log
def main():
# scenario I
scenario_id = "DEU_Gar-1_1_T-1"
# ==== build configuration
config = CriMeConfiguration.load(f"../config_files/{scenario_id}.yaml", scenario_id)
config.update()
utils_log.initialize_logger(config)
config.print_configuration_summary()
# ==== compute the criticality using CriMe interface
crime_interface = CriMeInterface(config)
crime_interface.evaluate_scenario(
[TTC, ALongReq, BTN, ALatReq, STN, P_MC, PF, DA],
time_start=0,
time_end=20,
verbose=True,
)
# # ==== visualize the result
# utils_vis.plot_criticality_curve(crime_interface)
# ==== save data to file
crime_interface.safe_to_file(config.general.path_output)
if __name__ == "__main__":
main()