Import and Export¶
Export a scenario¶
The drawn scenario can be exported using the button Export Scen.. This process will generate a Scenario Architect archive file at the specified location. The generated file is a zip-like structure that holds the following data-files:
- Scenario dataset (‘*.scn’): csv-flavoured file, holding all relevant data to be processed by any other software.
- Scenario pickle (‘*.sas’): Pickle file, which can be directly imported by the GUI in order to modify any entity.
- Vehicle parameters (‘*_ggv.csv’ and ‘*_ax_max_machines.csv’) holding associated vehicle parameters (when exporting, the currently loaded (from another ‘*.saa’-file) or in the ‘params’-folder defined parameters are stored)
Hint
In order to export a scenario, at least the following entities have to be defined:
- Bounds (bound_l, bound_r)
- Trajectory of ego-vehicle (veh_1)
Hint
When generating a scenario, the ego vehicles trajectory (veh_1) is the characteristic one for the data export. Please also consider, that the ego vehicle holds a planned trajectory, which is exported to the scenario file. Therefore, the actually driven trajectory ends earlier (according to the specified trajectory preview horizon).
Other vehicles, holding a (temporally) longer trajectory compared to the ego vehicle, are cut at the position of the last ego-vehicle’s data point.
Hint
It is possible to unzip the Scenario Architect archive (‘*.saa’) to obtain the individual files listed above. However, we recommend using the zipped structure in order to keep all files at hand.
Import a scenario¶
Use the button Import Scen. in order to import a Scenario Architect archive (‘*.saa’) or stored scene pickle (‘*.sas’).
Exemplary scenarios generated with the Scenario Architect can be found in the folder ‘sample_files/scenario_1_vehicle’ for the ego vehicle only and ‘sample_files/scenario_n_vehicle’ for multiple vehicles.
Hint
If a Scenario Architect archive (‘*.saa’) with stored vehicle parameters is loaded, the parameters are compared to the local parameters (in the ‘params’-folder). When the parameter sets differ, the user is asked to select which of the two sets should be used.
Importing a track¶
The button Import Track allows to import stored track information (bounds). This function supports appropriate ‘*.csv’ files (delimiter ‘;’ or ‘,’ - detected automatically). When importing a file, the user can specify the range of s-coordinates (counted from the first data point in the file) to be imported. If the start s-coordinate is larger than the end s-coordinate, the area crossing the start / end of the file is imported (in this case a closed track is assumed).
The headers in the first line of the csv-file (beginning with a ‘#’) must at least hold one of the following list of entries:
x_m;y_m;w_tr_right_m;w_tr_left_m(track-bounds will be imported)x_ref_m;y_ref_m;width_right_m;width_left_m;x_normvec_m;y_normvec_m;alpha_mincurv_m;s_raceline_m(track-bounds and ego-path will be imported)
A sample track of the first type is provided in the folder ‘sample_files/sample_track’. Further supported tracks - extracted from real racetracks - can be found here in the folder ‘tracks’.