paralleldomain.data_lab.generators.parked_vehicle¶

class ParkedVehicleGeneratorParameters(*, proto=None, position_request=None, spawn_probability=None, vehicle_distribution=None, agent_spawn_data=None)¶

Generator to place parked vehicles in the scenario. Requires previous use of EgoAgentGeneratorParameters in the scenario.

Parameters:

position_request (Optional[PositionRequest]) – position_request
spawn_probability (Optional[CenterSpreadConfig]) – spawn_probability
vehicle_distribution (Optional[Dict[str, VehicleCategoryWeight]]) – vehicle_distribution
agent_spawn_data (Optional[AgentSpawnData]) – agent_spawn_data
proto (Optional[pd_unified_generator_pb2.ParkedVehicleGeneratorParameters]) –

position_request¶: Specifies the location around which traffic should be spawned. Only works with LocationRelativePositionRequest. Must be provided.

spawn_probability¶: Specifies the density of parked vehicles that is spawned by controlling the proportion of valid spawn points in which vehicles are spawned. Valid values are floats in the range 0.0 to 1.0. 0.0 indicates no traffic spawned. 1.0 indicates maximum possible density. If not provided, will use default value of 0.

vehicle_distribution¶

Specifies the likelihood of various vehicle categories spawning. If not provided, will use the values below.

Default values:

"MIDSIZE" : 0.181
"COMPACT" : 0.177
"BUS" : 0.019
"TRUCK" : 0.038
"SUV" : 0.197
"VAN" : 0.066
"BICYCLE" : 0.061
"MOTORCYCLE" :  0.068
"CARAVAN" :/RV  0.009
"FULLSIZE" :  0.184

agent_spawn_data¶: Specifies spawn data which applies to the agents spawned by this generator. If not provided, will default to default values in AgentSpawnData.