paralleldomain.data_lab.generators.peripherals¶

class VehiclePeripheral(*, proto=None, spawn_trailer_probability=None, trailer_initial_yaw=None, disable_occupants=None, disable_accessories=None, randomize_vehicle_parts=None, emergency_light_probability=None, set_headlight_based_on_time_of_day=None, headlight_probability=None)¶

Specifies and controls parameters of a vehicle’s peripherals (eg. accessory data, color, occupants, etc.).

Parameters:

spawn_trailer_probability (Optional[float]) – spawn_trailer_probability
trailer_initial_yaw (Optional[ContinousUniformDistribution]) – trailer_initial_yaw
disable_occupants (Optional[bool]) – disable_occupants
disable_accessories (Optional[bool]) – disable_accessories
randomize_vehicle_parts (Optional[bool]) – randomize_vehicle_parts
emergency_light_probability (Optional[float]) – emergency_light_probability
set_headlight_based_on_time_of_day (Optional[bool]) – set_headlight_based_on_time_of_day
headlight_probability (Optional[float]) – headlight_probability
proto (Optional[pd_unified_generator_pb2.VehiclePeripheral]) –

spawn_trailer_probability¶: The probability that the vehicle will be spawned with an attached articulated trailer. Must be a float in the range of 0.0 to 1.0. Default: 0.0

trailer_initial_yaw¶: The angle, in radians, that an articulated trailer will be spawned at relative to the ego vehicle. Specified as a ContinousUniformDistribution which is randomly sampled from at scenario generation.

disable_occupants¶: Boolean flag to control whether vehicle occupants are disabled. Default: False

disable_accessories¶: Boolean flag to control whether vehicles are spawned with accessories. Default: False

randomize_vehicle_parts¶: Boolean flag to control whether vehicle accessories have randomized colors. Default: True

emergency_light_probability¶: Probability that emergency lights are on for vehicles that are equipped with emergency lights. Default: 0.5

set_headlight_based_on_time_of_day¶: Boolean flag to control whether headlight on/off states are controlled by the time of day of the scenario. If True, headlights will turn on in dark time of day scenarios. If False, headlight_probability is used to determine headlight on/off state. Default: True

headlight_probability¶: Controls the probability that headlights are turned on if set_headlight_based_on_time_of_day is False. Ignored if set_headlight_based_on_time_of_day is True. Default: 0.0