Collision

Provides collision information between the ego vehicle and objects specified by the desired_tags.

Configuration

{
    "type": "Collision",
    "undesired_tags": [
        "static"
    ],
    "desired_tags": [
        "vt"
    ],
    "listen_port": 8800,
    "location": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
    },
    "rotation": {
        "pitch": 0.0,
        "roll": 0.0,
        "yaw": 0.0
    }
}

Raw Output

{
    "acceleration": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
    },
    "brake_input": 0.0,
    "collision": true,
    "distance": 0.0,
    "forward_acceleration": 0.0,
    "forward_velocity": 0.0,
    "game_time": 15.1504135131836,
    "name": "EgoVehicle_0",
    "relative_velocity": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
    },
    "sample_count": 106,
    "targets": [{
        "acceleration": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0
        },
        "brake_input": 0.0,
        "collision": false,
        "distance": 158.330791015625,
        "forward_acceleration": 0.0,
        "forward_velocity": 64.3631000976562,
        "name": "compact_monoDrive_01_8",
        "relative_velocity": {
            "x": -64.3631820678711,
            "y": 1.31770466396119e-05,
            "z": -7.13992267264985e-06
        },
        "throttle_input": 0.613833427429199,
        "time_to_collision": 3.40282346638529e+38,
        "velocity": {
            "x": 64.3631820678711,
            "y": -1.31770466396119e-05,
            "z": 7.13992267264985e-06
        },
        "wheel_input": -0.0034033739939332
    }],
    "throttle_input": 0.0,
    "time": 1589232687,
    "time_to_collision": 0.0,
    "velocity": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
    },
    "wheel_input": 0.0
}

These values are part of the outer JSON and do not pertain to targets:

• game_time: The current number of seconds since the simulation started.

• sample_count: The total number of samples that have been collected since the sensor began sampling

• time: The current epoch time

The targets array contains all the information for the target vehicle. The outer JSON also includes this same information for the ego vehicle:

• acceleration: The vehicle acceleration in centimeters per second per second relative to the vehicle coordinates.

  • x: Acceleration in the vehicle x-direction

  • y: Acceleration in the vehicle y-direction

  • z: Acceleration in the vehicle z-direction

• brake_input: The current value of the brake input from 0 to 1

• collision: If true, this vehicle is currently colliding with something. For the ego vehicle, it is always colliding with itself and this value should be ignored.

• distance: The distance from the tagged vehicle in centimeters. For the ego vehicle this is always 0.

• forward_acceleration: The vehicle acceleration in centimeters per second relative to the vehicle's forward vector.

• forward_velocity: The vehicle velocity in centimeters per second relative to the vehicle's forward vector.

• name: The name of the vehicle in the simulation.

• relative_velocity: The relative velocity in centimeters per second between the ego vehicle and the target vehicle. For the ego vehicle this is always 0.

  • x: The velocity in the x-direction.

  • y: The velocity in the y-direction.

  • z: The velocity in the z-direction.

• throttle_input: The current throttle input to the ego vehicle from 0 to 1.

• time_to_collision: The number of seconds until the ego vehicle collides with the target at the current velocity. For the ego vehicle this is always 0.

• velocity: The current velocity of the vehicle in centimeters per second.

  • x: The velocity in the x-direction.

  • y: The velocity in the y-direction.

  • z: The velocity in the z-direction.

• wheel_input: The current steering input to the ego vehicle from -1 to 1.