Other Functions
LimSim also provides some additional features to accommodate different task requirements. Details are as follows:
Fixed Scene Simulation¶
In addition to long-duration simulation tests following the Ego vehicle, LimSim offers a fixed-view simulation mode. In this mode, the Area of Interest (AoI) does not follow any specific vehicle but remains fixed at a specified location. Vehicles entering the AoI will still be under the control of the decision-planning algorithm. The method for invoking this mode is similar to real-time simulation. To view an example of fixed scene simulation, run FixedSimExample.py. This mode also supports replay and interactive replay functionalities. To view related examples, run FixedSimReplayExample.py and FixedSimInterReplayExample.py. Further details are not elaborated here.
Keyboard-Controlled Decision Making¶
LimSim's decision-planning algorithm provides keyboard-controlled functionality. During the execution of the decision-planning algorithm, pressing the <- key on the keyboard will signal the Ego vehicle to make a left lane change decision. If the environment allows, the vehicle will change lanes to the left. Similarly, pressing the -> key will signal the Ego vehicle to make a right lane change decision.
Simulation Report¶
For the database generated by the simulation, LimSim provides an overall analysis and report. Running the following command will generate the report file report/report.md.
The report file is mainly an overall evaluation of the simulation results, such as drawing speed distribution curves and displaying the number of dangerous scenarios.