Package: commonocean-rules
CommonOcean RulesThis repository contains a python traffic rule monitor for ships. The implemented rules and parameters are described
in the paper "Temporal Logic Formalization of Marine Traffic Rules" by Hanna Krasowski and Matthias Althoff.Getting StartedThis introduction will give you an overview how to install, parametrize,
and execute the Marine Traffic Rule Monitor. The scenarios to evaluate have to be represented in theCommonOcean format.We recommend Ubuntu 18.04 as operating system.
For the monitor you need at least Python 3.8 and the following packages:commonocean-io== 2023.1matplotlib>= 2.5.0numpy>= 1.16.4metric-temporal-logic>= 0.1.4python-monitors>= 0.1.1ruamel.yaml>= 0.16.10bezier>= 2020.2.3antlr4-python3-runtime>= 4.7.2scipyThe usage of the Anaconda Python distribution is recommended.If you want to use our functions and classes in your custom projects (e.g., in theCommonOcean Drivability Checker), you can install CommonOcean Rules as a module by doingpip install commonocean-rulesIf you want to create scenario videos, the ffmpeg packages has to be installed as well:sudo snap install ffmpegOr, if you are a macOS user:brew install ffmpegRunning the Marine Traffic Rule MonitorThere exist two options to run the Marine Traffic Rule Monitor:main.py: Traffic rule evaluation for a single scenario or all scenarios which are located within predefined directories.solution_viz.py: Traffic rule evaluation for a single scenario while also generating a video for the scenario.The main file can be started from the root directory of this project via commandline by executing:python -m rules.main --max_num_scenarios #Scenarios --scenario_directories /directory_1/ ... /directory_2This should be used for the sequential evaluation of scenarios.
The scenario directories are relative to the root folder, remember to keep them inside the repo.In the following the different parameters are explained:max_num_scenarios: The maximum number scenarios which should be evaluated. The default number is10.scenario_directories: List of scenario directories (relative to the root directory).You can list the different parameters by executingpython main.py -h.The temporal logic formulas of the rules and the rule specific parametrization can be found in the filetraffic_rules_ship.yaml.Simulation and vehicle parameters can be set in the fileconfig_ship.yaml.In adition, the solution_viz file can be started from the root directory of the project via commandline by executingpython -m rules.solution_viz --input_path /folder/of/input/scenario/ --scenario 'ScenarioFile.xml' --output_path /folder/for/output/video/Pay attention that here the folders' paths need to be the absolute ones, as they represent the directories in which we get our scenario and then output the video. Also, don't forget the / (forward slash) in the end of the path name.ChangelogCompared to version 1.0.0, the following features have been changed:The module now uses the new version of CommonOcean IO (2023.1)The package is no longer compatible with Python 3.7Authors of code projectHanna Krasowski
Sebastian Maierhofer
Bruno MaioneIf you use our formalized traffic rules for research, please consider citing our paper:@inproceedings{Krasowski2021a,
	author = {Krasowski, Hanna and Althoff, Matthias},
	title = {Temporal Logic Formalization of Marine Traffic Rules},
	booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
	year = {2021},
}