Skip to content
Snippets Groups Projects
Commit c4d5a57a authored by David Ebert's avatar David Ebert
Browse files

remove example folder, update documentation

parent 776b9bb3
No related branches found
No related tags found
No related merge requests found
Expand all Hide whitespace changes
Inline Side-by-side
Showing
with 89 additions and 2636 deletions
configs/example/ProfilesCatalog.xml deleted 100644 → 0
+ 0
− 243
View file @ 776b9bb3
<?xml version='1.0' encoding='UTF-8'?>
<Profiles SchemaVersion="0.5.1">
<AgentProfiles>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="DummyDriver" Probability="1.0"/>
</DriverProfiles>
<SystemProfiles>
<SystemProfile Name="BMW 3" Probability="1.0"/>
</SystemProfiles>
<VehicleModels>
<VehicleModel Name="car_bmw_3" Probability="1.0"/>
</VehicleModels>
</AgentProfile>
</AgentProfiles>
<SystemProfiles>
<SystemProfile Name="BMW 3">
<Components>
<Component Type="FMU1">
<Profiles>
<Profile Name="RegularScm" Probability="1.0"/>
</Profiles>
</Component>
</Components>
<Sensors/>
</SystemProfile>
</SystemProfiles>
<ProfileGroup Type="FMU1">
<Profile Name="RegularScm">
<String Key="FmuPath" Value="resources/AlgorithmScm.fmu"/>
<Bool Key="Logging" Value="true"/>
<Bool Key="CsvOutput" Value="false"/>
<String Key="Parameter_AssignSpecial_Simulation.RandomSeed" Value="RandomSeed"/>
<String Key="Parameter_AssignSpecial_Simulation.OutputPath" Value="OutputPath"/>
<String Key="Parameter_AssignSpecial_Simulation.ConfigPath" Value="ConfigPath"/>
<String Key="Init_OSMPGroundTruthInit" Value="GroundTruth"/>
<String Key="Input_OSMPSensorViewIn" Value="SensorView"/>
<String Key="Input_OSMPTrafficCommandIn" Value="TrafficCommand"/>
<String Key="Output_OSMPTrafficUpdateOut" Value="TrafficUpdate"/>
<NormalDistribution Key="Parameter_Driver.PreviewTimeHeadway" Mean="15.0" SD="2.5" Min="10.0" Max="20.0"/>
<Double Key="Parameter_Driver.PreviewDistanceMin" Value="50.0"/>
<NormalDistribution Key="Parameter_Driver.ThresholdLooming" Mean="0.002" SD="0.001" Min="0.001" Max="0.004"/>
<Bool Key="Parameter_Driver.IdealPerception" Value="false"/>
<Bool Key="Parameter_Driver.EnableHighCognitiveMode" Value="false"/>
<String Key="Parameter_Driver.ReactionBaseTime.type" Value="LogNormalDistribution"/>
<Double Key="Parameter_Driver.ReactionBaseTime.mean" Value="0.5"/>
<Double Key="Parameter_Driver.ReactionBaseTime.sd" Value="0.2"/>
<Double Key="Parameter_Driver.ReactionBaseTime.min" Value="0.2"/>
<Double Key="Parameter_Driver.ReactionBaseTime.max" Value="0.89"/>
<Double Key="Parameter_Driver.AnticipationQuota" Value="1."/>
<NormalDistribution Key="Parameter_Driver.AgentCooperationFactor" Mean="0.8" SD="0.15" Min="0.0" Max="1.0"/>
<NormalDistribution Key="Parameter_Driver.AgentSuspiciousBehaviourEvasionFactor" Mean="0.8" SD="0.15" Min="0.0" Max="1.0"/>
<NormalDistribution Key="Parameter_Driver.OuterKeepingIntensity" Mean="0.6" SD="0.15" Min="0.0" Max="1.0"/>
<NormalDistribution Key="Parameter_Driver.EgoLaneKeepingIntensity" Mean="0.2" SD="0.15" Min="0.0" Max="1.0"/>
<Double Key="Parameter_Driver.RightOvertakingProhibitionIgnoringQuota" Value="0.02"/>
<Double Key="Parameter_Driver.LaneChangeProhibitionIgnoringQuota" Value="0.03"/>
<LogNormalDistribution Key="Parameter_Driver.VWish" Mean="36.11" SD="4.17" Min="22.22" Max="44.28"/>
<LogNormalDistribution Key="Parameter_Driver.DeltaVWish" Mean="7.0" SD="2.0" Min="3.0" Max="12.0"/>
<String Key="Parameter_Driver.DeltaVViolation.type" Value="LogNormalDistribution"/>
<Double Key="Parameter_Driver.DeltaVViolation.mean" Value="2.78"/>
<Double Key="Parameter_Driver.DeltaVViolation.sd" Value="0.69"/>
<Double Key="Parameter_Driver.DeltaVViolation.min" Value="0.0"/>
<Double Key="Parameter_Driver.DeltaVViolation.max" Value="21.56"/>
<NormalDistribution Key="Parameter_Driver.DesiredTimeAtTargetSpeed" Mean="15.0" SD="2.0" Min="10.0" Max="20.0"/>
<Double Key="Parameter_Driver.ProportionalityFactorForFollowingDistance" Value="7."/>
<NormalDistribution Key="Parameter_Driver.MaxLongitudinalAcceleration" Mean="4.0" SD="0.5" Min="3.0" Max="7.0"/>
<NormalDistribution Key="Parameter_Driver.MaxLongitudinalDeceleration" Mean="7.0" SD="0.5" Min="6.0" Max="10.0"/>
<NormalDistribution Key="Parameter_Driver.MaxLateralAcceleration" Mean="4.5" SD="0.5" Min="3.5" Max="10.0"/>
<NormalDistribution Key="Parameter_Driver.ComfortLongitudinalAcceleration" Mean="0.537" SD="0.216" Min="0.468" Max="0.606"/>
<NormalDistribution Key="Parameter_Driver.ComfortLongitudinalDeceleration" Mean="1.099" SD="0.278" Min="1.012" Max="1.185"/>
<NormalDistribution Key="Parameter_Driver.AccelerationAdjustmentThresholdVelocity" Mean="25.0" SD="0.2" Min="22.2" Max="27.78"/>
<NormalDistribution Key="Parameter_Driver.VelocityForMaxAcceleration" Mean="8.33" SD="0.2" Min="5.55" Max="11.11"/>
<Double Key="Parameter_Driver.MaxComfortAccelerationFactor" Value="4.0"/>
<Double Key="Parameter_Driver.MaxComfortDecelerationFactor" Value="2.0"/>
<NormalDistribution Key="Parameter_Driver.ComfortLateralAcceleration" Mean="2.5" SD="0.3" Min="1.5" Max="3.09"/>
<NormalDistribution Key="Parameter_Driver.CarQueuingDistance" Mean="2.9" SD="1.1" Min="1.0" Max="4.0"/>
<NormalDistribution Key="Parameter_Driver.HysteresisForRestart" Mean="1.5" SD="2.0" Min="0.1" Max="5.0"/>
<Double Key="Parameter_Driver.LateralOffsetNeutralPositionQuota" Value="0.2"/>
<NormalDistribution Key="Parameter_Driver.LateralOffsetNeutralPosition" Mean="0.0" SD="0.3" Min="-1.0" Max="1.0"/>
<NormalDistribution Key="Parameter_Driver.LateralOffsetNeutralPositionRescueLane" Mean="0.75" SD="0.25" Min="0.3" Max="1.0"/>
<NormalDistribution Key="Parameter_Driver.MaximumAngularVelocitySteeringWheel" Mean="3.142" SD="0.349" Min="2.443" Max="3.840"/>
<NormalDistribution Key="Parameter_Driver.ComfortAngularVelocitySteeringWheel" Mean="1.047" SD="0.175" Min="0.873" Max="1.222"/>
<NormalDistribution Key="Parameter_Driver.TimeHeadwayFreeLaneChange" Mean="7.0" SD="2.0" Min="5.0" Max="10.0"/>
<Double Key="Parameter_Driver.OuterKeepingQuota" Value="0.8"/>
<Double Key="Parameter_Driver.EgoLaneKeepingQuota" Value="0.8"/>
<Double Key="Parameter_Driver.UseShoulderInTrafficJamQuota" Value="0.0"/>
<Double Key="Parameter_Driver.UseShoulderInTrafficJamToExitQuota" Value="0.0"/>
<Double Key="Parameter_Driver.UseShoulderWhenPeerPressuredQuota" Value="0.0"/>
<String Key="Parameter_AssignSpecial_Vehicle.SteeringRatio" Value="SteeringRatio"/>
<String Key="Parameter_AssignSpecial_Vehicle.MaxSteering" Value="MaxSteering"/>
<String Key="Parameter_AssignSpecial_Vehicle.NumberOfGears" Value="NumberOfGears"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio1" Value="GearRatio1"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio2" Value="GearRatio2"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio3" Value="GearRatio3"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio4" Value="GearRatio4"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio5" Value="GearRatio5"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio6" Value="GearRatio6"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio7" Value="GearRatio7"/>
<String Key="Parameter_AssignSpecial_Vehicle.GearRatio8" Value="GearRatio8"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Driver">
<Profile Name="DummyDriver">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
<String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
<String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
<Double Key="VelocityWish" Value="1.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="TrafficGroup">
<Profile Name="LightVehicles_100">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="MiddleClassCarAgent"/>
<Double Key="Weight" Value="0.6"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="43.210" Mean="30.828" Min="18.446" SD="6.191"/>
<LogNormalDistribution Key="TGap" Max="100" Min="0.5" Mu="3" Sigma="1.7"/>
<DoubleVector Key="Homogeneity" Value="0.79, 1.0"/>
</Profile>
<Profile Name="LightVehicles_250">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="MiddleClassCarAgent"/>
<Double Key="Weight" Value="0.6"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="43.685" Mean="31.475" Min="19.265" SD="6.105"/>
<LogNormalDistribution Key="TGap" Max="80" Min="0.5" Mu="1.5" Sigma="1.7"/>
<DoubleVector Key="Homogeneity" Value="0.820, 1.0"/>
</Profile>
<Profile Name="LightVehicles_500">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="MiddleClassCarAgent"/>
<Double Key="Weight" Value="0.6"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="43.208" Mean="30.988" Min="18.768" SD="6.110"/>
<LogNormalDistribution Key="TGap" Max="30" Min="0.5" Mu="1.67" Sigma="0.8"/>
<DoubleVector Key="Homogeneity" Value="0.824, 1.0"/>
</Profile>
<Profile Name="LightVehicles_750">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="MiddleClassCarAgent"/>
<Double Key="Weight" Value="0.6"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="33.239" Mean="26.123" Min="19.007" SD="3.558"/>
<LogNormalDistribution Key="TGap" Max="25" Min="0.5" Mu="0.98" Sigma="1.08"/>
<DoubleVector Key="Homogeneity" Value="0.789, 0.837"/>
</Profile>
<Profile Name="LightVehicles_1000">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="MiddleClassCarAgent"/>
<Double Key="Weight" Value="0.6"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="34.478" Mean="26.524" Min="18.570" SD="3.977"/>
<LogNormalDistribution Key="TGap" Max="20" Min="0.5" Mu="1" Sigma="0.93"/>
<DoubleVector Key="Homogeneity" Value="0.789, 0.883"/>
</Profile>
<Profile Name="LightVehicles_1500">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="MiddleClassCarAgent"/>
<Double Key="Weight" Value="0.6"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="32.437" Mean="25.633" Min="18.829" SD="3.402"/>
<LogNormalDistribution Key="TGap" Max="10" Min="0.5" Mu="0.53" Sigma="0.9"/>
<DoubleVector Key="Homogeneity" Value="0.845, 0.910"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Spawner">
<Profile Name="DefaultPreRunCommon">
<List Name="SpawnZones">
<ListItem>
<StringVector Key="Roads" Value="1"/>
<IntVector Key="Lanes" Value="-1,-2,-3,-4,-5"/>
<Double Key="SStart" Value="0.0"/>
<Double Key="SEnd" Value="1000.0"/>
</ListItem>
</List>
<List Name="TrafficGroups">
<ListItem>
<Double Key="Weight" Value="4"/>
<Reference Type="TrafficGroup" Name="LightVehicles_250"/>
</ListItem>
</List>
<NormalDistribution Key="MinimumSeparationBuffer" Mean="3.47" SD="1.13" Min="2.0" Max="6.0"/>
</Profile>
<Profile Name="DefaultRuntimeCommon">
<List Name="SpawnPoints">
<ListItem>
<StringVector Key="Roads" Value="1"/>
<IntVector Key="Lanes" Value="-1,-2,-3,-4,-5"/>
<IntVector Key="Lanes" Value="-1"/>
<Double Key="SCoordinate" Value="0.0"/>
</ListItem>
</List>
<List Name="TrafficGroups">
<ListItem>
<Double Key="Weight" Value="4"/>
<Reference Type="TrafficGroup" Name="LightVehicles_250"/>
</ListItem>
</List>
<NormalDistribution Key="MinimumSeparationBuffer" Mean="3.47" SD="1.13" Min="2.0" Max="6.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="TrafficRules">
<Profile Name="DE">
<Double Key="OpenSpeedLimit" Value="INF"/>
<Double Key="OpenSpeedLimitTrucks" Value="22.2222222"/>
<Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
<Bool Key="KeepToOuterLanes" Value="true"/>
<Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
<Bool Key="FormRescueLane" Value="true"/>
<Bool Key="ZipperMerge" Value="true"/>
</Profile>
<Profile Name="US">
<Double Key="OpenSpeedLimit" Value="31.2928"/>
<Double Key="OpenSpeedLimitTrucks" Value="26.8224"/>
<Double Key="OpenSpeedLimitBuses" Value="26.8224"/>
<Bool Key="KeepToOuterLanes" Value="false"/>
<Bool Key="DontOvertakeOnOuterLanes" Value="false"/>
<Bool Key="FormRescueLane" Value="true"/>
<Bool Key="ZipperMerge" Value="false"/>
</Profile>
<Profile Name="CN">
<Double Key="OpenSpeedLimit" Value="33.3333"/>
<Double Key="OpenSpeedLimitTrucks" Value="25.0"/>
<Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
<Bool Key="KeepToOuterLanes" Value="false"/>
<Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
<Bool Key="FormRescueLane" Value="false"/>
<Bool Key="ZipperMerge" Value="true"/>
</Profile>
</ProfileGroup>
</Profiles>
configs/example/Scenario.xosc deleted 100644 → 0
+ 0
− 101
View file @ 776b9bb3
<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="1" date="2020-06-26T00:17:00" description="openPASS default scenario" author="in-tech GmbH"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
<Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
<Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
</ControllerCatalog>
<ManeuverCatalog>
<Directory path=""/>
</ManeuverCatalog>
<MiscObjectCatalog>
<Directory path=""/>
</MiscObjectCatalog>
<EnvironmentCatalog>
<Directory path=""/>
</EnvironmentCatalog>
<TrajectoryCatalog>
<Directory path=""/>
</TrajectoryCatalog>
<RouteCatalog>
<Directory path=""/>
</RouteCatalog>
</CatalogLocations>
<RoadNetwork>
<LogicFile filepath="SceneryConfiguration.xodr"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
<CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_i4"/>
<ObjectController>
<Controller name="Ego">
<Properties>
<Property name="AgentProfile" value="MiddleClassCarAgent"/>
</Properties>
</Controller>
</ObjectController>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<Private entityRef="Ego">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0">
<Orientation type="relative"/>
</LanePosition>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="">
<Act name="">
<ManeuverGroup name="" maximumExecutionCount="1">
<Actors selectTriggeringEntities="false"/>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0.0" rule="greaterOrEqual"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="30.0" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
configs/example/SceneryConfiguration.xodr deleted 100644 → 0
+ 0
− 69
View file @ 776b9bb3
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Testfile" version="1" date="Thu Feb 8 14:24:06 2007" north="2.0000000000000000e+003" south="-2.0000000000000000e+003" east="2.0000000000000000e+003" west="-2.0000000000000000e+003"/>
<road name="" length="5139.7188686309819" id="1" junction="-1">
<link/>
<planView>
<geometry s="0.0000000000000000e+000" x="0" y="7.5" hdg="0" length="4000">
<line/>
</geometry>
<geometry s="4000" x="4000" y="7.5" hdg="0" length="285">
<spiral curvStart="0.0000000000000000e+000" curvEnd="-0.0028500000000000066"/>
</geometry>
<geometry s="4285" x="4280.3350391612494" y="-30.629710830536482" hdg="-0.40612500000000096" length="183.7188686309816">
<arc curvature="-0.0028500000000000066"/>
</geometry>
<geometry s="4468.7188686309819" x="4422.9323279193268" y="-143.12204699500415" hdg="-0.92972377559829977" length="571">
<spiral curvStart="-0.0028500000000000066" curvEnd="0.0000000000000000e+000"/>
</geometry>
<geometry s="5039.7188686309819" x="4476.6651848689908" y="-694.88624436808436" hdg="-1.7453292519943295" length="100">
<line/>
</geometry>
</planView>
<elevationProfile/>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<left/>
<center>
<lane id="0" type="border" level="true">
<link>
<successor id="0"/>
</link>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<successor id="-1"/>
</link>
<width sOffset="0" a="3.75" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
</lane>
<lane id="-2" type="driving" level="true">
<link>
<successor id="-2"/>
</link>
<width sOffset="0" a="3.75" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
</right>
</laneSection>
</lanes>
<objects>
<object type="roadMark" name="RoadSideMarkerPost" id="" s="0" t="1" zOffset="0" validLength="0" orientation="+" length="0.12" width="0.12" height="1.2" hdg="0" pitch="0" roll="0">
<repeat s="0" distance="50" length="5139.7188686309819"/>
</object>
<object type="roadMark" name="RoadSideMarkerPost" id="" s="0" t="-8.5" zOffset="0" validLength="0" orientation="-" length="0.12" width="0.12" height="1.2" hdg="0" pitch="0" roll="0">
<repeat s="0" distance="50" length="5139.7188686309819"/>
</object>
<object type="railing" name="GuardRail" id="" s="0" t="0.5" zOffset="0" validLength="0" orientation="+" length="3.0" width="0.25" height="0.9" hdg="0" pitch="0" roll="0">
<repeat s="0" distance="0" length="5139.7188686309819"/>
</object>
<object type="railing" name="GuardRail" id="" s="0" t="-8" zOffset="0" validLength="0" orientation="-" length="3.0" width="0.25" height="0.9" hdg="0" pitch="0" roll="0">
<repeat s="0" distance="0" length="5139.7188686309819"/>
</object>
</objects>
<signals/>
</road>
</OpenDRIVE>
configs/example/ScmConfig.xml deleted 100644 → 0
+ 0
− 7
View file @ 776b9bb3
<scmConfig SchemaVersion="0.0.1">
<LOGGING_DETAILS>
<DriverParameter>true</DriverParameter>
<DriverValues>true</DriverValues>
<XmlOutput>false</XmlOutput> <!-- cyclics as xml output. has no effect if DriverValues is set to false-->
</LOGGING_DETAILS>
</scmConfig>
\ No newline at end of file
configs/example/Vehicles/PedestrianModelsCatalog.xosc deleted 100644 → 0
+ 0
− 38
View file @ 776b9bb3
<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="1" date="2023-03-08T20:00:00" description="openPASS pedestrian models" author="in-tech GmbH"/>
<Catalog name="PedestrianCatalog">
<Pedestrian model3d="pedestrian_man" mass="80.0" name="pedestrian_man" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="0.0" y="0.0" z="0.935"/>
<Dimensions width="0.6" length="0.38" height="1.87"/>
</BoundingBox>
<Properties/>
</Pedestrian>
<Pedestrian model3d="pedestrian_woman" mass="70.0" name="pedestrian_woman" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="0.0" y="0.0" z="0.86"/>
<Dimensions width="0.6" length="0.32" height="1.72"/>
</BoundingBox>
<Properties/>
</Pedestrian>
<Pedestrian model3d="pedestrian_child_ncap" mass="30.0" name="pedestrian_child_ncap" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="0.0" y="0.0" z="0.577"/>
<Dimensions width="0.298" length="0.711" height="1.154"/>
</BoundingBox>
<Properties/>
</Pedestrian>
<Pedestrian model3d="pedestrian_adult_ncap" mass="70.0" name="pedestrian_adult_ncap" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="0.0" y="0.0" z="0.9"/>
<Dimensions width="0.5" length="0.6" height="1.8"/>
</BoundingBox>
<Properties/>
</Pedestrian>
</Catalog>
</OpenSCENARIO>
configs/example/Vehicles/VehicleModelsCatalog.xosc deleted 100644 → 0
+ 0
− 879
View file @ 776b9bb3
This diff is collapsed.
configs/example/simulationConfig.xml deleted 100644 → 0
+ 0
− 64
View file @ 776b9bb3
<?xml version='1.0' encoding='UTF-8'?>
<simulationConfig SchemaVersion="0.8.2">
<ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
<Experiment>
<ExperimentID>123</ExperimentID>
<NumberOfInvocations>1</NumberOfInvocations>
<RandomSeed>532725206</RandomSeed>
<Libraries>
<WorldLibrary>World_OSI</WorldLibrary>
</Libraries>
</Experiment>
<Scenario>
<OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
</Scenario>
<Environment>
<TimeOfDays>
<TimeOfDay Probability="0.4" Value="15"/>
<TimeOfDay Probability="0.6" Value="18"/>
</TimeOfDays>
<VisibilityDistances>
<VisibilityDistance Probability="0.7" Value="300"/>
<VisibilityDistance Probability="0.3" Value="400"/>
</VisibilityDistances>
<Frictions>
<Friction Probability="1.0" Value="1.0"/>
</Frictions>
<Weathers>
<Weather Probability="0.5" Value="Rainy"/>
<Weather Probability="0.5" Value="Snowy"/>
</Weathers>
<TrafficRules>DE</TrafficRules>
</Environment>
<Observations>
<Observation>
<Library>Observation_Log</Library>
<Parameters>
<String Key="OutputFilename" Value="simulationOutput.xml"/>
<Bool Key="LoggingCyclicsToCsv" Value="false"/>
<StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle,RollAngle"/>
<StringVector Key="LoggingGroup_Driver" Value="AOI,CurrentSituation,LateralActionState,LongitudinalActionState,MesoscopicSituation,PreviewDistance,SCMLeadingVehicle"/>
<StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/>
<StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/>
<StringVector Key="LoggingGroup_Sensor" Value="Sensor*_DetectedAgents,Sensor*_VisibleAgents"/>
<StringVector Key="LoggingGroup_Vehicle" Value="AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"/>
<StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/>
<StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor,Driver"/>
</Parameters>
</Observation>
</Observations>
<Spawners>
<Spawner>
<Library>SpawnerPreRunCommon</Library>
<Type>PreRun</Type>
<Priority>0</Priority>
<Profile>DefaultPreRunCommon</Profile>
</Spawner>
<Spawner>
<Library>SpawnerRuntimeCommon</Library>
<Type>Runtime</Type>
<Priority>0</Priority>
<Profile>DefaultRuntimeCommon</Profile>
</Spawner>
</Spawners>
</simulationConfig>
configs/example/systemConfigBlueprint.xml deleted 100644 → 0
+ 0
− 951
View file @ 776b9bb3
This diff is collapsed.
configs/example/systemConfigFmuActuator.xml deleted 100644 → 0
+ 0
− 192
View file @ 776b9bb3
<systems>
<system>
<id>0</id>
<priority>0</priority>
<components>
<component>
<id>Parameters_Vehicle</id>
<schedule>
<priority>500</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>Parameters_Vehicle</library>
<parameters/>
</component>
<component>
<id>FMU</id>
<schedule>
<priority>250</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>Algorithm_FmuWrapper</library>
<parameters>
<parameter>
<id>FmuPath</id>
<type>string</type>
<unit/>
<value>resources/linux64/AlgorithmScm.fmu</value>
</parameter>
<parameter>
<id>Logging</id>
<type>bool</type>
<unit/>
<value>true</value>
</parameter>
<parameter>
<id>CsvOutput</id>
<type>bool</type>
<unit/>
<value>false</value>
</parameter>
<parameter>
<id>Output_OSMPTrafficUpdateOut</id>
<type>string</type>
<value>TrafficUpdate</value>
</parameter>
<parameter>
<id>Input_OSMPTrafficCommandIn</id>
<type>string</type>
<value>TrafficCommand</value>
</parameter>
<parameter>
<id>Input_OSMPSensorViewIn</id>
<type>string</type>
<value>SensorView</value>
</parameter>
<parameter>
<id>Init_OSMPGroundTruthInit</id>
<type>string</type>
<value>GroundTruth</value>
</parameter>
</parameters>
</component>
<component>
<id>PrioritizerLongitudinal</id>
<schedule>
<priority>75</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>SignalPrioritizer</library>
<parameters>
<parameter>
<id>0</id>
<type>int</type>
<unit/>
<value>2</value>
</parameter>
</parameters>
</component>
<component>
<id>PrioritizerSteering</id>
<schedule>
<priority>75</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>SignalPrioritizer</library>
<parameters>
<parameter>
<id>0</id>
<type>int</type>
<unit/>
<value>2</value>
</parameter>
</parameters>
</component>
<component>
<id>Dynamics_Collision</id>
<schedule>
<priority>50</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>Dynamics_Collision</library>
<parameters/>
</component>
<component>
<id>PrioritizerDynamics</id>
<schedule>
<priority>25</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>SignalPrioritizer</library>
<parameters>
<parameter>
<id>2</id>
<type>int</type>
<unit/>
<value>4</value>
</parameter>
<parameter>
<id>1</id>
<type>int</type>
<unit/>
<value>5</value>
</parameter>
<parameter>
<id>0</id>
<type>int</type>
<unit/>
<value>3</value>
</parameter>
</parameters>
</component>
<component>
<id>AgentUpdater</id>
<schedule>
<priority>1</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>AgentUpdater</library>
<parameters/>
</component>
</components>
<connections>
<connection>
<id>401</id>
<source>
<component>Dynamics_Collision</component>
<output>0</output>
</source>
<target>
<component>PrioritizerDynamics</component>
<input>1</input>
</target>
</connection>
<connection>
<id>501</id>
<source>
<component>PrioritizerDynamics</component>
<output>0</output>
</source>
<target>
<component>AgentUpdater</component>
<input>0</input>
</target>
</connection>
<connection>
<id>101</id>
<source>
<component>FMU</component>
<output>0</output>
</source>
<target>
<component>PrioritizerDynamics</component>
<input>2</input>
</target>
</connection>
</connections>
</system>
</systems>
doc/source/building_scm.rst
+ 1
− 91
View file @ c4d5a57a
......@@ -99,94 +99,4 @@ Then simply call::
to build SCM and install it to the directory provided by the given ``CMAKE_INSTALL_PREFIX``. Adjust this installation directory to your needs.
The build generates the main output file **AlgorithmScm.fmu**.
Use SCM with OpenPASS
---------------------
Make yourself familiar with how OpenPASS works in general. It comes with a few config files, see their default config set for a standard simulation.
.. note::
Get and install OpenPASS following their instructions from
https://gitlab.eclipse.org/eclipse/openpass/opSimulation
As SCM is built as a Functional Mockup Unit (FMU) it requires some tweaks to the default OpenPASS configs to work properly. An example set is included in this repository and can be found in ``<root>/configs/example``.
The following subsections highlight some differences to the default set.
ProfilesCatalog
~~~~~~~~~~~~~~~
In the ProfilesCatalog, add a new ProfileGroup ``FMU1``, if it isn't there already and add a new ``Profile`` called ``RegularScm``.
The profile is the place to adjust all driver parameter SCM supports - here they can be adjusted to your needs (see examples for a whole example file).
Additionally to these parameters specific to the driver model behavior, there are some special parameters needed.
They are prefixed with ``Parameter_AssignSpecial_`` and are followed by ``Simulation`` or ``Vehicle`` respectively.
The ``simulation parameters`` are useful for the overall simulation, the ``vehicle parameters`` are necessary so that SCMs internal dynamics module can work properly.
.. list-table:: Additional ``Simulation``-prefixed parameter expected by SCM
* - **Parameter**
- **Description**
* - RandomSeed
- As SCM is a stochastic model, it is advisable to provide a random seed for the simulation.
* - OutputPath
- If configured, SCM produces some output files regarding its internal state / mental model. This path should be configured so that each agent has an individual place to write data.
* - ConfigPath
- Path to configs (e.g. ScmConfig.xml or GazeFollowerTimeSeries.xml)
.. list-table:: Additional ``Vehicle``-prefixed parameter expected by SCM
* - **Parameter**
- **Description**
* - SteeringRatio
- The steering ratio of the vehicle
* - MaxSteering
- The maximum possible steering wheel angle in both directions in radian
* - NumberOfGears
- The number of gears the vehicle has
* - GearRatio<X>
- Ratio for each gear. The number <X> of GearRatio entries should match the ``NumberOfGears`` from above. If a vehicle has 8 gears, there should be GearRatio1, GearRatio2, ..., GearRatio8.
Older ProfilesCatalog
---------------------
You may find older versions of the ProfilesCatalog from a time before SCM was build as a FMU. For theses configs, there exists a converter script in the ``OpenPASS project`` to rewrite the ProfilesCatalog to the needed format.
The conversion is done via XSL transformation which can be found in ``utils/rules/v2.0.8_1_to_v2.0.9_SCM_FMU``. Although this is a useful tool, it may not cover every possible edge case. Thus it might be necessary to manually check the converted config file afterwards.
One known limitation is that there is only one supported motorbike model ``BMW R 1200 GS`` which can be related to the ``RegularMotorbikeSCM profile`` and bus and truck models have to have these words actually written in their profile names.
ScmConfig
~~~~~~~~~
SCM comes with a config file including different options to log specific simulation data of the agents to files.
.. list-table:: ScmConfig Parameters
* - **Parameter / LoggingDetails**
- **Description**
* - DriverParameter
- If set to true (default) writes SCM-related driver parameter (e.g. comfortLateralAcceleration, outerKeepingIntensity, ...) to the *DriverSimulationOutput.xml* file.
* - DriverValues
- If set to true (default), writes SCM-related cyclic data to a file. This includes information about the ego vehicle as well as information about its surroundings (**Perception.csv**).
* - XmlOutput
- If set to true (default false), writes the DriverValues into a XML file instead of csv.
Running a simulation
--------------------
First of all, the simulator ``OpenPASS`` needs to be downloaded or manually build (see official OpenPASS documentation). It is recommended though to rely on an official release version of OpenPASS.
``OpenPASS`` needs a specific set of config files in a directory called ``configs`` right besides the executable. The provided default configurations should be copied to this directory.
The artifact of SCM (``AlgorithmScm.fmu``) must be made available for ``OpenPASS``. It is advisable to create a new directory which will match the resource path referenced in the ProfilesCatalog (in this case ``configs/resources/``).
However, this is not mandatory as long as the path chosen will match the actual position of ``AlgorithmScm.fmu``.
.. note::
Of course it is possible to set the ``CMAKE_PREFIX_PATH`` for the SCM build to the ``resource`` directory so that the SCM FMU will be put in the correct place automatically.
The build generates the main output file **AlgorithmScm.fmu**.
\ No newline at end of file
doc/source/user_guide/UseSCMWithOpenPASS/UseSCMWithOpenPASS.rst 0 → 100644
+ 87
− 0
View file @ c4d5a57a
Use SCM with OpenPASS
---------------------
Make yourself familiar with how OpenPASS works in general. It comes with a few config files, see their default config set for a standard simulation.
.. note::
Get and install OpenPASS following their instructions from
https://gitlab.eclipse.org/eclipse/openpass/opSimulation
As SCM is built as a Functional Mockup Unit (FMU) it requires some tweaks to the default OpenPASS configs to work properly. An example set is included in this repository and can be found in ``e2eTests/Resources/Common/``.
The following subsections highlight some differences to the default set.
ProfilesCatalog
~~~~~~~~~~~~~~~
In the ProfilesCatalog, add a new ProfileGroup ``FMU1``, if it isn't there already and add a new ``Profile`` called ``RegularScm``.
The profile is the place to adjust all driver parameter SCM supports - here they can be adjusted to your needs (see examples for a whole example file).
Additionally to these parameters specific to the driver model behavior, there are some special parameters needed.
They are prefixed with ``Parameter_AssignSpecial_`` and are followed by ``Simulation`` or ``Vehicle`` respectively.
The ``simulation parameters`` are useful for the overall simulation, the ``vehicle parameters`` are necessary so that SCMs internal dynamics module can work properly.
.. list-table:: Additional ``Simulation``-prefixed parameter expected by SCM
* - **Parameter**
- **Description**
* - RandomSeed
- As SCM is a stochastic model, it is advisable to provide a random seed for the simulation.
* - OutputPath
- If configured, SCM produces some output files regarding its internal state / mental model. This path should be configured so that each agent has an individual place to write data.
* - ConfigPath
- Path to configs (e.g. ScmConfig.xml or GazeFollowerTimeSeries.xml)
.. list-table:: Additional ``Vehicle``-prefixed parameter expected by SCM
* - **Parameter**
- **Description**
* - SteeringRatio
- The steering ratio of the vehicle
* - MaxSteering
- The maximum possible steering wheel angle in both directions in radian
* - NumberOfGears
- The number of gears the vehicle has
* - GearRatio<X>
- Ratio for each gear. The number <X> of GearRatio entries should match the ``NumberOfGears`` from above. If a vehicle has 8 gears, there should be GearRatio1, GearRatio2, ..., GearRatio8.
Older ProfilesCatalog
---------------------
You may find older versions of the ProfilesCatalog from a time before SCM was build as a FMU. For theses configs, there exists a converter script in the ``OpenPASS project`` to rewrite the ProfilesCatalog to the needed format.
The conversion is done via XSL transformation which can be found in ``utils/rules/v2.0.8_1_to_v2.0.9_SCM_FMU``. Although this is a useful tool, it may not cover every possible edge case. Thus it might be necessary to manually check the converted config file afterwards.
One known limitation is that there is only one supported motorbike model ``BMW R 1200 GS`` which can be related to the ``RegularMotorbikeSCM profile`` and bus and truck models have to have these words actually written in their profile names.
ScmConfig
~~~~~~~~~
SCM comes with a config file including different options to log specific simulation data of the agents to files.
.. list-table:: ScmConfig Parameters
* - **Parameter / LoggingDetails**
- **Description**
* - DriverParameter
- If set to true (default) writes SCM-related driver parameter (e.g. comfortLateralAcceleration, outerKeepingIntensity, ...) to the *DriverSimulationOutput.xml* file.
* - DriverValues
- If set to true (default), writes SCM-related cyclic data to a file. This includes information about the ego vehicle as well as information about its surroundings (**Perception.csv**).
* - XmlOutput
- If set to true (default false), writes the DriverValues into a XML file instead of csv.
Running a simulation with OpenPASS
----------------------------------
First of all, the simulator ``OpenPASS`` needs to be downloaded or manually build (see official OpenPASS documentation). It is recommended though to rely on an official release version of OpenPASS.
``OpenPASS`` needs a specific set of config files in a directory called ``configs`` right besides the executable. The provided default configurations should be copied to this directory.
The artifact of SCM (``AlgorithmScm.fmu``) must be made available for ``OpenPASS``. It is advisable to create a new directory which will match the resource path referenced in the ProfilesCatalog (in this case ``e2eTests/Resources/Common/``).
However, this is not mandatory as long as the path chosen will match the actual position of ``AlgorithmScm.fmu``.
.. note::
Of course it is possible to set the ``CMAKE_PREFIX_PATH`` for the SCM build to the ``resource`` directory so that the SCM FMU will be put in the correct place automatically.
\ No newline at end of file
utils/ci/scripts/20_configure.sh
+ 1
− 1
View file @ c4d5a57a
......@@ -73,5 +73,5 @@ cmake \
-D USE_CCACHE=ON \
-D WITH_COVERAGE=OFF \
-D WITH_DEBUG_POSTFIX=ON \
-D WITH_DOC=OFF \
-D WITH_DOC=ON \
../repo
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment

Copyright © Eclipse Foundation, Inc. All Rights Reserved.     Privacy Policy | Terms of Use | Copyright Agent