diff --git a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/Scenario.xosc b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/Scenario.xosc
index 1ea4e1c34ff23ca55351fbddf3986cf2489d3f3b..0653e754ccf56abd8306ff44aa11ec4bfcf3a80d 100644
--- a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/Scenario.xosc
@@ -70,7 +70,7 @@
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
- <SimulationTimeCondition value="600.0" rule="greaterThan"/>
+ <SimulationTimeCondition value="1000" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
diff --git a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigRegular.xml b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigRegular.xml
index 66c85db38f091ede0dd49dcbe56ebd54af1652d7..5b9748fbee924545aaedf0bd35058f9084264636 100644
--- a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigRegular.xml
+++ b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigRegular.xml
@@ -173,28 +173,28 @@
<id>7</id>
<type>double</type>
<unit>km/h</unit>
- <value>129.70084847043756</value>
+ <value>133.95618875737682</value>
</parameter>
<parameter>
<!--parameter's title: VelocityWishDeviation-->
<id>8</id>
<type>double</type>
<unit>km/h</unit>
- <value>21.880057290384098</value>
+ <value>34.466649322772454</value>
</parameter>
<parameter>
<!--parameter's title: TGapWish-->
<id>9</id>
<type>double</type>
<unit>s</unit>
- <value>0.9346135703791832</value>
+ <value>0.671500842990508</value>
</parameter>
<parameter>
<!--parameter's title: TGapWishDeviation-->
<id>10</id>
<type>double</type>
<unit>s</unit>
- <value>1.13652231099019</value>
+ <value>1.481446681993117</value>
</parameter>
<parameter>
<!--parameter's title: MeanSpeedLimitViolation-->
@@ -325,7 +325,7 @@
<id>14</id>
<type>double</type>
<unit/>
- <value>0.0893918220578869</value>
+ <value>0.1455398661495221</value>
</parameter>
<parameter>
<!--parameter's title: SpeedGainDeviation-->
@@ -339,7 +339,7 @@
<id>16</id>
<type>double</type>
<unit/>
- <value>2.6767625980882443</value>
+ <value>1.7640855476507882</value>
</parameter>
<parameter>
<!--parameter's title: KeepRightDeviation-->
diff --git a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigTruck.xml b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigTruck.xml
index d2d009367bcb93b76e2cfa6fd1d82b6d815d3c00..6a5912ef26f8d1898b379c831ffebb458d3d5510 100644
--- a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigTruck.xml
+++ b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/SystemConfigTruck.xml
@@ -173,28 +173,28 @@
<id>7</id>
<type>double</type>
<unit>km/h</unit>
- <value>87.59632664455098</value>
+ <value>87.82797075890214</value>
</parameter>
<parameter>
<!--parameter's title: VelocityWishDeviation-->
<id>8</id>
<type>double</type>
<unit>km/h</unit>
- <value>4.238165073326766</value>
+ <value>6.694040806010309</value>
</parameter>
<parameter>
<!--parameter's title: TGapWish-->
<id>9</id>
<type>double</type>
<unit>s</unit>
- <value>1.9116962860472269</value>
+ <value>1.827600101768836</value>
</parameter>
<parameter>
<!--parameter's title: TGapWishDeviation-->
<id>10</id>
<type>double</type>
<unit>s</unit>
- <value>0.6287358146312961</value>
+ <value>0.9374497398909316</value>
</parameter>
<parameter>
<!--parameter's title: MeanSpeedLimitViolation-->
@@ -325,7 +325,7 @@
<id>14</id>
<type>double</type>
<unit/>
- <value>2.526104143716384</value>
+ <value>0.2774152129338214</value>
</parameter>
<parameter>
<!--parameter's title: SpeedGainDeviation-->
@@ -339,7 +339,7 @@
<id>16</id>
<type>double</type>
<unit/>
- <value>1.3983057603299405</value>
+ <value>0.2590203962295516</value>
</parameter>
<parameter>
<!--parameter's title: KeepRightDeviation-->
diff --git a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/plausibleFailureDrivers/SystemConfigRegular.xml b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/plausibleFailureDrivers/SystemConfigRegular.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ddd7cafee69805c01b28aa667f3dfe3691618ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/plausibleFailureDrivers/SystemConfigRegular.xml
@@ -0,0 +1,1102 @@
+<?xml version="1.0" ?><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>Sensor_Driver</id>
+ <schedule>
+ <priority>390</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_Driver</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Sensor_Junction</id>
+ <schedule>
+ <priority>391</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_Junction</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>AlgorithmInformationAcquisition</id>
+ <schedule>
+ <priority>311</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_InformationAcquisition</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: NormalGazePattern-->
+ <id>0</id>
+ <type>string</type>
+ <unit/>
+ <value>NORMALDRIVE:FRONT,0,1500,300,3;REAR,0,500,300,3;AVERT,0,300,100,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: LCLEFTGazePattern-->
+ <id>1</id>
+ <type>string</type>
+ <unit/>
+ <value>LCLEFT:FRONT,0,500,300,1;REAR,0,500,300,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: LCRIGHTGazePattern-->
+ <id>2</id>
+ <type>string</type>
+ <unit/>
+ <value>LCRIGHT:FRONT,0,500,300,1;REAR,0,500,300,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: FRONTEMERGENCYBRAKEGazePattern-->
+ <id>3</id>
+ <type>string</type>
+ <unit/>
+ <value>FRONTEMERGENCYBRAKE:FRONT,0,500,300,1;REAR,0,200,300,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: NORMALDRIVELEFTMOSTLANEGazePattern-->
+ <id>4</id>
+ <type>string</type>
+ <unit/>
+ <value>NORMALDRIVELEFTMOSTLANE:FRONT,0,1500,300,3;REAR,0,500,300,3;AVERT,0,400,100,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: NORMALDRIVERIGHTMOSTLANEGazePattern-->
+ <id>5</id>
+ <type>string</type>
+ <unit/>
+ <value>NORMALDRIVERIGHTMOSTLANE:FRONT,0,1500,300,3;REAR,0,500,300,3;AVERT,0,400,100,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RecognitionTimeMean-->
+ <id>6</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>100</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RecognitionTimeDeviation-->
+ <id>7</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinRecognitionTime-->
+ <id>8</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>AlgorithmMentalModel</id>
+ <schedule>
+ <priority>310</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_MentalModel</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: TTCPerceptionThresholdMean-->
+ <id>27</id>
+ <type>double</type>
+ <unit/>
+ <value>8</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TTCPerceptionThresholdStd-->
+ <id>28</id>
+ <type>double</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RelativePositionError-->
+ <id>29</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RelativeVelocityError-->
+ <id>30</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RelativeAcclerationError-->
+ <id>31</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>AlgorithmSituationAssessment</id>
+ <schedule>
+ <priority>309</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_SituationAssessment</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: VelocityWish-->
+ <id>7</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>133.95618875737682</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWishDeviation-->
+ <id>8</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>34.466649322772454</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWish-->
+ <id>9</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0.671500842990508</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWishDeviation-->
+ <id>10</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>1.481446681993117</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolation-->
+ <id>11</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolationDeviation-->
+ <id>12</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinDistance-->
+ <id>13</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: CriticalityLogging-->
+ <id>20</id>
+ <type>string</type>
+ <unit/>
+ <value/>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcReactionThreshold_mean-->
+ <id>21</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcReactionThreshold_std-->
+ <id>22</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>AlgorithmActionDeduction</id>
+ <schedule>
+ <priority>308</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_ActionDeduction</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: MaxComfortAcceleration-->
+ <id>4</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinComfortDeceleration-->
+ <id>5</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>-4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: ComfortAccelerationDeviation-->
+ <id>6</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>0.5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWish (if no SituationAssessment used)-->
+ <id>7</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>145</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWishDeviation (if no SituationAssessment used)-->
+ <id>8</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>20.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWish (if no SituationAssessment used)-->
+ <id>9</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>3.000000000000001</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWishDeviation (if no SituationAssessment used)-->
+ <id>10</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0.7000000000000001</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolation-->
+ <id>11</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolationDeviation-->
+ <id>12</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinDistance-->
+ <id>13</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: SpeedGain-->
+ <id>14</id>
+ <type>double</type>
+ <unit/>
+ <value>0.1455398661495221</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: SpeedGainDeviation-->
+ <id>15</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: KeepRight-->
+ <id>16</id>
+ <type>double</type>
+ <unit/>
+ <value>1.7640855476507882</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: KeepRightDeviation-->
+ <id>17</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Cooperative-->
+ <id>18</id>
+ <type>double</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: CooperativeDeviation-->
+ <id>19</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcThreshold_mean (if no SituationAssessment used)-->
+ <id>21</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcThreshold_std (if no SituationAssessment used)-->
+ <id>22</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxAcceleration-->
+ <!--new parameter in systemConfig due to missing parameter in VehicleModelParameters-->
+ <id>32</id>
+ <type>double</type>
+ <unit>ms</unit>
+ <value>7.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxDeceleration-->
+ <!--new parameter in systemConfig due to missing parameter in VehicleModelParameters-->
+ <id>33</id>
+ <type>double</type>
+ <unit>ms</unit>
+ <value>-9.81</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: ReactionTimeMean-->
+ <id>34</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>600</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: ReactionTimeStd-->
+ <id>35</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>300</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinReactionTime-->
+ <id>36</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>ComponentController</id>
+ <schedule>
+ <priority>200</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>ComponentController</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>PrioritizerAccelerationVehicleComponents</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>PrioritizerSteeringVehicleComponents</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ </parameters>
+ </component>
+ <component>
+ <id>LimiterAccelerationVehicleComponents</id>
+ <schedule>
+ <priority>120</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>LimiterAccelerationVehicleComponents</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LongitudinalVehicleComponents</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Longitudinal</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LongitudinalAfdm</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Longitudinal</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LateralAfdm</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Lateral</library>
+ <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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>PrioritizerTurningIndicator</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>Dynamics_RegularDriving</id>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Dynamics_RegularDriving</library>
+ <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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>int</type>
+ <unit/>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</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>
+ <component>
+ <id>Action_SecondaryDriverTasks</id>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Action_SecondaryDriverTasks</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Action_LongitudinalDriver</id>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Action_LongitudinalDriver</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Sensor_RecordState</id>
+ <schedule>
+ <priority>2</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_RecordState</library>
+ <parameters/>
+ </component>
+ </components>
+ <connections>
+ <connection>
+ <id>301</id>
+ <source>
+ <component>Dynamics_RegularDriving</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerDynamics</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <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>1111</id>
+ <source>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerLongitudinal</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1211</id>
+ <source>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerLongitudinal</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1512</id>
+ <source>
+ <component>Algorithm_LateralAfdm</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerSteering</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1713</id>
+ <source>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2111</id>
+ <source>
+ <component>PrioritizerLongitudinal</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>0</input>
+ </target>
+ <target>
+ <component>Action_LongitudinalDriver</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2212</id>
+ <source>
+ <component>PrioritizerSteering</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2313</id>
+ <source>
+ <component>PrioritizerAccelerationVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2414</id>
+ <source>
+ <component>PrioritizerSteeringVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerSteering</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>3319</id>
+ <source>
+ <component>PrioritizerTurningIndicator</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Action_SecondaryDriverTasks</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4113</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4114</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4119</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>PrioritizerTurningIndicator</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4120</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>5</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4121</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>4</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>5</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9292</id>
+ <source>
+ <component>Parameters_Vehicle</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9581</id>
+ <source>
+ <component>Sensor_Driver</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>0</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>3</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>3</input>
+ </target>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>101</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9582</id>
+ <source>
+ <component>Sensor_Junction</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9583</id>
+ <source>
+ <component>Sensor_Junction</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9584</id>
+ <source>
+ <component>Sensor_Junction</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>3</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>5</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>6</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>7</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>8</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>10</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>11</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>12</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>13</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>14</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>15</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>4</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>5</input>
+ </target>
+ </connection>
+ </connections>
+ </system>
+</systems>
\ No newline at end of file
diff --git a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/plausibleFailureDrivers/SystemConfigTruck.xml b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/plausibleFailureDrivers/SystemConfigTruck.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd2ee6d19e888a4cc7e1607bcf8ca15a421eaf08
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/plausibleFailureDrivers/SystemConfigTruck.xml
@@ -0,0 +1,1102 @@
+<?xml version="1.0" ?><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>Sensor_Driver</id>
+ <schedule>
+ <priority>390</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_Driver</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Sensor_Junction</id>
+ <schedule>
+ <priority>391</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_Junction</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>AlgorithmInformationAcquisition</id>
+ <schedule>
+ <priority>311</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_InformationAcquisition</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: NormalGazePattern-->
+ <id>0</id>
+ <type>string</type>
+ <unit/>
+ <value>NORMALDRIVE:FRONT,0,1500,300,3;REAR,0,500,300,3;AVERT,0,300,100,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: LCLEFTGazePattern-->
+ <id>1</id>
+ <type>string</type>
+ <unit/>
+ <value>LCLEFT:FRONT,0,500,300,1;REAR,0,500,300,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: LCRIGHTGazePattern-->
+ <id>2</id>
+ <type>string</type>
+ <unit/>
+ <value>LCRIGHT:FRONT,0,500,300,1;REAR,0,500,300,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: FRONTEMERGENCYBRAKEGazePattern-->
+ <id>3</id>
+ <type>string</type>
+ <unit/>
+ <value>FRONTEMERGENCYBRAKE:FRONT,0,500,300,1;REAR,0,200,300,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: NORMALDRIVELEFTMOSTLANEGazePattern-->
+ <id>4</id>
+ <type>string</type>
+ <unit/>
+ <value>NORMALDRIVELEFTMOSTLANE:FRONT,0,1500,300,3;REAR,0,500,300,3;AVERT,0,400,100,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: NORMALDRIVERIGHTMOSTLANEGazePattern-->
+ <id>5</id>
+ <type>string</type>
+ <unit/>
+ <value>NORMALDRIVERIGHTMOSTLANE:FRONT,0,1500,300,3;REAR,0,500,300,3;AVERT,0,400,100,1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RecognitionTimeMean-->
+ <id>6</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>100</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RecognitionTimeDeviation-->
+ <id>7</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinRecognitionTime-->
+ <id>8</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>AlgorithmMentalModel</id>
+ <schedule>
+ <priority>310</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_MentalModel</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: TTCPerceptionThresholdMean-->
+ <id>27</id>
+ <type>double</type>
+ <unit/>
+ <value>8</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TTCPerceptionThresholdStd-->
+ <id>28</id>
+ <type>double</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RelativePositionError-->
+ <id>29</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RelativeVelocityError-->
+ <id>30</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RelativeAcclerationError-->
+ <id>31</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>AlgorithmSituationAssessment</id>
+ <schedule>
+ <priority>309</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_SituationAssessment</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: VelocityWish-->
+ <id>7</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>87.82797075890214</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWishDeviation-->
+ <id>8</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>6.694040806010309</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWish-->
+ <id>9</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>1.827600101768836</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWishDeviation-->
+ <id>10</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0.9374497398909316</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolation-->
+ <id>11</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolationDeviation-->
+ <id>12</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinDistance-->
+ <id>13</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: CriticalityLogging-->
+ <id>20</id>
+ <type>string</type>
+ <unit/>
+ <value/>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcReactionThreshold_mean-->
+ <id>21</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcReactionThreshold_std-->
+ <id>22</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>AlgorithmActionDeduction</id>
+ <schedule>
+ <priority>308</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_ActionDeduction</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: MaxComfortAcceleration-->
+ <id>4</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinComfortDeceleration-->
+ <id>5</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>-4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: ComfortAccelerationDeviation-->
+ <id>6</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>0.5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWish (if no SituationAssessment used)-->
+ <id>7</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>21.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWishDeviation (if no SituationAssessment used)-->
+ <id>8</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>4.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWish (if no SituationAssessment used)-->
+ <id>9</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0.8</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWishDeviation (if no SituationAssessment used)-->
+ <id>10</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0.1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolation-->
+ <id>11</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolationDeviation-->
+ <id>12</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinDistance-->
+ <id>13</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: SpeedGain-->
+ <id>14</id>
+ <type>double</type>
+ <unit/>
+ <value>0.2774152129338214</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: SpeedGainDeviation-->
+ <id>15</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: KeepRight-->
+ <id>16</id>
+ <type>double</type>
+ <unit/>
+ <value>0.2590203962295516</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: KeepRightDeviation-->
+ <id>17</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Cooperative-->
+ <id>18</id>
+ <type>double</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: CooperativeDeviation-->
+ <id>19</id>
+ <type>double</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcThreshold_mean (if no SituationAssessment used)-->
+ <id>21</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcThreshold_std (if no SituationAssessment used)-->
+ <id>22</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxAcceleration-->
+ <!--new parameter in systemConfig due to missing parameter in VehicleModelParameters-->
+ <id>32</id>
+ <type>double</type>
+ <unit>ms</unit>
+ <value>7.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxDeceleration-->
+ <!--new parameter in systemConfig due to missing parameter in VehicleModelParameters-->
+ <id>33</id>
+ <type>double</type>
+ <unit>ms</unit>
+ <value>-9.81</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: ReactionTimeMean-->
+ <id>34</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>600</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: ReactionTimeStd-->
+ <id>35</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>300</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinReactionTime-->
+ <id>36</id>
+ <type>int</type>
+ <unit>ms</unit>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>ComponentController</id>
+ <schedule>
+ <priority>200</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>ComponentController</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>PrioritizerAccelerationVehicleComponents</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>PrioritizerSteeringVehicleComponents</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ </parameters>
+ </component>
+ <component>
+ <id>LimiterAccelerationVehicleComponents</id>
+ <schedule>
+ <priority>120</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>LimiterAccelerationVehicleComponents</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LongitudinalVehicleComponents</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Longitudinal</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LongitudinalAfdm</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Longitudinal</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LateralAfdm</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Lateral</library>
+ <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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>PrioritizerTurningIndicator</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>Dynamics_RegularDriving</id>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Dynamics_RegularDriving</library>
+ <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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>int</type>
+ <unit/>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</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>
+ <component>
+ <id>Action_SecondaryDriverTasks</id>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Action_SecondaryDriverTasks</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Action_LongitudinalDriver</id>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Action_LongitudinalDriver</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Sensor_RecordState</id>
+ <schedule>
+ <priority>2</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_RecordState</library>
+ <parameters/>
+ </component>
+ </components>
+ <connections>
+ <connection>
+ <id>301</id>
+ <source>
+ <component>Dynamics_RegularDriving</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerDynamics</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <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>1111</id>
+ <source>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerLongitudinal</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1211</id>
+ <source>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerLongitudinal</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1512</id>
+ <source>
+ <component>Algorithm_LateralAfdm</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerSteering</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1713</id>
+ <source>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2111</id>
+ <source>
+ <component>PrioritizerLongitudinal</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>0</input>
+ </target>
+ <target>
+ <component>Action_LongitudinalDriver</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2212</id>
+ <source>
+ <component>PrioritizerSteering</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2313</id>
+ <source>
+ <component>PrioritizerAccelerationVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2414</id>
+ <source>
+ <component>PrioritizerSteeringVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerSteering</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>3319</id>
+ <source>
+ <component>PrioritizerTurningIndicator</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Action_SecondaryDriverTasks</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4113</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4114</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4119</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>PrioritizerTurningIndicator</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4120</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>5</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4121</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>4</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>5</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9292</id>
+ <source>
+ <component>Parameters_Vehicle</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9581</id>
+ <source>
+ <component>Sensor_Driver</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>0</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>3</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>3</input>
+ </target>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>101</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9582</id>
+ <source>
+ <component>Sensor_Junction</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9583</id>
+ <source>
+ <component>Sensor_Junction</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9584</id>
+ <source>
+ <component>Sensor_Junction</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmInformationAcquisition</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>3</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>5</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>6</id>
+ <source>
+ <component>AlgorithmInformationAcquisition</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmMentalModel</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>7</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>8</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>10</id>
+ <source>
+ <component>AlgorithmMentalModel</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmSituationAssessment</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>11</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>12</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>13</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>14</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>3</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>4</input>
+ </target>
+ </connection>
+ <connection>
+ <id>15</id>
+ <source>
+ <component>AlgorithmSituationAssessment</component>
+ <output>4</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>5</input>
+ </target>
+ </connection>
+ </connections>
+ </system>
+</systems>
\ No newline at end of file
diff --git a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/simulationConfig.xml b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/simulationConfig.xml
index 6438096e1608b1e742022dde9f2de051ea8a6485..20cbc36a93ff080ca89aa669bc93b903deb6b147 100644
--- a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/simulationConfig.xml
@@ -3,7 +3,7 @@
<Experiment>
<ExperimentID>0</ExperimentID>
<NumberOfInvocations>1</NumberOfInvocations>
- <RandomSeed>0</RandomSeed>
+ <RandomSeed>1984</RandomSeed>
<Libraries>
<WorldLibrary>World_OSI</WorldLibrary>
</Libraries>
@@ -43,7 +43,7 @@
<StringVector Key="LoggingGroup_ReactionMM" Value="01_MM_Front,01_MM_Front_Dist,02_MM_Rear,02_MM_Rear_Dist,03_MM_FrontRight,03_MM_FrontRight_Dist,04_MM_RearRight,04_MM_RearRight_Dist,05_MM_FrontLeft,05_MM_FrontLeft_Dist,06_MM_RearLeft,06_MM_RearLeft_Dist"/>
<StringVector Key="LoggingGroup_ReactionIA" Value="01_IA_Front,01_IA_Front_Dist,02_IA_Rear,02_IA_Rear_Dist,03_IA_FrontRight,03_IA_FrontRight_Dist,04_IA_RearRight,04_IA_RearRight_Dist,05_IA_FrontLeft,05_IA_FrontLeft_Dist,06_IA_RearLeft,06_IA_RearLeft_Dist"/>
<StringVector Key="LoggingGroup_ReactionIAInput" Value="01_IA_Input_Front,01_IA_Input_Front_Dist,02_IA_Input_Rear,02_IA_Input_Rear_Dist,03_IA_Input_FrontRight,03_IA_Input_FrontRight_Dist,04_IA_Input_RearRight,04_IA_Input_RearRight_Dist,05_IA_Input_FrontLeft,05_IA_Input_FrontLeft_Dist,06_IA_Input_RearLeft,06_IA_Input_RearLeft_Dist"/>
- <StringVector Key="LoggingGroups" Value="Trace,RoadPosition,Visualization"/>
+ <StringVector Key="LoggingGroups" Value="Trace,RoadPosition,Visualization,LCStatus"/>
</Parameters>
</Observation>
</Observations>
diff --git a/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/systemConfigNoLC.xml b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/systemConfigNoLC.xml
new file mode 100644
index 0000000000000000000000000000000000000000..10d39f02e210415a6a88400f2d1932e141378ec1
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ModularDriver_CalibratedTraffic_2lanes_867KFZ_0k2004LKWpKFZ/systemConfigNoLC.xml
@@ -0,0 +1,656 @@
+<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>Sensor_Driver</id>
+ <schedule>
+ <priority>390</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_Driver</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>AlgorithmActionDeduction</id>
+ <schedule>
+ <priority>308</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_ActionDeduction</library>
+ <parameters>
+ <parameter>
+ <!--parameter's title: MaxComfortAcceleration-->
+ <id>4</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinComfortDeceleration-->
+ <id>5</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: ComfortAccelerationDeviation-->
+ <id>6</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>0.5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWish-->
+ <id>7</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>135</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: VelocityWishDeviation-->
+ <id>8</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>10</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWish-->
+ <id>9</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>1.5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWishDeviation-->
+ <id>10</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0.3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolation-->
+ <id>11</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MeanSpeedLimitViolationDeviation-->
+ <id>12</id>
+ <type>double</type>
+ <unit>km/h</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinDistance-->
+ <id>13</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: SpeedGain-->
+ <id>14</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: SpeedGainDeviation-->
+ <id>15</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: KeepRight-->
+ <id>16</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: KeepRightDeviation-->
+ <id>17</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Cooperative-->
+ <id>18</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: CooperativeDeviation-->
+ <id>19</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcThreshold_mean-->
+ <id>21</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TtcThreshold_std-->
+ <id>22</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxAcceleration-->
+ <!--new parameter in systemConfig due to missing parameter in VehicleModelParameters-->
+ <id>32</id>
+ <type>double</type>
+ <unit>ms</unit>
+ <value>7.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxDeceleration-->
+ <!--new parameter in systemConfig due to missing parameter in VehicleModelParameters-->
+ <id>33</id>
+ <type>double</type>
+ <unit>ms</unit>
+ <value>-9.81</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>ComponentController</id>
+ <schedule>
+ <priority>200</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>ComponentController</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>PrioritizerAccelerationVehicleComponents</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>PrioritizerSteeringVehicleComponents</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ </parameters>
+ </component>
+ <component>
+ <id>LimiterAccelerationVehicleComponents</id>
+ <schedule>
+ <priority>120</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>LimiterAccelerationVehicleComponents</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LongitudinalVehicleComponents</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Longitudinal</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LongitudinalAfdm</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Longitudinal</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Algorithm_LateralAfdm</id>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Algorithm_Lateral</library>
+ <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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>PrioritizerTurningIndicator</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>Dynamics_RegularDriving</id>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Dynamics_RegularDriving</library>
+ <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>1</id>
+ <type>int</type>
+ <unit/>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>int</type>
+ <unit/>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <unit/>
+ <value>1</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>
+ <component>
+ <id>Action_SecondaryDriverTasks</id>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Action_SecondaryDriverTasks</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Action_LongitudinalDriver</id>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Action_LongitudinalDriver</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Sensor_RecordState</id>
+ <schedule>
+ <priority>2</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_RecordState</library>
+ <parameters/>
+ </component>
+ </components>
+ <connections>
+ <connection>
+ <id>301</id>
+ <source>
+ <component>Dynamics_RegularDriving</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerDynamics</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <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>1111</id>
+ <source>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerLongitudinal</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1211</id>
+ <source>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerLongitudinal</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1512</id>
+ <source>
+ <component>Algorithm_LateralAfdm</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerSteering</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>1713</id>
+ <source>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2111</id>
+ <source>
+ <component>PrioritizerLongitudinal</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>0</input>
+ </target>
+ <target>
+ <component>Action_LongitudinalDriver</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2212</id>
+ <source>
+ <component>PrioritizerSteering</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2313</id>
+ <source>
+ <component>PrioritizerAccelerationVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>2414</id>
+ <source>
+ <component>PrioritizerSteeringVehicleComponents</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerSteering</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>3319</id>
+ <source>
+ <component>PrioritizerTurningIndicator</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Action_SecondaryDriverTasks</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4113</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>2</output>
+ </source>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4114</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4119</id>
+ <source>
+ <component>AlgorithmActionDeduction</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>PrioritizerTurningIndicator</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9292</id>
+ <source>
+ <component>Parameters_Vehicle</component>
+ <output>1</output>
+ </source>
+ <target>
+ <component>LimiterAccelerationVehicleComponents</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>1</input>
+ </target>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>Dynamics_RegularDriving</component>
+ <input>100</input>
+ </target>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9581</id>
+ <source>
+ <component>Sensor_Driver</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AlgorithmActionDeduction</component>
+ <input>0</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalAfdm</component>
+ <input>3</input>
+ </target>
+ <target>
+ <component>Algorithm_LongitudinalVehicleComponents</component>
+ <input>3</input>
+ </target>
+ <target>
+ <component>Algorithm_LateralAfdm</component>
+ <input>101</input>
+ </target>
+ </connection>
+ </connections>
+ </system>
+</systems>
diff --git a/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllOfframp/simulationConfig.xml b/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllOfframp/simulationConfig.xml
index 2c287dada20aea9b861835e288a4bb3dba4831fd..02aeb743103c48117daca1fff790b601ab18bb5f 100644
--- a/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllOfframp/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllOfframp/simulationConfig.xml
@@ -44,30 +44,30 @@
<StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor"/>
</Parameters>
</Observation>
- <Observation>
- <Library>Observation_LogAgent</Library>
- <Parameters>
- <String Key="OutputFilename" Value="simulationOutput_LaneChange.xml"/>
- <Bool Key="LoggingCyclicsToCsv" Value="false"/>
- <StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle"/>
- <StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/>
- <StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/>
- <StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/>
- <StringVector Key="LoggingGroup_OvertakeLeader" Value="OvertakeLeader_BlockedWishNorm,OvertakeLeader_BlockedvNextNorm,OvertakeLeader_BlockedWishvNextNorm,OvertakeLeader_TTCAddition,OvertakeLeader_TriggerAddition,OvertakeLeader_idSurrounding,OvertakeLeader_vSurrounding,OvertakeLeader_distance"/>
- <StringVector Key="LoggingGroup_OvertakeRight" Value="OvertakeRight_BlockedWishNorm,OvertakeRight_BlockedvNextNorm,OvertakeRight_BlockedWishvNextNorm,OvertakeRight_TTCAddition,OvertakeRight_TriggerAddition,OvertakeRight_idSurrounding,OvertakeRight_vSurrounding,OvertakeRight_distance"/>
- <StringVector Key="LoggingGroup_StayLeftSlowerRightLeader" Value="StayLeftSlowerRightLeader_BlockedWishNorm,StayLeftSlowerRightLeader_BlockedvNextNorm,StayLeftSlowerRightLeader_BlockedWishvNextNorm,StayLeftSlowerRightLeader_TTCAddition,StayLeftSlowerRightLeader_TriggerAddition,StayLeftSlowerRightLeader_idSurrounding,StayLeftSlowerRightLeader_vSurrounding,StayLeftSlowerRightLeader_distance"/>
- <StringVector Key="LoggingGroup_GoRightFastFollower" Value="GoRightFastFollower_BlockedWishNorm,GoRightFastFollower_BlockedvNextNorm,GoRightFastFollower_BlockedWishvNextNorm,GoRightFastFollower_TTCAddition,GoRightFastFollower_TriggerAddition,GoRightFastFollower_idSurrounding,GoRightFastFollower_vSurrounding,GoRightFastFollower_distance"/>
- <StringVector Key="LoggingGroup_CooperativeForEndingLeft" Value="CooperativeForEndingLeft_BlockedWishNorm,CooperativeForEndingLeft_BlockedvNextNorm,CooperativeForEndingLeft_BlockedWishvNextNorm,CooperativeForEndingLeft_TTCAddition,CooperativeForEndingLeft_TriggerAddition,CooperativeForEndingLeft_idSurrounding,CooperativeForEndingLeft_vSurrounding,CooperativeForEndingLeft_distance"/>
- <StringVector Key="LoggingGroup_CooperativeForOnramper" Value="CooperativeForOnramper_BlockedWishNorm,CooperativeForOnramper_BlockedvNextNorm,CooperativeForOnramper_BlockedWishvNextNorm,CooperativeForOnramper_TTCAddition,CooperativeForOnramper_TriggerAddition,CooperativeForOnramper_idSurrounding,CooperativeForOnramper_vSurrounding,CooperativeForOnramper_distance"/>
- <StringVector Key="LoggingGroup_LCLeftEndingCurrLane" Value="LCLeftEndingCurrLane_BlockedWishNorm,LCLeftEndingCurrLane_BlockedvNextNorm,LCLeftEndingCurrLane_BlockedWishvNextNorm,LCLeftEndingCurrLane_TTCAddition,LCLeftEndingCurrLane_TriggerAddition,LCLeftEndingCurrLane_idSurrounding,LCLeftEndingCurrLane_vSurrounding,LCLeftEndingCurrLane_distance"/>
- <StringVector Key="LoggingGroup_LCRightEndingCurrLane" Value="LCRightEndingCurrLane_BlockedWishNorm,LCRightEndingCurrLane_BlockedvNextNorm,LCRightEndingCurrLane_BlockedWishvNextNorm,LCRightEndingCurrLane_TTCAddition,LCRightEndingCurrLane_TriggerAddition,LCRightEndingCurrLane_idSurrounding,LCRightEndingCurrLane_vSurrounding,LCRightEndingCurrLane_distance"/>
- <StringVector Key="LoggingGroup_GoRight" Value="GoRight_BlockedWishNorm,GoRight_BlockedvNextNorm,GoRight_BlockedWishvNextNorm,GoRight_TTCAddition,GoRight_TriggerAddition,GoRight_idSurrounding,GoRight_vSurrounding,GoRight_distance"/>
- <StringVector Key="LoggingGroup_LCStatus" Value="LC_Initiated,LC_Status_Left,LC_Status_Right"/>
- <StringVector Key="LoggingGroup_LeftTrigger" Value="Trigger_Left,Coopeartive_ForOnramper,NoOvertakeRight,EndingLane,OvertakeSpeedGain"/>
- <StringVector Key="LoggingGroup_RightTrigger" Value="Trigger_Right,CheckStayLeft_RightLeader,CheckGoRight_Follower,RightHand,rightFollower_vs_leftRightLeader,EndingLane,Cooperative_LaneEndingLeft"/>
- <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,LCStatus,LeftTrigger,RightTrigger,OvertakeLeader,OvertakeRight,StayLeftSlowerRightLeader,GoRightFastFollower,GoRight"/>
- </Parameters>
- </Observation>
+ <!-- <Observation> -->
+ <!-- <Library>Observation_LogAgent</Library> -->
+ <!-- <Parameters> -->
+ <!-- <String Key="OutputFilename" Value="simulationOutput_LaneChange.xml"/> -->
+ <!-- <Bool Key="LoggingCyclicsToCsv" Value="false"/> -->
+ <!-- <StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle"/> -->
+ <!-- <StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/> -->
+ <!-- <StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/> -->
+ <!-- <StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/> -->
+ <!-- <StringVector Key="LoggingGroup_OvertakeLeader" Value="OvertakeLeader_BlockedWishNorm,OvertakeLeader_BlockedvNextNorm,OvertakeLeader_BlockedWishvNextNorm,OvertakeLeader_TTCAddition,OvertakeLeader_TriggerAddition,OvertakeLeader_idSurrounding,OvertakeLeader_vSurrounding,OvertakeLeader_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_OvertakeRight" Value="OvertakeRight_BlockedWishNorm,OvertakeRight_BlockedvNextNorm,OvertakeRight_BlockedWishvNextNorm,OvertakeRight_TTCAddition,OvertakeRight_TriggerAddition,OvertakeRight_idSurrounding,OvertakeRight_vSurrounding,OvertakeRight_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_StayLeftSlowerRightLeader" Value="StayLeftSlowerRightLeader_BlockedWishNorm,StayLeftSlowerRightLeader_BlockedvNextNorm,StayLeftSlowerRightLeader_BlockedWishvNextNorm,StayLeftSlowerRightLeader_TTCAddition,StayLeftSlowerRightLeader_TriggerAddition,StayLeftSlowerRightLeader_idSurrounding,StayLeftSlowerRightLeader_vSurrounding,StayLeftSlowerRightLeader_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_GoRightFastFollower" Value="GoRightFastFollower_BlockedWishNorm,GoRightFastFollower_BlockedvNextNorm,GoRightFastFollower_BlockedWishvNextNorm,GoRightFastFollower_TTCAddition,GoRightFastFollower_TriggerAddition,GoRightFastFollower_idSurrounding,GoRightFastFollower_vSurrounding,GoRightFastFollower_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_CooperativeForEndingLeft" Value="CooperativeForEndingLeft_BlockedWishNorm,CooperativeForEndingLeft_BlockedvNextNorm,CooperativeForEndingLeft_BlockedWishvNextNorm,CooperativeForEndingLeft_TTCAddition,CooperativeForEndingLeft_TriggerAddition,CooperativeForEndingLeft_idSurrounding,CooperativeForEndingLeft_vSurrounding,CooperativeForEndingLeft_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_CooperativeForOnramper" Value="CooperativeForOnramper_BlockedWishNorm,CooperativeForOnramper_BlockedvNextNorm,CooperativeForOnramper_BlockedWishvNextNorm,CooperativeForOnramper_TTCAddition,CooperativeForOnramper_TriggerAddition,CooperativeForOnramper_idSurrounding,CooperativeForOnramper_vSurrounding,CooperativeForOnramper_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_LCLeftEndingCurrLane" Value="LCLeftEndingCurrLane_BlockedWishNorm,LCLeftEndingCurrLane_BlockedvNextNorm,LCLeftEndingCurrLane_BlockedWishvNextNorm,LCLeftEndingCurrLane_TTCAddition,LCLeftEndingCurrLane_TriggerAddition,LCLeftEndingCurrLane_idSurrounding,LCLeftEndingCurrLane_vSurrounding,LCLeftEndingCurrLane_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_LCRightEndingCurrLane" Value="LCRightEndingCurrLane_BlockedWishNorm,LCRightEndingCurrLane_BlockedvNextNorm,LCRightEndingCurrLane_BlockedWishvNextNorm,LCRightEndingCurrLane_TTCAddition,LCRightEndingCurrLane_TriggerAddition,LCRightEndingCurrLane_idSurrounding,LCRightEndingCurrLane_vSurrounding,LCRightEndingCurrLane_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_GoRight" Value="GoRight_BlockedWishNorm,GoRight_BlockedvNextNorm,GoRight_BlockedWishvNextNorm,GoRight_TTCAddition,GoRight_TriggerAddition,GoRight_idSurrounding,GoRight_vSurrounding,GoRight_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_LCStatus" Value="LC_Initiated,LC_Status_Left,LC_Status_Right"/> -->
+ <!-- <StringVector Key="LoggingGroup_LeftTrigger" Value="Trigger_Left,Coopeartive_ForOnramper,NoOvertakeRight,EndingLane,OvertakeSpeedGain"/> -->
+ <!-- <StringVector Key="LoggingGroup_RightTrigger" Value="Trigger_Right,CheckStayLeft_RightLeader,CheckGoRight_Follower,RightHand,rightFollower_vs_leftRightLeader,EndingLane,Cooperative_LaneEndingLeft"/> -->
+ <!-- <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,LCStatus,LeftTrigger,RightTrigger,OvertakeLeader,OvertakeRight,StayLeftSlowerRightLeader,GoRightFastFollower,GoRight"/> -->
+ <!-- </Parameters> -->
+ <!-- </Observation> -->
</Observations>
<Spawners>
<Spawner>
diff --git a/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllStraight/simulationConfig.xml b/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllStraight/simulationConfig.xml
index 2c287dada20aea9b861835e288a4bb3dba4831fd..02aeb743103c48117daca1fff790b601ab18bb5f 100644
--- a/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllStraight/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ModularDriver_SpawnerRuntime_Highway_Exit_Routes_AllStraight/simulationConfig.xml
@@ -44,30 +44,30 @@
<StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor"/>
</Parameters>
</Observation>
- <Observation>
- <Library>Observation_LogAgent</Library>
- <Parameters>
- <String Key="OutputFilename" Value="simulationOutput_LaneChange.xml"/>
- <Bool Key="LoggingCyclicsToCsv" Value="false"/>
- <StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle"/>
- <StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/>
- <StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/>
- <StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/>
- <StringVector Key="LoggingGroup_OvertakeLeader" Value="OvertakeLeader_BlockedWishNorm,OvertakeLeader_BlockedvNextNorm,OvertakeLeader_BlockedWishvNextNorm,OvertakeLeader_TTCAddition,OvertakeLeader_TriggerAddition,OvertakeLeader_idSurrounding,OvertakeLeader_vSurrounding,OvertakeLeader_distance"/>
- <StringVector Key="LoggingGroup_OvertakeRight" Value="OvertakeRight_BlockedWishNorm,OvertakeRight_BlockedvNextNorm,OvertakeRight_BlockedWishvNextNorm,OvertakeRight_TTCAddition,OvertakeRight_TriggerAddition,OvertakeRight_idSurrounding,OvertakeRight_vSurrounding,OvertakeRight_distance"/>
- <StringVector Key="LoggingGroup_StayLeftSlowerRightLeader" Value="StayLeftSlowerRightLeader_BlockedWishNorm,StayLeftSlowerRightLeader_BlockedvNextNorm,StayLeftSlowerRightLeader_BlockedWishvNextNorm,StayLeftSlowerRightLeader_TTCAddition,StayLeftSlowerRightLeader_TriggerAddition,StayLeftSlowerRightLeader_idSurrounding,StayLeftSlowerRightLeader_vSurrounding,StayLeftSlowerRightLeader_distance"/>
- <StringVector Key="LoggingGroup_GoRightFastFollower" Value="GoRightFastFollower_BlockedWishNorm,GoRightFastFollower_BlockedvNextNorm,GoRightFastFollower_BlockedWishvNextNorm,GoRightFastFollower_TTCAddition,GoRightFastFollower_TriggerAddition,GoRightFastFollower_idSurrounding,GoRightFastFollower_vSurrounding,GoRightFastFollower_distance"/>
- <StringVector Key="LoggingGroup_CooperativeForEndingLeft" Value="CooperativeForEndingLeft_BlockedWishNorm,CooperativeForEndingLeft_BlockedvNextNorm,CooperativeForEndingLeft_BlockedWishvNextNorm,CooperativeForEndingLeft_TTCAddition,CooperativeForEndingLeft_TriggerAddition,CooperativeForEndingLeft_idSurrounding,CooperativeForEndingLeft_vSurrounding,CooperativeForEndingLeft_distance"/>
- <StringVector Key="LoggingGroup_CooperativeForOnramper" Value="CooperativeForOnramper_BlockedWishNorm,CooperativeForOnramper_BlockedvNextNorm,CooperativeForOnramper_BlockedWishvNextNorm,CooperativeForOnramper_TTCAddition,CooperativeForOnramper_TriggerAddition,CooperativeForOnramper_idSurrounding,CooperativeForOnramper_vSurrounding,CooperativeForOnramper_distance"/>
- <StringVector Key="LoggingGroup_LCLeftEndingCurrLane" Value="LCLeftEndingCurrLane_BlockedWishNorm,LCLeftEndingCurrLane_BlockedvNextNorm,LCLeftEndingCurrLane_BlockedWishvNextNorm,LCLeftEndingCurrLane_TTCAddition,LCLeftEndingCurrLane_TriggerAddition,LCLeftEndingCurrLane_idSurrounding,LCLeftEndingCurrLane_vSurrounding,LCLeftEndingCurrLane_distance"/>
- <StringVector Key="LoggingGroup_LCRightEndingCurrLane" Value="LCRightEndingCurrLane_BlockedWishNorm,LCRightEndingCurrLane_BlockedvNextNorm,LCRightEndingCurrLane_BlockedWishvNextNorm,LCRightEndingCurrLane_TTCAddition,LCRightEndingCurrLane_TriggerAddition,LCRightEndingCurrLane_idSurrounding,LCRightEndingCurrLane_vSurrounding,LCRightEndingCurrLane_distance"/>
- <StringVector Key="LoggingGroup_GoRight" Value="GoRight_BlockedWishNorm,GoRight_BlockedvNextNorm,GoRight_BlockedWishvNextNorm,GoRight_TTCAddition,GoRight_TriggerAddition,GoRight_idSurrounding,GoRight_vSurrounding,GoRight_distance"/>
- <StringVector Key="LoggingGroup_LCStatus" Value="LC_Initiated,LC_Status_Left,LC_Status_Right"/>
- <StringVector Key="LoggingGroup_LeftTrigger" Value="Trigger_Left,Coopeartive_ForOnramper,NoOvertakeRight,EndingLane,OvertakeSpeedGain"/>
- <StringVector Key="LoggingGroup_RightTrigger" Value="Trigger_Right,CheckStayLeft_RightLeader,CheckGoRight_Follower,RightHand,rightFollower_vs_leftRightLeader,EndingLane,Cooperative_LaneEndingLeft"/>
- <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,LCStatus,LeftTrigger,RightTrigger,OvertakeLeader,OvertakeRight,StayLeftSlowerRightLeader,GoRightFastFollower,GoRight"/>
- </Parameters>
- </Observation>
+ <!-- <Observation> -->
+ <!-- <Library>Observation_LogAgent</Library> -->
+ <!-- <Parameters> -->
+ <!-- <String Key="OutputFilename" Value="simulationOutput_LaneChange.xml"/> -->
+ <!-- <Bool Key="LoggingCyclicsToCsv" Value="false"/> -->
+ <!-- <StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle"/> -->
+ <!-- <StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/> -->
+ <!-- <StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/> -->
+ <!-- <StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/> -->
+ <!-- <StringVector Key="LoggingGroup_OvertakeLeader" Value="OvertakeLeader_BlockedWishNorm,OvertakeLeader_BlockedvNextNorm,OvertakeLeader_BlockedWishvNextNorm,OvertakeLeader_TTCAddition,OvertakeLeader_TriggerAddition,OvertakeLeader_idSurrounding,OvertakeLeader_vSurrounding,OvertakeLeader_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_OvertakeRight" Value="OvertakeRight_BlockedWishNorm,OvertakeRight_BlockedvNextNorm,OvertakeRight_BlockedWishvNextNorm,OvertakeRight_TTCAddition,OvertakeRight_TriggerAddition,OvertakeRight_idSurrounding,OvertakeRight_vSurrounding,OvertakeRight_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_StayLeftSlowerRightLeader" Value="StayLeftSlowerRightLeader_BlockedWishNorm,StayLeftSlowerRightLeader_BlockedvNextNorm,StayLeftSlowerRightLeader_BlockedWishvNextNorm,StayLeftSlowerRightLeader_TTCAddition,StayLeftSlowerRightLeader_TriggerAddition,StayLeftSlowerRightLeader_idSurrounding,StayLeftSlowerRightLeader_vSurrounding,StayLeftSlowerRightLeader_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_GoRightFastFollower" Value="GoRightFastFollower_BlockedWishNorm,GoRightFastFollower_BlockedvNextNorm,GoRightFastFollower_BlockedWishvNextNorm,GoRightFastFollower_TTCAddition,GoRightFastFollower_TriggerAddition,GoRightFastFollower_idSurrounding,GoRightFastFollower_vSurrounding,GoRightFastFollower_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_CooperativeForEndingLeft" Value="CooperativeForEndingLeft_BlockedWishNorm,CooperativeForEndingLeft_BlockedvNextNorm,CooperativeForEndingLeft_BlockedWishvNextNorm,CooperativeForEndingLeft_TTCAddition,CooperativeForEndingLeft_TriggerAddition,CooperativeForEndingLeft_idSurrounding,CooperativeForEndingLeft_vSurrounding,CooperativeForEndingLeft_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_CooperativeForOnramper" Value="CooperativeForOnramper_BlockedWishNorm,CooperativeForOnramper_BlockedvNextNorm,CooperativeForOnramper_BlockedWishvNextNorm,CooperativeForOnramper_TTCAddition,CooperativeForOnramper_TriggerAddition,CooperativeForOnramper_idSurrounding,CooperativeForOnramper_vSurrounding,CooperativeForOnramper_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_LCLeftEndingCurrLane" Value="LCLeftEndingCurrLane_BlockedWishNorm,LCLeftEndingCurrLane_BlockedvNextNorm,LCLeftEndingCurrLane_BlockedWishvNextNorm,LCLeftEndingCurrLane_TTCAddition,LCLeftEndingCurrLane_TriggerAddition,LCLeftEndingCurrLane_idSurrounding,LCLeftEndingCurrLane_vSurrounding,LCLeftEndingCurrLane_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_LCRightEndingCurrLane" Value="LCRightEndingCurrLane_BlockedWishNorm,LCRightEndingCurrLane_BlockedvNextNorm,LCRightEndingCurrLane_BlockedWishvNextNorm,LCRightEndingCurrLane_TTCAddition,LCRightEndingCurrLane_TriggerAddition,LCRightEndingCurrLane_idSurrounding,LCRightEndingCurrLane_vSurrounding,LCRightEndingCurrLane_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_GoRight" Value="GoRight_BlockedWishNorm,GoRight_BlockedvNextNorm,GoRight_BlockedWishvNextNorm,GoRight_TTCAddition,GoRight_TriggerAddition,GoRight_idSurrounding,GoRight_vSurrounding,GoRight_distance"/> -->
+ <!-- <StringVector Key="LoggingGroup_LCStatus" Value="LC_Initiated,LC_Status_Left,LC_Status_Right"/> -->
+ <!-- <StringVector Key="LoggingGroup_LeftTrigger" Value="Trigger_Left,Coopeartive_ForOnramper,NoOvertakeRight,EndingLane,OvertakeSpeedGain"/> -->
+ <!-- <StringVector Key="LoggingGroup_RightTrigger" Value="Trigger_Right,CheckStayLeft_RightLeader,CheckGoRight_Follower,RightHand,rightFollower_vs_leftRightLeader,EndingLane,Cooperative_LaneEndingLeft"/> -->
+ <!-- <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,LCStatus,LeftTrigger,RightTrigger,OvertakeLeader,OvertakeRight,StayLeftSlowerRightLeader,GoRightFastFollower,GoRight"/> -->
+ <!-- </Parameters> -->
+ <!-- </Observation> -->
</Observations>
<Spawners>
<Spawner>
diff --git a/sim/src/components/Algorithm_MentalModel/src/AlgorithmMentalModel.cpp b/sim/src/components/Algorithm_MentalModel/src/AlgorithmMentalModel.cpp
index 2ad5d9d3ca2a22daaecf475e3faaa7cda3105136..3ebfdfad7e972e5088f229dd20465b4f5969aeba 100644
--- a/sim/src/components/Algorithm_MentalModel/src/AlgorithmMentalModel.cpp
+++ b/sim/src/components/Algorithm_MentalModel/src/AlgorithmMentalModel.cpp
@@ -360,6 +360,7 @@ bool MentalModel::ExtrapolationNeeded(AgentRepresentation &currMentalAgent, Obje
if (!perceptionThreshold->IsPerceptionThresholdReached(currMentalAgent, in_perceptedAgent, MM_Input_BU->Ego->absoluteVelocity))
{
in_perceptedAgent = UnrecognizedAgent();
+ currMentalAgent.Reset_LifeTime();
return true;
}
@@ -456,7 +457,7 @@ void MentalModel::Initialize(MentalModel_Output *MM_Output)
mentalObjectFrontLeft = emptyAgent;
mentalObjectRearLeft = emptyAgent;
- double ttcPerceptionThreshold = std::max(10.0, _stochastic->GetNormalDistributed(ttcPerceptionThresholdMean, ttcPerceptionThresholdStd));
+ double ttcPerceptionThreshold = std::max(5.0, _stochastic->GetNormalDistributed(ttcPerceptionThresholdMean, ttcPerceptionThresholdStd));
perceptionThreshold = std::make_unique<PerceptionThreshold>(cycleTime, ttcPerceptionThreshold);
diff --git a/sim/tests/endToEndTests/test_end_to_end.json b/sim/tests/endToEndTests/test_end_to_end.json
index c2b64516ffbf947b42f4c84af4e6f5b8c7aaae0e..35cdd46715ecf15bbfa5e3b162f68018d5c66cb9 100644
--- a/sim/tests/endToEndTests/test_end_to_end.json
+++ b/sim/tests/endToEndTests/test_end_to_end.json
@@ -411,7 +411,7 @@
"invocations": 1,
"description": "At runtime spawned agents approach an offramp and drive along their route, based on the route-definition within the systemConfiguration (here: 100% should use the offramp).",
"queries": [
- "mean(Road | Road-1!=Road and (Road == 14 or Road == 13)) < 13.2"
+ "mean(Road | Road-1!=Road and (Road == 14 or Road == 13)) < 13.3"
],
"success_rate": 1.0
},