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a11518cc
Commit
a11518cc
authored
Mar 03, 2022
by
David Weiß
Committed by
Reinhard Biegel
Apr 25, 2022
Browse files
feat(Configs): Example configs for Bicyclist
parent
8554caad
Pipeline
#3627
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in 0 seconds
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sim/contrib/examples/Configurations/Bicyclist/ProfilesCatalog.xml
0 → 100644
View file @
a11518cc
<Profiles
SchemaVersion=
"0.4.6"
>
<AgentProfiles>
<AgentProfile
Name=
"BicycleAgent"
Type=
"Static"
>
<System>
<File>
SystemConfigBicycle.xml
</File>
<Id>
0
</Id>
</System>
<VehicleModel>
bicycle
</VehicleModel>
</AgentProfile>
</AgentProfiles>
<VehicleProfiles>
</VehicleProfiles>
<ProfileGroup
Type=
"Driver"
>
</ProfileGroup>
<ProfileGroup
Type=
"Spawner"
>
</ProfileGroup>
<ProfileGroup
Type=
"TrafficRules"
>
<Profile
Name=
"Germany"
>
<Double
Key=
"OpenSpeedLimit"
Value=
"INF"
/>
<Bool
Key=
"KeepToOuterLanes"
Value=
"true"
/>
<Bool
Key=
"DontOvertakeOnOuterLanes"
Value=
"true"
/>
<Bool
Key=
"FormRescueLane"
Value=
"true"
/>
<Bool
Key=
"ZipperMerge"
Value=
"true"
/>
</Profile>
<Profile
Name=
"USA"
>
<Double
Key=
"OpenSpeedLimit"
Value=
"31.2928"
/>
<Bool
Key=
"KeepToOuterLanes"
Value=
"false"
/>
<Bool
Key=
"DontOvertakeOnOuterLanes"
Value=
"false"
/>
<Bool
Key=
"FormRescueLane"
Value=
"true"
/>
<Bool
Key=
"ZipperMerge"
Value=
"false"
/>
</Profile>
<Profile
Name=
"China"
>
<Double
Key=
"OpenSpeedLimit"
Value=
"33.3333"
/>
<Bool
Key=
"KeepToOuterLanes"
Value=
"false"
/>
<Bool
Key=
"DontOvertakeOnOuterLanes"
Value=
"true"
/>
<Bool
Key=
"FormRescueLane"
Value=
"false"
/>
<Bool
Key=
"ZipperMerge"
Value=
"true"
/>
</Profile>
</ProfileGroup>
</Profiles>
sim/contrib/examples/Configurations/Bicyclist/Scenario.xosc
0 → 100644
View file @
a11518cc
<?xml version="1.0"?>
<OpenSCENARIO>
<FileHeader
revMajor=
"1"
revMinor=
"0"
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=
"VehicleModelsCatalog.xosc"
/>
</VehicleCatalog>
<PedestrianCatalog>
<Directory
path=
"PedestrianModelsCatalog.xosc"
/>
</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=
"ProfilesCatalog.xml"
entryName=
"BicycleAgent"
/>
</ScenarioObject>
<EntitySelection
name=
"ScenarioAgents"
>
<Members/>
</EntitySelection>
</Entities>
<Storyboard>
<Init>
<Actions>
<Private
entityRef=
"Ego"
>
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition
roadId=
"R1"
laneId=
"-2"
offset=
"0.0"
s=
"190.0"
/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics
dynamicsShape=
"linear"
value=
"0.0"
dynamicsDimension=
"rate"
/>
<SpeedActionTarget>
<AbsoluteTargetSpeed
value=
"3.5"
/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
<PrivateAction>
<RoutingAction>
<AssignRouteAction>
<Route>
<Waypoint>
<Position>
<RoadPosition
roadId=
"R1"
t=
"-1.0"
s=
"0"
/>
</Position>
</Waypoint>
<Waypoint>
<Position>
<RoadPosition
roadId=
"R1-2"
t=
"-1.0"
s=
"0"
/>
</Position>
</Waypoint>
<Waypoint>
<Position>
<RoadPosition
roadId=
"R2"
t=
"1.0"
s=
"0"
/>
</Position>
</Waypoint>
</Route>
</AssignRouteAction>
</RoutingAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story
name=
"BicycleStory"
>
<Act
name=
"Act1"
>
<ManeuverGroup
maximumExecutionCount=
"1"
name=
"BicycleSequence"
>
<Actors
selectTriggeringEntities=
"false"
>
<EntityRef
entityRef=
"Ego"
/>
</Actors>
<Maneuver
name=
"BicycleManeuver"
>
<Event
name=
"BicycleEvent"
priority=
"overwrite"
>
<Action
name=
"BicycleRoute"
>
<PrivateAction>
<RoutingAction>
<AssignRouteAction>
<Route>
<Waypoint>
<Position>
<RoadPosition
roadId=
"R2"
t=
"5.0"
s=
"0"
/>
</Position>
</Waypoint>
<Waypoint>
<Position>
<RoadPosition
roadId=
"R2"
t=
"-5.0"
s=
"200.0"
/>
</Position>
</Waypoint>
<Waypoint>
<Position>
<RoadPosition
roadId=
"R3"
t=
"5.0"
s=
"0"
/>
</Position>
</Waypoint>
</Route>
</AssignRouteAction>
</RoutingAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition
name=
"Conditional"
>
<ByValueCondition>
<SimulationTimeCondition
value=
"-1"
rule=
"greaterThan"
/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition
name=
"EndTime"
delay=
"0"
conditionEdge=
"rising"
>
<ByValueCondition>
<SimulationTimeCondition
value=
"30.0"
rule=
"greaterThan"
/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
sim/contrib/examples/Configurations/Bicyclist/SceneryConfiguration.xodr
0 → 100644
View file @
a11518cc
<OpenDRIVE>
<header revMajor="1" revMinor="4" name="TJunction" version="1.01" date="Tue Nov 5 18:53:27 CET 2019" north="2.0000000000000000e+003" south="-2.0000000000000000e+003" east="2.0000000000000000e+003" west="-2.0000000000000000e+003"/>
<road name="" length="200.0" id="R1" junction="-1">
<link>
<successor elementType="junction" elementId="J0"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="0" y="0.0" hdg="0" length="200.0">
<line/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<left>
<lane id="1" type="driving" level="true">
<link/>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
</left>
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link/>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
<lane id="-2" type="sidewalk" level="true">
<link/>
<width sOffset="0" a="2.0" 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/>
<signals>
<signal id="1" type="306" subtype="" s="200" t="-6.5" hOffset="0.0" pitch="0" roll="0" dynamic="no" country="DEU" name="" orientation="+" zOffset="0">
<validity toLane="-1" fromLane="-1"/>
</signal>
</signals>
</road>
<road name="" length="200.0" id="R2" junction="-1">
<link>
<successor elementType="junction" elementId="J0"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="208.0" y="-208.0" hdg="1.570796327" length="200.0">
<line/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<left>
<lane id="2" type="sidewalk" level="true">
<link/>
<width sOffset="0" a="2.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
<lane id="1" type="driving" level="true">
<link/>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
</left>
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link/>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
<lane id="-2" type="sidewalk" level="true">
<link/>
<width sOffset="0" a="2.0" 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 id="10" name="Crosswalk" s="198.4" t="0" zOffset="0.0" hdg="1.5707963267948966" roll="0.0" pitch="0.0" orientation="+" type="crosswalk" width="3.0" length="8.0">
</object>
</objects>
<signals>
<signal id="1" type="206" subtype="" s="200" t="-6.5" hOffset="0.0" pitch="0" roll="0" dynamic="no" country="DEU" name="" orientation="+" zOffset="0">
<validity toLane="-1" fromLane="-1"/>
</signal>
</signals>
</road>
<road name="" length="200.0" id="R3" junction="-1">
<link>
<successor elementType="junction" elementId="J0"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="416.0" y="0.0" hdg="3.141592654" length="200.0">
<line/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<left>
<lane id="2" type="sidewalk" level="true">
<link/>
<width sOffset="0" a="2.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
<lane id="1" type="driving" level="true">
<link/>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
</left>
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link/>
<width sOffset="0" a="4.0" 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/>
<signals>
<signal id="1" type="306" subtype="" s="200" t="-4.5" hOffset="0.0" pitch="0" roll="0" dynamic="no" country="DEU" name="" orientation="+" zOffset="0">
<validity toLane="-1" fromLane="-1"/>
</signal>
</signals>
</road>
<road name="" length="12.566370614" id="R1-2" junction="J0">
<link>
<predecessor elementType="road" elementId="R1" contactPoint="end"/>
<successor elementType="road" elementId="R2" contactPoint="end"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="200.0" y="0.0" hdg="0" length="12.566370614">
<arc curvature="-0.125"/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<predecessor id="-1"/>
<successor id="1"/>
</link>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
<lane id="-2" type="sidewalk" level="true">
<link>
<predecessor id="-2"/>
<successor id="2"/>
</link>
<width sOffset="0" a="2.0" 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/>
<signals/>
</road>
<road name="" length="12.566370614" id="R2-1" junction="J0">
<link>
<predecessor elementType="road" elementId="R2" contactPoint="end"/>
<successor elementType="road" elementId="R1" contactPoint="end"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="208.0" y="-8.0" hdg="1.570796327" length="12.566370614">
<arc curvature="0.125"/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<predecessor id="-1"/>
<successor id="1"/>
</link>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
</lane>
</right>
</laneSection>
</lanes>
<objects/>
<signals/>
</road>
<road name="" length="16.0" id="R1-3" junction="J0">
<link>
<predecessor elementType="road" elementId="R1" contactPoint="end"/>
<successor elementType="road" elementId="R3" contactPoint="end"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="200.0" y="0.0" hdg="0" length="16.0">
<line/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<predecessor id="-1"/>
<successor id="1"/>
</link>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
</lane>
</right>
</laneSection>
</lanes>
<objects/>
<signals/>
</road>
<road name="" length="16.0" id="R3-1" junction="J0">
<link>
<predecessor elementType="road" elementId="R3" contactPoint="end"/>
<successor elementType="road" elementId="R1" contactPoint="end"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="216.0" y="0.0" hdg="3.141592654" length="16.0">
<line/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<predecessor id="-1"/>
<successor id="1"/>
</link>
<width sOffset="0" a="4.0" 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/>
<signals/>
</road>
<road name="" length="12.566370614" id="R2-3" junction="J0">
<link>
<predecessor elementType="road" elementId="R2" contactPoint="end"/>
<successor elementType="road" elementId="R3" contactPoint="end"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="208.0" y="-8.0" hdg="1.570796327" length="12.566370614">
<arc curvature="-0.125"/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<predecessor id="-1"/>
<successor id="1"/>
</link>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
<lane id="-2" type="sidewalk" level="true">
<link>
<predecessor id="-2"/>
<successor id="2"/>
</link>
<width sOffset="0" a="2.0" 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/>
<signals/>
</road>
<road name="" length="12.566370614" id="R3-2" junction="J0">
<link>
<predecessor elementType="road" elementId="R3" contactPoint="end"/>
<successor elementType="road" elementId="R2" contactPoint="end"/>
</link>
<planView>
<geometry s="0.0000000000000000e+000" x="216.0" y="0.0" hdg="3.141592654" length="12.566370614">
<arc curvature="0.125"/>
</geometry>
</planView>
<lateralProfile/>
<lanes>
<laneSection s="0.0000000000000000e+000">
<center>
<lane id="0" type="border" level="true">
<link/>
<roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<predecessor id="-1"/>
<successor id="1"/>
</link>
<width sOffset="0" a="4.0" b="0" c="0" d="0"/>
<roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
</lane>
</right>
</laneSection>
</lanes>
<objects/>
<signals/>
</road>
<junction name="Junction" id="J0">
<connection id="1-2" incomingRoad="R1" connectingRoad="R1-2" contactPoint="start">
<laneLink from="-1" to="-1"/>
<laneLink from="-2" to="-2"/>
</connection>
<connection id="2-1" incomingRoad="R2" connectingRoad="R2-1" contactPoint="start">
<laneLink from="-1" to="-1"/>
</connection>
<connection id="1-3" incomingRoad="R1" connectingRoad="R1-3" contactPoint="start">
<laneLink from="-1" to="-1"/>
</connection>
<connection id="3-1" incomingRoad="R3" connectingRoad="R3-1" contactPoint="start">
<laneLink from="-1" to="-1"/>
</connection>
<connection id="2-3" incomingRoad="R2" connectingRoad="R2-3" contactPoint="start">
<laneLink from="-1" to="-1"/>
<laneLink from="-2" to="-2"/>
</connection>
<connection id="3-2" incomingRoad="R3" connectingRoad="R3-2" contactPoint="start">
<laneLink from="-1" to="-1"/>
</connection>
<priority high="R1-2" low="R3-2"/>
<priority high="R1-3" low="R2-1"/>
<priority high="R1-3" low="R2-3"/>
<priority high="R1-3" low="R3-2"/>
<priority high="R3-1" low="R2-1"/>
<priority high="R3-2" low="R2-1"/>
</junction>
</OpenDRIVE>
sim/contrib/examples/Configurations/Bicyclist/SystemConfigBicycle.xml
0 → 100644
View file @
a11518cc
<?xml version="1.0" encoding="UTF-8"?>
<systems>
<system>
<id>
0
</id>
<title>
static agent
</title>
<priority>
0
</priority>
<components>
<component>
<id>
0
</id>
<library>
Parameters_Vehicle
</library>
<title>
ParametersVehicle
</title>
<schedule>
<priority>
500
</priority>
<o
