diff --git a/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Agent_AEB.xml b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Agent_AEB.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e5ef7252555c767a26cd542c75af19c1f3af5278
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Agent_AEB.xml
@@ -0,0 +1,707 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<systems>
+ <system>
+ <id>0</id>
+ <title>AEB_Static</title>
+ <priority>0</priority>
+ <components>
+ <component>
+ <id>0</id>
+ <library>Parameters_Vehicle</library>
+ <title>ParametersVehicle</title>
+ <schedule>
+ <priority>500</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>143</x>
+ <y>483</y>
+ </position>
+ </component>
+ <component>
+ <id>2</id>
+ <library>AlgorithmAgentFollowingDriverModel</library>
+ <title>AlgorithmAgentFollowingDriverModel</title>
+ <schedule>
+ <priority>310</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <!--parameter's title: VelocityWish-->
+ <id>VelocityWish</id>
+ <type>double</type>
+ <unit>m/s</unit>
+ <value>35</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Delta-->
+ <id>Delta</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TGapWish-->
+ <id>TGapWish</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MinDistance-->
+ <id>MinDistance</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxAcceleration-->
+ <id>MaxAcceleration</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxDeceleration-->
+ <id>MaxDeceleration</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>0</value>
+ </parameter>
+ </parameters>
+ <position>
+ <x>426</x>
+ <y>20</y>
+ </position>
+ </component>
+ <component>
+ <id>3</id>
+ <library>Algorithm_Longitudinal</library>
+ <title>AlgorithmLongitudinal</title>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1114</x>
+ <y>238</y>
+ </position>
+ </component>
+ <component>
+ <id>4</id>
+ <library>Algorithm_Lateral</library>
+ <title>AlgorithmLateral</title>
+ <schedule>
+ <priority>100</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1116</x>
+ <y>403</y>
+ </position>
+ </component>
+ <component>
+ <id>8</id>
+ <library>Sensor_Driver</library>
+ <title>SensorDriver</title>
+ <schedule>
+ <priority>390</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>40</x>
+ <y>329</y>
+ </position>
+ </component>
+ <component>
+ <id>9</id>
+ <library>Dynamics_RegularDriving</library>
+ <title>DynamicsRegularDriving</title>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1387</x>
+ <y>445</y>
+ </position>
+ </component>
+ <component>
+ <id>10</id>
+ <library>Dynamics_CollisionPostCrash</library>
+ <title>DynamicsCollisionPostCrash</title>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1385</x>
+ <y>596</y>
+ </position>
+ </component>
+ <component>
+ <id>11</id>
+ <library>SignalPrioritizer</library>
+ <title>SignalPrioritizer</title>
+ <schedule>
+ <priority>25</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <!--parameter's title: Priority Input 1-->
+ <id>0</id>
+ <type>int</type>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 2-->
+ <id>1</id>
+ <type>int</type>
+ <unit></unit>
+ <value>4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 3-->
+ <id>2</id>
+ <type>int</type>
+ <unit></unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 4-->
+ <id>3</id>
+ <type>int</type>
+ <unit></unit>
+ <value>3</value>
+ </parameter>
+ </parameters>
+ <position>
+ <x>1668</x>
+ <y>321</y>
+ </position>
+ </component>
+ <component>
+ <id>12</id>
+ <library>AgentUpdater</library>
+ <title>AgentUpdater</title>
+ <schedule>
+ <priority>1</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1925</x>
+ <y>520</y>
+ </position>
+ </component>
+ <component>
+ <id>13</id>
+ <library>Action_SecondaryDriverTasks</library>
+ <title>ActionSecondaryDriverTasks</title>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1380</x>
+ <y>116</y>
+ </position>
+ </component>
+ <component>
+ <id>14</id>
+ <library>Action_LongitudinalDriver</library>
+ <title>ActionLongitudinalDriver</title>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1382</x>
+ <y>325</y>
+ </position>
+ </component>
+ <component>
+ <id>16</id>
+ <library>Algorithm_AEB</library>
+ <title>AEB</title>
+ <schedule>
+ <priority>250</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <!--parameter's title: CollisionDetectionLongitudinalBoundary-->
+ <id>0</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: CollisionDetectionLateralBoundary-->
+ <id>1</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>1.5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: TTC-->
+ <id>2</id>
+ <type>double</type>
+ <unit>s</unit>
+ <value>1.5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Acceleration-->
+ <id>3</id>
+ <type>double</type>
+ <unit>m/s^2</unit>
+ <value>-8</value>
+ </parameter>
+ </parameters>
+ <position>
+ <x>1013</x>
+ <y>726</y>
+ </position>
+ </component>
+ <component>
+ <id>17</id>
+ <library>Sensor_OSI</library>
+ <title>Geometric2D</title>
+ <schedule>
+ <priority>398</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <!--parameter's title: Longitudinal-->
+ <id>Longitudinal</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>0.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Lateral-->
+ <id>Lateral</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>0.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Height-->
+ <id>Height</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>0.5</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Pitch-->
+ <id>Pitch</id>
+ <type>double</type>
+ <unit>rad</unit>
+ <value>0.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Yaw-->
+ <id>Yaw</id>
+ <type>double</type>
+ <unit>rad</unit>
+ <value>0.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Roll-->
+ <id>Roll</id>
+ <type>double</type>
+ <unit>rad</unit>
+ <value>0.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: FailureProbability-->
+ <id>FailureProbability</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0.0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Latency-->
+ <id>Latency</id>
+ <type>double</type>
+ <!-- <title>Latency</title> -->
+ <unit>s</unit>
+ <value>
+ 0
+ </value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: OpeningAngleH-->
+ <id>OpeningAngleH</id>
+ <type>double</type>
+ <unit>rad</unit>
+ <value>0.35</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: EnableVisualObstruction-->
+ <id>EnableVisualObstruction</id>
+ <type>bool</type>
+ <unit></unit>
+ <value>false</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: DetectionRange-->
+ <id>DetectionRange</id>
+ <type>double</type>
+ <unit>m</unit>
+ <value>300</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: RequiredPercentageOfVisibileArea-->
+ <id>RequiredPercentageOfVisibileArea</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0.001</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Type-->
+ <id>Type</id>
+ <type>string</type>
+ <unit></unit>
+ <value>Geometric2D</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: DetectionDelayTime-->
+ <id>DetectionDelayTime</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: MaxDropOutTime-->
+ <id>MaxDropOutTime</id>
+ <type>double</type>
+ <unit></unit>
+ <value>0</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Id-->
+ <id>Id</id>
+ <type>int</type>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ </parameters>
+ <position>
+ <x>557</x>
+ <y>650</y>
+ </position>
+ </component>
+ <component>
+ <id>18</id>
+ <library>SignalPrioritizer</library>
+ <title>SignalPrioritizer</title>
+ <schedule>
+ <priority>101</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <!--parameter's title: Priority Input 1-->
+ <id>0</id>
+ <type>int</type>
+ <unit></unit>
+ <value>4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 2-->
+ <id>1</id>
+ <type>int</type>
+ <unit></unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 3-->
+ <id>2</id>
+ <type>int</type>
+ <unit></unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 4-->
+ <id>3</id>
+ <type>int</type>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ </parameters>
+ <position>
+ <x>805</x>
+ <y>75</y>
+ </position>
+ </component>
+ </components>
+ <connections>
+ <connection>
+ <id>0</id>
+ <source>
+ <!--component title: SensorDriver-->
+ <component>8</component>
+ <!--output title: Driver Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AlgorithmAgentFollowingDriverModel-->
+ <component>2</component>
+ <!--input title: Driver Signal-->
+ <input>0</input>
+ </target>
+ <target>
+ <!--component title: AlgorithmLateral-->
+ <component>4</component>
+ <!--input title: Driver Signal-->
+ <input>101</input>
+ </target>
+ <target>
+ <!--component title: AlgorithmLongitudinal-->
+ <component>3</component>
+ <!--input title: Driver Signal-->
+ <input>3</input>
+ </target>
+ </connection>
+ <connection>
+ <id>3</id>
+ <source>
+ <!--component title: SignalPrioritizer-->
+ <component>11</component>
+ <!--output title: Prioritized Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AgentUpdater-->
+ <component>12</component>
+ <!--input title: Dynamics Signal-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4</id>
+ <source>
+ <!--component title: Dynamics_RegularDriving-->
+ <component>9</component>
+ <!--output title: Dynamics Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: SignalPrioritizer-->
+ <component>11</component>
+ <!--input title: Input 1-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>5</id>
+ <source>
+ <!--component title: DynamicsCollisionPostCrash-->
+ <component>10</component>
+ <!--output title: Dynamics Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: SignalPrioritizer-->
+ <component>11</component>
+ <!--input title: Input 2-->
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>6</id>
+ <source>
+ <!--component title: ParametersVehicle-->
+ <component>0</component>
+ <!--output title: Vehicle Parameters-->
+ <output>1</output>
+ </source>
+ <target>
+ <!--component title: Dynamics_RegularDriving-->
+ <component>9</component>
+ <!--input title: Vehicle Parameters-->
+ <input>100</input>
+ </target>
+ <target>
+ <!--component title: AlgorithmLongitudinal-->
+ <component>3</component>
+ <!--input title: Vehicle Parameters-->
+ <input>1</input>
+ </target>
+ <target>
+ <!--component title: AlgorithmLateral-->
+ <component>4</component>
+ <!--input title: Vehicle Parameters-->
+ <input>100</input>
+ </target>
+ </connection>
+ <connection>
+ <id>9</id>
+ <source>
+ <!--component title: AlgorithmLateral-->
+ <component>4</component>
+ <!--output title: Steering Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: Dynamics_RegularDriving-->
+ <component>9</component>
+ <!--input title: Steering Signal-->
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>10</id>
+ <source>
+ <!--component title: AlgorithmLongitudinal-->
+ <component>3</component>
+ <!--output title: Longitudinal Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: Dynamics_RegularDriving-->
+ <component>9</component>
+ <!--input title: Longitudinal Signal-->
+ <input>0</input>
+ </target>
+ <target>
+ <!--component title: ActionLongitudinalDriver-->
+ <component>14</component>
+ <!--input title: Longitudinal Signal-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>12</id>
+ <source>
+ <!--component title: AlgorithmAgentFollowingDriverModel-->
+ <component>2</component>
+ <!--output title: Secondary Driver Tasks-->
+ <output>1</output>
+ </source>
+ <target>
+ <!--component title: ActionSecondaryDriverTasks-->
+ <component>13</component>
+ <!--input title: Secondary Driver Tasks-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>14</id>
+ <source>
+ <!--component title: AlgorithmAgentFollowingDriverModel-->
+ <component>2</component>
+ <!--output title: Lateral Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AlgorithmLateral-->
+ <component>4</component>
+ <!--input title: Lateral Signal-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>15</id>
+ <source>
+ <!--component title: Geometric2D-->
+ <component>17</component>
+ <!--output title: Sensor Data-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AEB-->
+ <component>16</component>
+ <!--input title: Camera-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>16</id>
+ <source>
+ <!--component title: AEB-->
+ <component>16</component>
+ <!--output title: Acceleration Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: SignalPrioritizer-->
+ <component>18</component>
+ <!--input title: Input 1-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>17</id>
+ <source>
+ <!--component title: AlgorithmAgentFollowingDriverModel-->
+ <component>2</component>
+ <!--output title: Acceleration Signal-->
+ <output>2</output>
+ </source>
+ <target>
+ <!--component title: SignalPrioritizer-->
+ <component>18</component>
+ <!--input title: Input 2-->
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>18</id>
+ <source>
+ <!--component title: SignalPrioritizer-->
+ <component>18</component>
+ <!--output title: Prioritized Signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AlgorithmLongitudinal-->
+ <component>3</component>
+ <!--input title: Acceleration Signal-->
+ <input>0</input>
+ </target>
+ </connection>
+ </connections>
+ </system>
+</systems>
diff --git a/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b6d87cd97c85a706c0e7939dad131e2bdc3d3a62
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Profiles SchemaVersion="0.5.1">
+ <AgentProfiles>
+ <AgentProfile Name="Ego" Type="Static">
+ <System>
+ <File>Agent_AEB.xml</File>
+ <Id>0</Id>
+ </System>
+ <VehicleModel>Ego</VehicleModel>
+ </AgentProfile>
+ </AgentProfiles>
+ <VehicleProfiles>
+ </VehicleProfiles>
+ <ProfileGroup Type="Driver"/>
+ <ProfileGroup Type="TrafficRules">
+ <Profile Name="DE">
+ <Double Key="OpenSpeedLimit" Value="INF"/>
+ <Double Key="OpenSpeedLimitTrucks" Value="22.2222222"/>
+ <Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
+ <Bool Key="KeepToOuterLanes" Value="true"/>
+ <Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
+ <Bool Key="FormRescueLane" Value="true"/>
+ <Bool Key="ZipperMerge" Value="true"/>
+ </Profile>
+ </ProfileGroup>
+</Profiles>
diff --git a/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Scenario.xosc b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..33884f83290b2bf7bdc0bf60b80baf2e3a6471ca
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Scenario.xosc
@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="1" date="2020-06-26T00:17:00" description="ADAS_Static_AEB_PreventingCollisionWithObstacle" author="in-tech GmbH"/>
+ <ParameterDeclarations>
+ <ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
+ </ParameterDeclarations>
+ <CatalogLocations>
+ <VehicleCatalog>
+ <Directory path="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </PedestrianCatalog>
+ <ControllerCatalog>
+ <Directory path=""/>
+ </ControllerCatalog>
+ <ManeuverCatalog>
+ <Directory path=""/>
+ </ManeuverCatalog>
+ <MiscObjectCatalog>
+ <Directory path=""/>
+ </MiscObjectCatalog>
+ <EnvironmentCatalog>
+ <Directory path=""/>
+ </EnvironmentCatalog>
+ <TrajectoryCatalog>
+ <Directory path=""/>
+ </TrajectoryCatalog>
+ <RouteCatalog>
+ <Directory path=""/>
+ </RouteCatalog>
+ </CatalogLocations>
+ <RoadNetwork>
+ <LogicFile filepath="SceneryConfiguration.xodr"/>
+ <SceneGraphFile filepath=""/>
+ </RoadNetwork>
+ <Entities>
+ <ScenarioObject name="Ego">
+ <CatalogReference catalogName="VehicleCatalog" entryName="Ego"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="Ego"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObject>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ <Private entityRef="Ego">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0">
+ <Orientation type="relative"/>
+ </LanePosition>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="35.0"/>
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ <PrivateAction>
+ <ControllerAction>
+ <ActivateControllerAction lateral="true" longitudinal="true" controllerRef="Ego"/>
+ </ControllerAction>
+ </PrivateAction>
+ </Private>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1">
+ <Actors selectTriggeringEntities="false"/>
+ </ManeuverGroup>
+ <StartTrigger>
+ <ConditionGroup>
+ <Condition name="StartTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="0.0" rule="greaterOrEqual"/>
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StartTrigger>
+ </Act>
+ </Story>
+ <StopTrigger>
+ <ConditionGroup>
+ <Condition name="EndTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="30.0" rule="greaterThan"/>
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StopTrigger>
+ </Storyboard>
+</OpenSCENARIO>
diff --git a/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/SceneryConfiguration.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..f01b906509fdcecb3a8e242370dc018de830f109
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/SceneryConfiguration.xodr
@@ -0,0 +1,39 @@
+<OpenDRIVE>
+ <header date="Thu Feb 8 14:24:06 2007" east="2.0000000000000000e+003" name="Testfile" north="2.0000000000000000e+003" revMajor="1" revMinor="1" south="-2.0000000000000000e+003" version="1" west="-2.0000000000000000e+003"/>
+ <road id="1" junction="-1" length="5139.7188686309819" name="">
+ <link/>
+ <planView>
+ <geometry hdg="0" length="3000" s="0.0000000000000000e+000" x="0" y="7.5">
+ <line/>
+ </geometry>
+ </planView>
+ <elevationProfile/>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <left/>
+ <center>
+ <lane id="0" level="true" type="border">
+ <link>
+ <successor id="0"/>
+ </link>
+ <roadMark color="standard" laneChange="both" sOffset="0" type="solid" weight="standard" width="0.12"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" level="true" type="driving">
+ <link>
+ <successor id="-1"/>
+ </link>
+ <width a="3.75" b="0" c="0" d="0" sOffset="0"/>
+ <roadMark color="standard" laneChange="both" sOffset="0" type="solid" weight="standard" width="0.12"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects>
+ <object hdg="0" height="1.0" id="" length="0.80" name="Absperrung" orientation="-" pitch="0" roll="0" s="300.0" t="-2.0" type="obstacle" validLength="0" width="3.0" zOffset="0"/>
+ </objects>
+ <signals/>
+ </road>
+</OpenDRIVE>
diff --git a/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Vehicles/VehicleModelsCatalog.xosc b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Vehicles/VehicleModelsCatalog.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..005866333fd67fcd77a38fda41ba6a8e6e013b47
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Vehicles/VehicleModelsCatalog.xosc
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="0" date="2020-01-01T00:00:00" description="openPASS vehicle models" author="openPASS"/>
+ <Catalog name="VehicleCatalog">
+ <Vehicle model3d="Ego" mass="1920" name="Ego" vehicleCategory="car">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="3.789"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="2.07"/>
+ <Property name="GearRatio1" value="4.154"/>
+ <Property name="GearRatio2" value="2.45"/>
+ <Property name="GearRatio3" value="1.557"/>
+ <Property name="GearRatio4" value="1.09"/>
+ <Property name="GearRatio5" value="0.843"/>
+ <Property name="GearRatio6" value="0.675"/>
+ <Property name="GearRatio7" value="0.547"/>
+ <Property name="Mass" value="1235.0"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="220.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="7"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ </Properties>
+ <BoundingBox>
+ <Center x="1.35" y="0.0" z="0.71"/>
+ <Dimensions width="1.89" length="3.8" height="1.42"/>
+ </BoundingBox>
+ <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
+ <Axles>
+ <FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
+ <RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
+ </Axles>
+ </Vehicle>
+ </Catalog>
+</OpenSCENARIO>
diff --git a/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/simulationConfig.xml b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/simulationConfig.xml
new file mode 100644
index 0000000000000000000000000000000000000000..94b9b875ba0ce372d1abc200cca2ae6a709b1c33
--- /dev/null
+++ b/sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/simulationConfig.xml
@@ -0,0 +1,46 @@
+<simulationConfig SchemaVersion="0.8.2">
+ <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
+ <Experiment>
+ <ExperimentID>123</ExperimentID>
+ <NumberOfInvocations>50</NumberOfInvocations>
+ <RandomSeed>531206</RandomSeed>
+ <Libraries>
+ <WorldLibrary>World_OSI</WorldLibrary>
+ </Libraries>
+ </Experiment>
+ <Scenario>
+ <OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
+ </Scenario>
+ <Environment>
+ <TimeOfDays>
+ <TimeOfDay Probability="1.0" Value="15"/>
+ </TimeOfDays>
+ <VisibilityDistances>
+ <VisibilityDistance Probability="1.0" Value="400"/>
+ </VisibilityDistances>
+ <Frictions>
+ <Friction Probability="1.0" Value="1.0"/>
+ </Frictions>
+ <Weathers>
+ <Weather Probability="1.0" Value="Rainy"/>
+ </Weathers>
+ <TrafficRules>DE</TrafficRules>
+ </Environment>
+ <Observations>
+ <Observation>
+ <Library>Observation_Log</Library>
+ <Parameters>
+ <String Key="OutputFilename" Value="simulationOutput.xml"/>
+ <Bool Key="LoggingCyclicsToCsv" Value="false"/>
+ <StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle"/>
+ <StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/>
+ <StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/>
+ <StringVector Key="LoggingGroup_Sensor" Value="Sensor*_DetectedAgents,Sensor*_VisibleAgents"/>
+ <StringVector Key="LoggingGroup_Vehicle" Value="AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"/>
+ <StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/>
+ <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor"/>
+ </Parameters>
+ </Observation>
+ </Observations>
+ <Spawners/>
+</simulationConfig>
diff --git a/sim/tests/endToEndTests/test_end_to_end.json b/sim/tests/endToEndTests/test_end_to_end.json
index f4e09e1bd3b46a54e0a7f6e26a2af82297fa7d3d..3cbf417fbaf4cace02dfe4acd28df1078c04d883 100644
--- a/sim/tests/endToEndTests/test_end_to_end.json
+++ b/sim/tests/endToEndTests/test_end_to_end.json
@@ -79,6 +79,9 @@
],
"ADAS_AEB_PreventingCollisionWithObstacle": [
"ADAS_AEB_PreventingCollisionWithObstacle"
+ ],
+ "ADAS_Static_AEB_PreventingCollisionWithObstacle": [
+ "ADAS_Static_AEB_PreventingCollisionWithObstacle"
],
"ADAS_AEB_PreventingCollisionWithObstacleInCurve": [
"ADAS_AEB_PreventingCollisionWithObstacleInCurve"
@@ -162,6 +165,18 @@
"mean(VelocityEgo | AgentId == 0 and PositionRoute > 285 and PositionRoute < 295) < 28.5"
],
"success_rate": 1
+ },
+ "ADAS_Static_AEB": {
+ "config_sets": [
+ "ADAS_Static_AEB_PreventingCollisionWithObstacle"
+ ],
+ "duration": 30,
+ "invocations": 1,
+ "description": "Static AEB Acting stage triggers with obstacle",
+ "queries": [
+ "count(AgentId | #(Algorithm_AutonomousEmergencyBraking):ComponentState=='Acting') >= 1"
+ ],
+ "success_rate": 1
},
"ADAS_AEB_InCurve": {
"config_sets": [