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Commit a11518cc authored by David Weiß's avatar David Weiß Committed by Reinhard Biegel
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feat(Configs): Example configs for Bicyclist

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<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>
<?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>
<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>
<?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>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<parameters/>
<position>
<x>40</x>
<y>466</y>
</position>
</component>
<component>
<id>2</id>
<library>Algorithm_Bicyclist</library>
<title>Algorithm_Bicyclist</title>
<schedule>
<priority>310</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<parameters>
<parameter>
<id>VelocityWish</id>
<type>double</type>
<value>3.5</value>
</parameter>
<parameter>
<id>VelocityWishDismounted</id>
<type>double</type>
<value>1.39</value>
</parameter>
<parameter>
<id>Delta</id>
<type>double</type>
<value>4.0</value>
</parameter>
<parameter>
<id>TGapWish</id>
<type>double</type>
<value>1.5</value>
</parameter>
<parameter>
<id>MinDistance</id>
<type>double</type>
<value>2.0</value>
</parameter>
<parameter>
<id>MaxAcceleration</id>
<type>double</type>
<value>1.4</value>
</parameter>
<parameter>
<id>MaxDeceleration</id>
<type>double</type>
<value>2.0</value>
</parameter>
<parameter>
<id>PropabilityDismountAtCrosswalk</id>
<type>double</type>
<value>1.0</value>
</parameter>
<parameter>
<id>PropabilityUseCrosswalk</id>
<type>double</type>
<value>1.0</value>
</parameter>
</parameters>
<position>
<x>300</x>
<y>20</y>
</position>
</component>
<component>
<id>8</id>
<library>Sensor_DriverBicyclist</library>
<title>SensorDriver</title>
<schedule>
<priority>490</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<parameters/>
<position>
<x>40</x>
<y>325</y>
</position>
</component>
<component>
<id>9</id>
<library>Dynamics_Bicycle</library>
<title>Dynamics_Bicycle</title>
<schedule>
<priority>50</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<parameters/>
<position>
<x>923</x>
<y>423</y>
</position>
</component>
<component>
<id>10</id>
<library>Dynamics_Collision</library>
<title>DynamicsCollision</title>
<schedule>
<priority>50</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<parameters/>
<position>
<x>921</x>
<y>574</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>1204</x>
<y>299</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>1461</x>
<y>498</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>916</x>
<y>94</y>
</position>
</component>
<component>
<id>15</id>
<library>Sensor_RecordState</library>
<title>Sensor_RecordState</title>
<schedule>
<priority>2</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<parameters/>
<position>
<x>44</x>
<y>622</y>
</position>
</component>
<component>
<id>OpenScenarioActions</id>
<title>OpenScenarioActions</title>
<schedule>
<priority>400</priority>
<offset>0</offset>
<cycle>100</cycle>
<response>0</response>
</schedule>
<library>OpenScenarioActions</library>
<parameters/>
</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>
</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: DynamicsRegularDriving-->
<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: DynamicsCollision-->
<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: DynamicsRegularDriving-->
<component>9</component>
<!--input title: vehicle parameters-->
<input>100</input>
</target>
</connection>
<connection>
<id>13</id>
<source>
<!--component title: AlgorithmAgentFollowingDriverModel-->
<component>2</component>
<!--output title: acceleration signal-->
<output>2</output>
</source>
<target>
<!--component title: AlgorithmLongitudinal-->
<component>9</component>
<!--input title: acceleration signal-->
<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>9</component>
<!--input title: lateral signal-->
<input>1</input>
</target>
</connection>
<connection>
<id>8471</id>
<source>
<component>OpenScenarioActions</component>
<output>6</output>
</source>
<target>
<component>2</component>
<input>2</input>
</target>
</connection>
</connections>
</system>
</systems>
<simulationConfig SchemaVersion="0.8.2">
<ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
<Experiment>
<ExperimentID>123</ExperimentID>
<NumberOfInvocations>1</NumberOfInvocations>
<RandomSeed>532725206</RandomSeed>
<Libraries>
<WorldLibrary>World_OSI</WorldLibrary>
</Libraries>
</Experiment>
<Scenario>
<OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
</Scenario>
<Environment>
<TimeOfDays>
<TimeOfDay Probability="0.4" Value="15"/>
<TimeOfDay Probability="0.6" Value="18"/>
</TimeOfDays>
<VisibilityDistances>
<VisibilityDistance Probability="0.7" Value="300"/>
<VisibilityDistance Probability="0.3" Value="400"/>
</VisibilityDistances>
<Frictions>
<Friction Probability="1.0" Value="1.0"/>
</Frictions>
<Weathers>
<Weather Probability="0.5" Value="Rainy"/>
<Weather Probability="0.5" Value="Snowy"/>
</Weathers>
<TrafficRules>Germany</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>
<Observation>
<Library>Observation_EntityRepository</Library>
<Parameters>
<!-- If "FilenamePrefix" is skipped, defaults to Value="Repository" -->
<String Key="FilenamePrefix" Value="Repository"/>
<!-- If "WritePersistentEntities" is skipped, defaults to Value="Consolidated"
Options:
- Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run
- Separate: Write to {FilenamePrefix}_Persistent.csv
- Skip: No output for persistent entities
-->
<String Key="WritePersistentEntities" Value="Consolidated"/>
</Parameters>
</Observation>
</Observations>
<Spawners>
<Spawner>
<Library>SpawnerScenario</Library>
<Type>PreRun</Type>
<Priority>1</Priority>
</Spawner>
</Spawners>
</simulationConfig>
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