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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <OpenSCENARIO> | ||
| <FileHeader revMajor="1" revMinor="0" date="2023-02-26T10:38:22" description="town01" author=""/> | ||
| <CatalogLocations> | ||
| <VehicleCatalog> | ||
| <Directory path="catalogs"/> | ||
| </VehicleCatalog> | ||
| </CatalogLocations> | ||
| <RoadNetwork> | ||
| <LogicFile filepath="Town01"/> | ||
| <SceneGraphFile filepath=""/> | ||
| </RoadNetwork> | ||
| <Entities> | ||
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| <ScenarioObject name="ego_vehicle"> | ||
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| <CatalogReference catalogName="VehicleCatalog" entryName="vehicle.mercedes.coupe"/> | ||
| </ScenarioObject> | ||
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| <ScenarioObject name="challenger_vehicle_1"> | ||
| <CatalogReference catalogName="VehicleCatalog" entryName="vehicle.lincoln.mkz_2017"/> | ||
| </ScenarioObject> | ||
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| <ScenarioObject name="challenger_vehicle_2"> | ||
| <CatalogReference catalogName="VehicleCatalog" entryName="vehicle.volkswagen.t2"/> | ||
| </ScenarioObject> | ||
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| <ScenarioObject name="stopping_vehicle_3"> | ||
| <CatalogReference catalogName="VehicleCatalog" entryName="vehicle.tesla.model3"/> | ||
| </ScenarioObject> | ||
|
|
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| </Entities> | ||
|
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| <Storyboard> | ||
| <Init> | ||
| <Actions> | ||
| <GlobalAction> | ||
| <EnvironmentAction> | ||
| <Environment name="Environment"> | ||
| <TimeOfDay animation="false" dateTime="2023-07-19T12:12:12"/> | ||
| <Weather cloudState="free"> | ||
| <Sun intensity="0.85" azimuth="0" elevation="1.31"/> | ||
| <Fog visualRange="100000.0"/> | ||
| <Precipitation precipitationType="dry" intensity="0.0"/> | ||
| </Weather> | ||
| <RoadCondition frictionScaleFactor="1.0"/> | ||
| </Environment> | ||
| </EnvironmentAction> | ||
| </GlobalAction> | ||
|
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| <Private entityRef="ego_vehicle"> | ||
| <PrivateAction> | ||
| <TeleportAction> | ||
| <Position> | ||
| <LanePosition roadId="23" laneId="-1" s="5" offset="0"/> | ||
| </Position> | ||
| </TeleportAction> | ||
| </PrivateAction> | ||
| </Private> | ||
|
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| <Private entityRef="challenger_vehicle_1"> | ||
| <PrivateAction> | ||
| <TeleportAction> | ||
| <Position> | ||
| <LanePosition roadId="12" laneId="1" s="50" offset="0"/> | ||
| </Position> | ||
| </TeleportAction> | ||
| </PrivateAction> | ||
| </Private> | ||
|
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| <Private entityRef="challenger_vehicle_2"> | ||
| <PrivateAction> | ||
| <TeleportAction> | ||
| <Position> | ||
| <LanePosition roadId="12" laneId="-1" s="50" offset="0"/> | ||
| </Position> | ||
| </TeleportAction> | ||
| </PrivateAction> | ||
| </Private> | ||
|
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| <Private entityRef="stopping_vehicle_3"> | ||
| <PrivateAction> | ||
| <TeleportAction> | ||
| <Position> | ||
| <LanePosition roadId="12" laneId="-1" s="150" offset="0"/> | ||
| </Position> | ||
| </TeleportAction> | ||
| </PrivateAction> | ||
| </Private> | ||
|
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| </Actions> | ||
| </Init> | ||
|
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| <Story name="story"> | ||
|
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| <Act name="act"> | ||
| <ManeuverGroup name="maneuver_group" maximumExecutionCount="1"> | ||
| <Actors selectTriggeringEntities="false"> | ||
| <EntityRef entityRef="ego_vehicle"/> | ||
| <EntityRef entityRef="challenger_vehicle_1"/> | ||
| <EntityRef entityRef="challenger_vehicle_2"/> | ||
| </Actors> | ||
| <Maneuver name="maneuver"> | ||
| <Event name="event" priority="overwrite" maximumExecutionCount="1" > | ||
| <Action name="action"> | ||
| <PrivateAction> | ||
| <ControllerAction> | ||
| <AssignControllerAction> | ||
| <Controller name="agent"> | ||
| <Properties> | ||
| <Property name="module" value="carla_autopilot.py"/> | ||
| </Properties> | ||
| </Controller> | ||
| </AssignControllerAction> | ||
| <OverrideControllerValueAction> | ||
| <Throttle value="0" active="false"/> | ||
| <Brake value="0" active="false"/> | ||
| <Clutch value="0" active="false"/> | ||
| <ParkingBrake value="0" active="false"/> | ||
| <SteeringWheel value="0" active="false"/> | ||
| <Gear number="0" active="false"/> | ||
| </OverrideControllerValueAction> | ||
| </ControllerAction> | ||
| </PrivateAction> | ||
| </Action> | ||
| <Action name="aquire_global_position"> | ||
| <PrivateAction> | ||
| <RoutingAction> | ||
| <AcquirePositionAction> | ||
| <Position> | ||
| <LanePosition roadId="12" laneId="-1" s="100" offset="0"/> | ||
| </Position> | ||
| </AcquirePositionAction> | ||
| </RoutingAction> | ||
| </PrivateAction> | ||
| </Action> | ||
| <StartTrigger> | ||
| <ConditionGroup> | ||
| <Condition conditionEdge="rising" delay="0" name="event_start_condition"> | ||
| <ByValueCondition> | ||
| <SimulationTimeCondition rule="greaterThan" value="0" /> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| </ConditionGroup> | ||
| </StartTrigger> | ||
| </Event> | ||
| </Maneuver> | ||
| </ManeuverGroup> | ||
|
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||
| <StartTrigger> | ||
| <ConditionGroup> | ||
| <Condition conditionEdge="rising" delay="0" name="act_start_condition"> | ||
| <ByValueCondition> | ||
| <SimulationTimeCondition rule="greaterThan" value="0" /> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| </ConditionGroup> | ||
| </StartTrigger> | ||
|
|
||
| <StopTrigger> | ||
| <ConditionGroup> | ||
| <Condition conditionEdge="rising" delay="0" name="act_end_condition"> | ||
| <ByValueCondition> | ||
| <SimulationTimeCondition rule="greaterThan" value="30" /> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| </ConditionGroup> | ||
| </StopTrigger> | ||
| </Act> | ||
|
|
||
| </Story> | ||
|
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||
| <StopTrigger> | ||
| <ConditionGroup> | ||
| <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> | ||
| <ByValueCondition> | ||
| <ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> | ||
| <ByValueCondition> | ||
| <ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> | ||
| <ByValueCondition> | ||
| <ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> | ||
| <ByValueCondition> | ||
| <ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> | ||
| <ByValueCondition> | ||
| <ParameterCondition parameterRef="distance_success" value="25" rule="lessThan"/> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> | ||
| <ByValueCondition> | ||
| <ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> | ||
| <ByValueCondition> | ||
| <ParameterCondition parameterRef="" value="" rule="lessThan"/> | ||
| </ByValueCondition> | ||
| </Condition> | ||
| </ConditionGroup> | ||
| </StopTrigger> | ||
| </Storyboard> | ||
| </OpenSCENARIO> |
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