Update dates in scenarios

Signed-off-by: Andreas Rauschert <andreas.rb.rauschert@bmw.de>
openMSL · Jul 9, 2021 · 24f6d7a · 24f6d7a
1 parent d65c10e
commit 24f6d7a
Show file tree

Hide file tree

Showing 19 changed files with 70 additions and 44 deletions.
diff --git a/Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.1_1 FreeDriving Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.1_1 FreeDriving Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
@@ -102,9 +102,8 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <SimulationTimeCondition value="${5000.0 / ($Ego_InitSpeed_Ve0_kph / 3.6)}" rule="greaterOrEqual">
-              <!--A duration of at least 5 minutes is required for this scenario. The whole road is a bit more than 5000 m long and should be covered. With the maximum speed of 60 kph this would take exactly 5 minutes. With lower speeds it takes longer.-->
-            </SimulationTimeCondition>
+            <!--A duration of at least 5 minutes is required for this scenario. The whole road is a bit more than 5000 m long and should be covered. With the maximum speed of 60 kph this would take exactly 5 minutes. With lower speeds it takes longer.-->
+            <SimulationTimeCondition value="${5000.0 / ($Ego_InitSpeed_Ve0_kph / 3.6)}" rule="greaterOrEqual"></SimulationTimeCondition>
           </ByValueCondition>
         </Condition>
       </ConditionGroup>

diff --git a/Scenarios/ALKS_Scenario_4.1_2_SwervingLeadVehicle_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.1_2_SwervingLeadVehicle_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.1_2 Swerving Lead Vehicle Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.1_2 Swerving Lead Vehicle Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
@@ -167,7 +167,7 @@
                 <ConditionGroup>
                   <Condition name="SwerveEventStart" delay="0" conditionEdge="rising">
                     <ByValueCondition>
-                      <SimulationTimeCondition value="5.0" rule="greaterOrEqual" />
+                      <SimulationTimeCondition value="10.0" rule="greaterOrEqual" />
                     </ByValueCondition>
                   </Condition>
                 </ConditionGroup>
@@ -259,7 +259,7 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <SimulationTimeCondition value="40.0" rule="greaterOrEqual" />
+            <SimulationTimeCondition value="50.0" rule="greaterOrEqual" />
           </ByValueCondition>
         </Condition>
       </ConditionGroup>

diff --git a/Scenarios/ALKS_Scenario_4.1_3_SwervingSideVehicle_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.1_3_SwervingSideVehicle_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.1_3 Swerving Side Vehicle Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.1_3 Swerving Side Vehicle Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
@@ -180,7 +180,7 @@
                 <ConditionGroup>
                   <Condition name="SwerveEventStart" delay="0" conditionEdge="rising">
                     <ByValueCondition>
-                      <SimulationTimeCondition value="5.0" rule="greaterOrEqual" />
+                      <SimulationTimeCondition value="10.0" rule="greaterOrEqual" />
                     </ByValueCondition>
                   </Condition>
                 </ConditionGroup>
@@ -272,7 +272,7 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <SimulationTimeCondition value="40" rule="greaterOrEqual" />
+            <SimulationTimeCondition value="50" rule="greaterOrEqual" />
           </ByValueCondition>
         </Condition>
       </ConditionGroup>

diff --git a/Scenarios/ALKS_Scenario_4.2_1_FullyBlockingTarget_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_1_FullyBlockingTarget_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.2_1 FullyBlockingTarget Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.2_1 FullyBlockingTarget Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
@@ -137,7 +137,7 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <!--10 s more than the ego would need to reach the target without braking.-->
+            <!--The scenario stops 10 s after the ego would reach the target without braking.-->
             <SimulationTimeCondition value="${($TargetBlocking_InitPosition_LongitudinalOffset_m / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}" rule="greaterOrEqual"></SimulationTimeCondition>
           </ByValueCondition>
         </Condition>

diff --git a/Scenarios/ALKS_Scenario_4.2_2_PartiallyBlockingTarget_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_2_PartiallyBlockingTarget_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.2_2 PartiallyBlockingTarget Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.2_2 PartiallyBlockingTarget Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
@@ -31,7 +31,7 @@
       <ConstraintGroup>
         <ValueConstraint rule="greaterThan" value="-3" />
         <ValueConstraint rule="lessThan" value="3" />
-        <!--The target must be still partially on the ego lane (lane width(3.5) / 2 + target width(2.5) / 2)-->
+        <!--The target must be still partially on the ego lane (lane width(3.5) / 2 + max. target width(2.5) / 2)-->
       </ConstraintGroup>
     </ParameterDeclaration>
     <ParameterDeclaration name="TargetBlocking_InitPosition_LongitudinalOffset_m" parameterType="double" value="500.0">
@@ -144,7 +144,7 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <!--10 s more than the ego would need to reach the target without braking.-->
+            <!--The scenario stops 10 s after the ego would reach the target without braking.-->
             <SimulationTimeCondition value="${($TargetBlocking_InitPosition_LongitudinalOffset_m / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}" rule="greaterOrEqual" />
           </ByValueCondition>
         </Condition>

diff --git a/Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc
@@ -1,13 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.2_3 CrossingPedestrian Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.2_3 CrossingPedestrian Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
-      <!--Not to be varied. Only reused for pedestrian position calculations.-->
       <ConstraintGroup>
         <ValueConstraint rule="equalTo" value="-4" />
       </ConstraintGroup>
+      <ConstraintGroup>
+        <ValueConstraint rule="equalTo" value="4" />
+      </ConstraintGroup>
     </ParameterDeclaration>
     <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
       <ConstraintGroup>

diff --git a/Scenarios/ALKS_Scenario_4.2_4_MultipleBlockingTargets_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_4_MultipleBlockingTargets_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.2_4 MultipleBlockingTargets Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.2_4 MultipleBlockingTargets Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
@@ -151,7 +151,7 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <!--10 s more than the ego would need to reach the target without braking.-->
+            <!--The scenario stops 10 s after the ego would reach the target without braking.-->
             <SimulationTimeCondition value="${($TargetBlocking_InitPosition_LongitudinalOffset_m / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}" rule="greaterOrEqual" />
           </ByValueCondition>
         </Condition>

diff --git a/Scenarios/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.3_1 FollowLeadVehicleComfortable Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.3_1 FollowLeadVehicleComfortable Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
@@ -27,7 +27,7 @@
       <ConstraintGroup>
         <ValueConstraint rule="greaterThan" value="0.0"></ValueConstraint>
       </ConstraintGroup>
-      <!--Should be adjusted to the specified speed dependent safety distance to start in a steady state.-->
+      <!--Should be adjusted to the specified (speed dependent) safety distance to start in a steady state. Can also be less so the ego acquires the specified safety distance during the first 10 seconds.-->
     </ParameterDeclaration>
     <ParameterDeclaration name="LeadVehicle_VaryingSpeed_Positive_Offset_mps" parameterType="double" value="5.0">
       <ConstraintGroup>

diff --git a/Scenarios/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.3_2 FollowLeadVehicleEmergencyBrake Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.3_2 FollowLeadVehicleEmergencyBrake Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
@@ -34,6 +34,13 @@
         <ValueConstraint rule="lessThan" value="10.0"></ValueConstraint>
       </ConstraintGroup>
     </ParameterDeclaration>
+    <ParameterDeclaration name="$LeadVehicle_Init_LateralOffset_m" parameterType="double" value="0.0">
+      <ConstraintGroup>
+        <ValueConstraint rule="greaterThan" value="-1.75" />
+        <ValueConstraint rule="lessOrEqual" value="1.75" />
+        <!--The lead vehicle should stay with it's center within the lane boundaries.-->
+      </ConstraintGroup>
+    </ParameterDeclaration>
   </ParameterDeclarations>
   <CatalogLocations>
     <VehicleCatalog>
@@ -89,7 +96,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <RelativeLanePosition entityRef="Ego" dLane="0" ds="${$LeadVehicle_Init_HeadwayTime_s * ($Ego_InitSpeed_Ve0_kph / 3.6)}" offset="0.0">
+                <RelativeLanePosition entityRef="Ego" dLane="0" ds="${$LeadVehicle_Init_HeadwayTime_s * ($Ego_InitSpeed_Ve0_kph / 3.6)}" offset="$LeadVehicle_Init_LateralOffset_m">
                   <!--Headway distance is calculated from desired headway time and ego init speed.-->
                 </RelativeLanePosition>
               </Position>

diff --git a/Scenarios/ALKS_Scenario_4.4_1_CutInNoCollision_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.4_1_CutInNoCollision_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.4_1 CutInNoCollision Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.4_1 CutInNoCollision Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
@@ -44,12 +44,12 @@
     <ParameterDeclaration name="CutInVehicle_Acceleration_Rate_mps2" parameterType="double" value="0.0">
       <!--Not constrained. Vehicle can accelerate or decelerate during lane change.-->
     </ParameterDeclaration>
-    <ParameterDeclaration name="CutInVehicle_Acceleration_Target_kph" parameterType="double" value="15.0">
+    <ParameterDeclaration name="CutInVehicle_Acceleration_Target_kph" parameterType="double" value="40.0">
       <ConstraintGroup>
         <ValueConstraint rule="greaterOrEqual" value="0.0" />
       </ConstraintGroup>
       <ConstraintGroup>
-        <ValueConstraint rule="lessOrEqual" value="70.0" />
+        <ValueConstraint rule="lessOrEqual" value="80.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
   </ParameterDeclarations>
@@ -107,7 +107,8 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <RelativeLanePosition entityRef="Ego" dLane="$CutInVehicle_InitPosition_RelativeLaneId" ds="85.0" offset="0.0" />
+                <!--The target starts at a position ahead of the ego, so that it takes 10 seconds before the cut in maneuver starts.-->
+                <RelativeLanePosition entityRef="Ego" dLane="$CutInVehicle_InitPosition_RelativeLaneId" ds="${$CutInVehicle_HeadwayDistanceTrigger_dx0_m + (-10.0 * ($CutInVehicle_RelativeInitSpeed_Ve0_Vo0_kph / 3.6))}" offset="0.0" />
               </Position>
             </TeleportAction>
           </PrivateAction>

diff --git a/Scenarios/ALKS_Scenario_4.4_2_CutInUnavoidableCollision_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.4_2_CutInUnavoidableCollision_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.4_2 CutInUnavoidableCollision Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.4_2 CutInUnavoidableCollision Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
@@ -46,7 +46,7 @@
         <ValueConstraint rule="greaterOrEqual" value="0.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="CutInVehicle_Acceleration_Target_kph" parameterType="double" value="15.0">
+    <ParameterDeclaration name="CutInVehicle_Acceleration_Target_kph" parameterType="double" value="40.0">
       <ConstraintGroup>
         <ValueConstraint rule="greaterOrEqual" value="0.0" />
       </ConstraintGroup>
@@ -106,7 +106,8 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <RelativeLanePosition entityRef="Ego" dLane="$CutInVehicle_InitPosition_RelativeLaneId" ds="55.0" offset="0.0" />
+                <!--The target starts at a position ahead of the ego, so that it takes 10 seconds before the cut in maneuver starts.-->
+                <RelativeLanePosition entityRef="Ego" dLane="$CutInVehicle_InitPosition_RelativeLaneId" ds="${$CutInVehicle_HeadwayDistanceTrigger_dx0_m + (-10.0 * ($CutInVehicle_RelativeInitSpeed_Ve0_Vo0_kph / 3.6))}" offset="0.0" />
               </Position>
             </TeleportAction>
           </PrivateAction>

diff --git a/Scenarios/ALKS_Scenario_4.5_1_CutOutFullyBlocking_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.5_1_CutOutFullyBlocking_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.5_1 CutOutFullyBlocking Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.5_1 CutOutFullyBlocking Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
@@ -229,7 +229,7 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <!--10 s more than the ego would need to reach the target without braking.-->
+            <!--The scenario stops 10 s after the ego would reach the target without braking.-->
             <SimulationTimeCondition value="${($TargetBlocking_InitPosition_LongitudinalOffset_m / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}" rule="greaterOrEqual" />
           </ByValueCondition>
         </Condition>

diff --git a/Scenarios/ALKS_Scenario_4.5_2_CutOutMultipleBlockingTargets_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.5_2_CutOutMultipleBlockingTargets_TEMPLATE.xosc
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.5_2 CutOutMultipleBlockingTargets Template" author="BMW AG" />
+  <FileHeader revMajor="1" revMinor="1" date="2021-07-09T10:00:00" description="ALKS Scenario 4.5_2 CutOutMultipleBlockingTargets Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
@@ -124,7 +124,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="0.0" s="515.0"></LanePosition>
+                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="0.0" s="${$TargetBlocking_InitPosition_LongitudinalOffset_m + 15.0}"></LanePosition>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -218,7 +218,7 @@
                         <EntityRef entityRef="LeadVehicle" />
                       </TriggeringEntities>
                       <EntityCondition>
-                        <RelativeDistanceCondition entityRef="TargetBlocking" relativeDistanceType="longitudinal" value="$FrontOfLead_Distance_dx0_f" freespace="true" rule="lessThan" coordinateSystem="entity" />
+                        <RelativeDistanceCondition entityRef="TargetBlocking" relativeDistanceType="longitudinal" value="$FrontOfLead_Distance_dx0_f_m" freespace="true" rule="lessThan" coordinateSystem="entity" />
                       </EntityCondition>
                     </ByEntityCondition>
                   </Condition>
@@ -242,7 +242,7 @@
       <ConditionGroup>
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
-            <!--10 s more than the ego would need to reach the target without braking.-->
+            <!--The scenario stops 10 s after the ego would reach the target without braking.-->
             <SimulationTimeCondition value="${($TargetBlocking_InitPosition_LongitudinalOffset_m / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}" rule="greaterOrEqual" />
           </ByValueCondition>
         </Condition>