Add variation files for logical scenarios

Signed-off-by: Andreas Rauschert <andreas.rb.rauschert@bmw.de>
openMSL · Jul 7, 2021 · 408156c · 408156c
1 parent 531b5de
commit 408156c
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Showing 24 changed files with 627 additions and 116 deletions.
diff --git a/Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc
@@ -3,11 +3,11 @@
   <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" 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" parameterType="double" value="16.66666667">
+    <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
       <ConstraintGroup>
-        <!--The scenarios are meant to be run with a positive ego speed less than 250 km/h (~70 m/s).-->
+        <!--The scenarios are meant to be run with a positive ego speed up to 60 kph.-->
         <ValueConstraint rule="greaterThan" value="0.0" />
-        <ValueConstraint rule="lessOrEqual" value="70.0" />
+        <ValueConstraint rule="lessOrEqual" value="60.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
     <ParameterDeclaration name="Duration" parameterType="double" value="300">
@@ -58,7 +58,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+                  <AbsoluteTargetSpeed value="${$Ego_InitSpeed_Ve0_kph / 3.6}" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>

diff --git a/Scenarios/ALKS_Scenario_4.1_2_SwervingLeadVehicle_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.1_2_SwervingLeadVehicle_TEMPLATE.xosc
@@ -13,11 +13,11 @@
         <ValueConstraint rule="lessOrEqual" value="5" />
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="Ego_InitSpeed_Ve0" parameterType="double" value="16.66666667">
+    <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
       <ConstraintGroup>
-        <!--The scenarios are meant to be run with a positive ego speed less than 250 km/h (~70 m/s).-->
+        <!--The scenarios are meant to be run with a positive ego speed up to 60 kph.-->
         <ValueConstraint rule="greaterThan" value="0.0" />
-        <ValueConstraint rule="lessOrEqual" value="70.0" />
+        <ValueConstraint rule="lessOrEqual" value="60.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
     <ParameterDeclaration name="Duration" parameterType="double" value="40">
@@ -28,7 +28,8 @@
     <ParameterDeclaration name="LeadVehicle_Model" parameterType="string" value="car">
       <!--Not constrained so it's possible to use different models.-->
     </ParameterDeclaration>
-    <ParameterDeclaration name="LeadVehicle_InitDistance_dx0" parameterType="double" value="33.33333333">
+    <ParameterDeclaration name="LeadVehicle_InitDistance_dx0_m" parameterType="double" value="${2.0 * ($Ego_InitSpeed_Ve0_kph / 3.6)}">
+      <!--Distance is calculated from 2 second headway time.-->
       <ConstraintGroup>
         <ValueConstraint rule="greaterThan" value="0.0"></ValueConstraint>
       </ConstraintGroup>
@@ -93,7 +94,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+                  <AbsoluteTargetSpeed value="${$Ego_InitSpeed_Ve0_kph / 3.6}" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>
@@ -103,7 +104,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <RelativeLanePosition entityRef="Ego" dLane="0" ds="$LeadVehicle_InitDistance_dx0" offset="0.0" />
+                <RelativeLanePosition entityRef="Ego" dLane="0" ds="$LeadVehicle_InitDistance_dx0_m" offset="0.0" />
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -280,4 +281,4 @@
       </ConditionGroup>
     </StopTrigger>
   </Storyboard>
-</OpenSCENARIO>
+</OpenSCENARIO>
diff --git a/Scenarios/ALKS_Scenario_4.1_3_SwervingSideVehicle_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.1_3_SwervingSideVehicle_TEMPLATE.xosc
@@ -3,11 +3,11 @@
   <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" 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" parameterType="double" value="16.66666667">
+    <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
       <ConstraintGroup>
-        <!--The scenarios are meant to be run with a positive ego speed less than 250 km/h (~70 m/s).-->
+        <!--The scenarios are meant to be run with a positive ego speed up to 60 kph.-->
         <ValueConstraint rule="greaterThan" value="0.0" />
-        <ValueConstraint rule="lessOrEqual" value="70.0" />
+        <ValueConstraint rule="lessOrEqual" value="60.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
     <ParameterDeclaration name="Duration" parameterType="double" value="40">
@@ -18,7 +18,7 @@
     <ParameterDeclaration name="SideVehicle_Model" parameterType="string" value="car">
       <!--Not constrained so it's possible to use different models.-->
     </ParameterDeclaration>
-    <ParameterDeclaration name="SideVehicle_InitLongitudinalOffset" parameterType="double" value="0.0" />
+    <ParameterDeclaration name="SideVehicle_InitLongitudinalOffset_m" parameterType="double" value="0.0" />
     <ParameterDeclaration name="SideVehicle_InitPosition_RelativeLaneId" parameterType="string" value="1">
       <ConstraintGroup>
         <ValueConstraint rule="equalTo" value="1"></ValueConstraint>
@@ -87,7 +87,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+                  <AbsoluteTargetSpeed value="${$Ego_InitSpeed_Ve0_kph / 3.6}" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>
@@ -97,7 +97,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <RelativeLanePosition entityRef="Ego" dLane="$SideVehicle_InitPosition_RelativeLaneId" ds="$SideVehicle_InitLongitudinalOffset" offset="0.0" />
+                <RelativeLanePosition entityRef="Ego" dLane="$SideVehicle_InitPosition_RelativeLaneId" ds="$SideVehicle_InitLongitudinalOffset_m" offset="0.0" />
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -106,7 +106,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+                  <RelativeTargetSpeed entityRef="Ego" value="0" speedTargetValueType="delta" continuous="false" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>

diff --git a/Scenarios/ALKS_Scenario_4.2_1_FullyBlockingTarget_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_1_FullyBlockingTarget_TEMPLATE.xosc
@@ -3,6 +3,13 @@
   <FileHeader revMajor="1" revMinor="1" date="2021-06-18T10:00:00" description="ALKS Scenario 4.2_1 FullyBlockingTarget Template" author="BMW AG" />
   <ParameterDeclarations>
     <!--The ParameterDeclarations section is needed for easy variation.-->
+    <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
+      <ConstraintGroup>
+        <!--The scenarios are meant to be run with a positive ego speed up to 60 kph.-->
+        <ValueConstraint rule="greaterThan" value="0.0" />
+        <ValueConstraint rule="lessOrEqual" value="60.0" />
+      </ConstraintGroup>
+    </ParameterDeclaration>
     <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string" value="-4">
       <ConstraintGroup>
         <ValueConstraint rule="lessOrEqual" value="-3" />
@@ -13,23 +20,22 @@
         <ValueConstraint rule="lessOrEqual" value="5" />
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="Ego_InitSpeed_Ve0" parameterType="double" value="16.66666667">
+    <ParameterDeclaration name="TargetBlocking_Catalog" parameterType="string" value="PedestrianCatalog">
+      <!--Not constrained so it's possible to use different catalogs.-->
+    </ParameterDeclaration>
+    <ParameterDeclaration name="TargetBlocking_Model" parameterType="string" value="pedestrian">
+      <!--Not constrained so it's possible to use different models.-->
+    </ParameterDeclaration>
+    <ParameterDeclaration name="TargetBlocking_InitPosition_LongitudinalOffset" parameterType="double" value="500.0">
       <ConstraintGroup>
-        <!--The scenarios are meant to be run with a positive ego speed less than 250 km/h (~70 m/s).-->
         <ValueConstraint rule="greaterThan" value="0.0" />
-        <ValueConstraint rule="lessOrEqual" value="70.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="Duration" parameterType="double" value="40">
+    <ParameterDeclaration name="Duration" parameterType="double" value="${($TargetBlocking_InitPosition_LongitudinalOffset / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}">
       <ConstraintGroup>
         <ValueConstraint rule="greaterThan" value="0.0"></ValueConstraint>
       </ConstraintGroup>
-    </ParameterDeclaration>
-    <ParameterDeclaration name="TargetBlocking_Catalog" parameterType="string" value="PedestrianCatalog">
-      <!--Not constrained so it's possible to use different catalogs.-->
-    </ParameterDeclaration>
-    <ParameterDeclaration name="TargetBlocking_Model" parameterType="string" value="pedestrian">
-      <!--Not constrained so it's possible to use different models.-->
+      <!--10 s more than the ego would need to reach the target without braking.-->
     </ParameterDeclaration>
   </ParameterDeclarations>
   <CatalogLocations>
@@ -76,7 +82,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+                  <AbsoluteTargetSpeed value="${$Ego_InitSpeed_Ve0_kph / 3.6}" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>
@@ -86,7 +92,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="0.0" s="500.0"></LanePosition>
+                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="0.0" s="$TargetBlocking_InitPosition_LongitudinalOffset"></LanePosition>
               </Position>
             </TeleportAction>
           </PrivateAction>

diff --git a/Scenarios/ALKS_Scenario_4.2_2_PartiallyBlockingTarget_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_2_PartiallyBlockingTarget_TEMPLATE.xosc
@@ -13,16 +13,11 @@
         <ValueConstraint rule="lessOrEqual" value="5" />
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="Ego_InitSpeed_Ve0" parameterType="double" value="16.66666667">
+    <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
       <ConstraintGroup>
-        <!--The scenarios are meant to be run with a positive ego speed less than 250 km/h (~70 m/s).-->
+        <!--The scenarios are meant to be run with a positive ego speed up to 60 kph.-->
         <ValueConstraint rule="greaterThan" value="0.0" />
-        <ValueConstraint rule="lessOrEqual" value="70.0" />
-      </ConstraintGroup>
-    </ParameterDeclaration>
-    <ParameterDeclaration name="Duration" parameterType="double" value="40">
-      <ConstraintGroup>
-        <ValueConstraint rule="greaterThan" value="0.0"></ValueConstraint>
+        <ValueConstraint rule="lessOrEqual" value="60.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
     <ParameterDeclaration name="TargetBlocking_Catalog" parameterType="string" value="PedestrianCatalog">
@@ -38,6 +33,17 @@
         <!--The target must be still partially on the ego lane (lane width(3.5) / 2 + target width(2.5) / 2)-->
       </ConstraintGroup>
     </ParameterDeclaration>
+    <ParameterDeclaration name="TargetBlocking_InitPosition_LongitudinalOffset" parameterType="double" value="500.0">
+      <ConstraintGroup>
+        <ValueConstraint rule="greaterThan" value="0.0" />
+      </ConstraintGroup>
+    </ParameterDeclaration>
+    <ParameterDeclaration name="Duration" parameterType="double" value="${($TargetBlocking_InitPosition_LongitudinalOffset / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}">
+      <ConstraintGroup>
+        <ValueConstraint rule="greaterThan" value="0.0"></ValueConstraint>
+      </ConstraintGroup>
+      <!--10 s more than the ego would need to reach the target without braking.-->
+    </ParameterDeclaration>
   </ParameterDeclarations>
   <CatalogLocations>
     <VehicleCatalog>
@@ -83,7 +89,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+                  <AbsoluteTargetSpeed value="${$Ego_InitSpeed_Ve0_kph / 3.6}" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>
@@ -93,7 +99,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="$TargetBlocking_InitPosition_Offset" s="500.0"></LanePosition>
+                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="$TargetBlocking_InitPosition_Offset" s="$TargetBlocking_InitPosition_LongitudinalOffset"></LanePosition>
               </Position>
             </TeleportAction>
           </PrivateAction>

diff --git a/Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc
@@ -9,20 +9,36 @@
         <ValueConstraint rule="equalTo" value="-4" />
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="Ego_InitSpeed_Ve0" parameterType="double" value="16.66666667">
+    <ParameterDeclaration name="Ego_InitSpeed_Ve0_kph" parameterType="double" value="60.0">
       <ConstraintGroup>
-        <!--The scenarios are meant to be run with a positive ego speed less than 250 km/h (~70 m/s).-->
+        <!--The scenarios are meant to be run with a positive ego speed up to 60 kph.-->
         <ValueConstraint rule="greaterThan" value="0.0" />
-        <ValueConstraint rule="lessOrEqual" value="70.0" />
+        <ValueConstraint rule="lessOrEqual" value="60.0" />
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="Duration" parameterType="double" value="40">
+    <ParameterDeclaration name="TargetBlocking_InitPosition_Heading" parameterType="double" value="1.57">
+      <!--Heading / orientation of pedestrian is not constrained.-->
+    </ParameterDeclaration>
+    <ParameterDeclaration name="TargetBlocking_InitPosition_LongitudinalOffset" parameterType="double" value="500.0">
+      <ConstraintGroup>
+        <ValueConstraint rule="greaterThan" value="0.0" />
+      </ConstraintGroup>
+    </ParameterDeclaration>
+    <ParameterDeclaration name="TargetBlocking_InitPosition_LateralOffset" parameterType="double" value="-5.0">
+      <!--Lateral offset of the pedestrian relative to the ego.-->
+    </ParameterDeclaration>
+    <ParameterDeclaration name="Duration" parameterType="double" value="${($TargetBlocking_InitPosition_LongitudinalOffset / $Ego_InitSpeed_Ve0_kph) + 10.0}">
       <ConstraintGroup>
         <ValueConstraint rule="greaterThan" value="0.0"></ValueConstraint>
       </ConstraintGroup>
+      <!--10 s more than the ego would need to reach the target without braking.-->
     </ParameterDeclaration>
-    <ParameterDeclaration name="TargetBlocking_InitPosition_Heading" parameterType="double" value="1.57">
-      <!--Heading / orientation of pedestrian is not constrained.-->
+    <ParameterDeclaration name="TargetBlocking_Speed_kph" parameterType="double" value="5.0">
+      <ConstraintGroup>
+        <!--The pedestrian shall walk with a speed of 5 kph according to the test specification.-->
+        <ValueConstraint rule="greaterThan" value="0.0" />
+        <ValueConstraint rule="lessOrEqual" value="10.0" />
+      </ConstraintGroup>
     </ParameterDeclaration>
   </ParameterDeclarations>
   <CatalogLocations>
@@ -69,7 +85,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+                  <AbsoluteTargetSpeed value="${$Ego_InitSpeed_Ve0_kph / 3.6}" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>
@@ -79,7 +95,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="-5.0" s="500.0">
+                <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="$TargetBlocking_InitPosition_LateralOffset" s="$TargetBlocking_InitPosition_LongitudinalOffset">
                   <Orientation h="$TargetBlocking_InitPosition_Heading" />
                 </LanePosition>
               </Position>
@@ -144,19 +160,20 @@
                             <Polyline>
                               <Vertex time="0">
                                 <Position>
-                                  <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="-5.0" s="500.0">
+                                  <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="$TargetBlocking_InitPosition_LateralOffset" s="$TargetBlocking_InitPosition_LongitudinalOffset">
                                     <Orientation h="$TargetBlocking_InitPosition_Heading" />
                                   </LanePosition>
                                 </Position>
                               </Vertex>
-                              <Vertex time="7.2">
+                              <Vertex time="${2 * $TargetBlocking_InitPosition_LateralOffset / ($TargetBlocking_Speed_kph / 3.6)}">
                                 <Position>
-                                  <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="5.0" s="500.0">
+                                  <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="${-$TargetBlocking_InitPosition_LateralOffset}" s="$TargetBlocking_InitPosition_LongitudinalOffset">
                                     <Orientation h="$TargetBlocking_InitPosition_Heading" />
                                   </LanePosition>
                                 </Position>
                               </Vertex>
                             </Polyline>
+                            <!--The target crosses the ego lane, so at the end the lateral offset is the same in the other direction.-->
                           </Shape>
                         </Trajectory>
                       </TrajectoryRef>
@@ -176,7 +193,9 @@
                         <EntityRef entityRef="Ego" />
                       </TriggeringEntities>
                       <EntityCondition>
-                        <TimeHeadwayCondition entityRef="TargetBlocking" value="3.6" freespace="true" rule="lessThan" coordinateSystem="road" relativeDistanceType="longitudinal" />
+                        <TimeHeadwayCondition entityRef="TargetBlocking" value="${$TargetBlocking_InitPosition_LateralOffset / ($TargetBlocking_Speed_kph / 3.6)}" freespace="true" rule="lessThan" coordinateSystem="road" relativeDistanceType="longitudinal">
+                          <!--The target should start walking at a point in time, so that it has a lateral offset of 0.0 m when the ego would reach the target (without braking of the ego).-->
+                        </TimeHeadwayCondition>
                       </EntityCondition>
                     </ByEntityCondition>
                   </Condition>