Bugfixes while testing with esmini 2.12.0

Signed-off-by: Andreas Rauschert <andreas.rb.rauschert@bmw.de>
openMSL · Jul 13, 2021 · d6d91ea · d6d91ea
1 parent 24f6d7a
commit d6d91ea
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Showing 6 changed files with 20 additions and 18 deletions.
diff --git a/Catalogs/Vehicles/VehicleCatalog.xosc b/Catalogs/Vehicles/VehicleCatalog.xosc
@@ -92,13 +92,13 @@
         <Property name="SteeringRatio" value="15.0" />
       </Properties>
       <BoundingBox>
-        <Center x="1.3" y="0.0" z="0.8" />
-        <Dimensions width="1.8" length="4.5" height="1.5" />
+        <Center x="7.0" y="0.0" z="1.75" />
+        <Dimensions width="2.5" length="18.75" height="3.5" />
       </BoundingBox>
-      <Performance maxSpeed="70" maxDeceleration="10" maxAcceleration="10" />
+      <Performance maxSpeed="30" maxDeceleration="6" maxAcceleration="4" />
       <Axles>
-        <FrontAxle maxSteering="0.5" wheelDiameter="0.8" trackWidth="1.68" positionX="2.98" positionZ="0.4" />
-        <RearAxle maxSteering="0" wheelDiameter="0.8" trackWidth="1.68" positionX="0" positionZ="0.4" />
+        <FrontAxle maxSteering="0.5" wheelDiameter="1.05" trackWidth="2.2" positionX="14.0" positionZ="0.525" />
+        <RearAxle maxSteering="0" wheelDiameter="1.05" trackWidth="2.2" positionX="0" positionZ="0.525" />
       </Axles>
     </Vehicle>
     <Vehicle name="van" vehicleCategory="truck">
@@ -159,13 +159,13 @@
         <Property name="SteeringRatio" value="15.0" />
       </Properties>
       <BoundingBox>
-        <Center x="1.3" y="0.0" z="0.8" />
-        <Dimensions width="1.8" length="4.5" height="1.5" />
+        <Center x="4.0" y="0.0" z="1.75" />
+        <Dimensions width="2.5" length="13.5" height="3.5" />
       </BoundingBox>
-      <Performance maxSpeed="70" maxDeceleration="10" maxAcceleration="10" />
+      <Performance maxSpeed="30" maxDeceleration="6" maxAcceleration="4" />
       <Axles>
-        <FrontAxle maxSteering="0.5" wheelDiameter="0.8" trackWidth="1.68" positionX="2.98" positionZ="0.4" />
-        <RearAxle maxSteering="0" wheelDiameter="0.8" trackWidth="1.68" positionX="0" positionZ="0.4" />
+        <FrontAxle maxSteering="0.5" wheelDiameter="1.05" trackWidth="2.2" positionX="8.0" positionZ="0.525" />
+        <RearAxle maxSteering="0" wheelDiameter="1.05" trackWidth="2.2" positionX="0" positionZ="0.525" />
       </Axles>
     </Vehicle>
     <Vehicle name="motorbike" vehicleCategory="motorbike">
@@ -199,4 +199,4 @@
       </Axles>
     </Vehicle>
   </Catalog>
-</OpenSCENARIO>
+</OpenSCENARIO>
diff --git a/README.md b/README.md
@@ -30,7 +30,7 @@ _Note:_ Currently only esmini supports the OpenSCENARIO 1.1 format. For openPASS
 _Note:_ The execution with openPASS expects xsltproc on the system path. Check out the "Notes regarding openPASS" for more information.
 
 1. Clone or download this repository to your local drive.
-2. a) Download the [latest esmini release](https://github.com/esmini/esmini/releases) (e.g. esmini-bin_win_x64.zip) (tested successfully with [esmini 2.8.2](https://github.com/esmini/esmini/releases/tag/v2.8.2)),  
+2. a) Download the [latest esmini release](https://github.com/esmini/esmini/releases) (e.g. esmini-bin_win_x64.zip) (tested successfully with [esmini 2.12.0](https://github.com/esmini/esmini/releases/tag/v2.12.0)),  
 or  
 b) Download the [latest openPASS release](https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass) (tested successfully with [openPASS v0.7](https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass/-/tree/openPASS_0.7))
 3. a) Create an environment variable "ESMINI", which directs to the "bin" folder of esmini. E.g. "C:\MyFolder\esmini\bin\",  

diff --git a/Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.2_3_CrossingPedestrian_TEMPLATE.xosc
@@ -163,7 +163,8 @@
                                   </LanePosition>
                                 </Position>
                               </Vertex>
-                              <Vertex time="${2 * $TargetBlocking_InitPosition_LateralOffset_m / ($TargetBlocking_Speed_kph / 3.6)}">
+                              <Vertex time="${2 * sqrt( $TargetBlocking_InitPosition_LateralOffset_m * $TargetBlocking_InitPosition_LateralOffset_m ) / ($TargetBlocking_Speed_kph / 3.6)}">
+                                <!--Using sqrt(x*x) as replacement for abs()-->
                                 <Position>
                                   <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="${-$TargetBlocking_InitPosition_LateralOffset_m}" s="$TargetBlocking_InitPosition_LongitudinalOffset_m">
                                     <Orientation h="$TargetBlocking_InitPosition_Heading_rad" />
@@ -191,7 +192,8 @@
                       </TriggeringEntities>
                       <EntityCondition>
                         <!--The target should start walking at a point in time, so that the ego would hit the target with the center of it's front bumper, if it doesn't brake.-->
-                        <TimeHeadwayCondition entityRef="TargetBlocking" value="${$TargetBlocking_InitPosition_LateralOffset_m / ($TargetBlocking_Speed_kph / 3.6)}" freespace="true" rule="lessThan" coordinateSystem="road" relativeDistanceType="longitudinal"></TimeHeadwayCondition>
+                        <!--Using sqrt(x*x) as replacement for abs()-->
+                        <TimeHeadwayCondition entityRef="TargetBlocking" value="${sqrt( $TargetBlocking_InitPosition_LateralOffset_m * $TargetBlocking_InitPosition_LateralOffset_m ) / ($TargetBlocking_Speed_kph / 3.6)}" freespace="true" rule="lessThan" coordinateSystem="road" relativeDistanceType="longitudinal" />
                       </EntityCondition>
                     </ByEntityCondition>
                   </Condition>
@@ -216,7 +218,7 @@
         <Condition name="End" delay="0" conditionEdge="rising">
           <ByValueCondition>
             <!--The scenario ends 10 s after the ego would reach the target without braking.-->
-            <SimulationTimeCondition value="${($TargetBlocking_InitPosition_LongitudinalOffset_m / $Ego_InitSpeed_Ve0_kph) + 10.0}" rule="greaterOrEqual" />
+            <SimulationTimeCondition value="${($TargetBlocking_InitPosition_LongitudinalOffset_m / ($Ego_InitSpeed_Ve0_kph / 3.6)) + 10.0}" rule="greaterOrEqual" />
           </ByValueCondition>
         </Condition>
       </ConditionGroup>

diff --git a/Scenarios/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_TEMPLATE.xosc
@@ -44,7 +44,7 @@
         <ValueConstraint rule="greaterThan" value="0.0"></ValueConstraint>
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="$LeadVehicle_Init_LateralOffset_m" parameterType="double" value="0.0">
+    <ParameterDeclaration name="LeadVehicle_Init_LateralOffset_m" parameterType="double" value="0.0">
       <ConstraintGroup>
         <ValueConstraint rule="greaterThan" value="-1.75" />
         <ValueConstraint rule="lessOrEqual" value="1.75" />

diff --git a/Scenarios/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake_TEMPLATE.xosc
@@ -34,7 +34,7 @@
         <ValueConstraint rule="lessThan" value="10.0"></ValueConstraint>
       </ConstraintGroup>
     </ParameterDeclaration>
-    <ParameterDeclaration name="$LeadVehicle_Init_LateralOffset_m" parameterType="double" value="0.0">
+    <ParameterDeclaration name="LeadVehicle_Init_LateralOffset_m" parameterType="double" value="0.0">
       <ConstraintGroup>
         <ValueConstraint rule="greaterThan" value="-1.75" />
         <ValueConstraint rule="lessOrEqual" value="1.75" />

diff --git a/Scenarios/ALKS_Scenario_4.4_2_CutInUnavoidableCollision_TEMPLATE.xosc b/Scenarios/ALKS_Scenario_4.4_2_CutInUnavoidableCollision_TEMPLATE.xosc
@@ -116,7 +116,7 @@
               <SpeedAction>
                 <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
                 <SpeedActionTarget>
-                  <RelativeTargetSpeed entityRef="Ego" value="${$CutInVehicle_RelativeInitSpeed_Ve0_Vo0 / 3.6}" speedTargetValueType="delta" continuous="false" />
+                  <RelativeTargetSpeed entityRef="Ego" value="${$CutInVehicle_RelativeInitSpeed_Ve0_Vo0_kph / 3.6}" speedTargetValueType="delta" continuous="false" />
                 </SpeedActionTarget>
               </SpeedAction>
             </LongitudinalAction>