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| <div class="section" id="profilescatalog"> |
| <span id="id1"></span><h1>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Permalink to this headline">¶</a></h1> |
| <p>The ProfilesCatalog contains all AgentProfiles, VehicleProfiles and generic ProfileGroups and Profiles. |
| Depending on the configuration the simulator could require a “Driver”-ProfileGroup, a “Spawner”- and “TrafficGroup”-ProfileGroup, or sensor and vehiclecomponent specific ProfileGroups.</p> |
| <ul class="simple"> |
| <li><p><a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a></p></li> |
| <li><p><a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a></p></li> |
| <li><p><a class="reference internal" href="#profilescatalog-profilegroups"><span class="std std-ref">ProfileGroups</span></a></p></li> |
| <li><p><a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a></p></li> |
| <li><p><a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a></p></li> |
| <li><p><a class="reference internal" href="#profilescatalog-spawnerprofiles"><span class="std std-ref">SpawnerProfile ProfileGroup</span></a></p></li> |
| </ul> |
| <div class="section" id="agentprofiles"> |
| <span id="profilescatalog-agentprofiles"></span><h2>AgentProfiles<a class="headerlink" href="#agentprofiles" title="Permalink to this headline">¶</a></h2> |
| <p>In this section all AgentProfiles are defined. |
| An AgentProfile is either static or dynamic. |
| A static AgentProfile consists of a SystemConfig and a VehicleModel. |
| A dynamic AgentProfile specifies the composition of the agent according to certain probabilities. |
| Here the initial driver and the vehicle profile of an agent get specified. |
| At least one AgentProfile is required. |
| But every AgentProfile referenced in the used <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> file or <a class="reference internal" href="../components/spawner.html#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> must exist. |
| All probabilities must add up to 1.0.</p> |
| <p>Composition of a static AgentProfile:</p> |
| <table class="docutils align-default"> |
| <colgroup> |
| <col style="width: 17%" /> |
| <col style="width: 72%" /> |
| <col style="width: 11%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Tag</p></th> |
| <th class="head"><p>Description</p></th> |
| <th class="head"><p>Required</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>System</p></td> |
| <td><p>Reference to a system defined in a SystemConfig</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>VehicleModel</p></td> |
| <td><p>Name of the VehicleModel in the <a class="reference internal" href="scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <p>Composition of a dynamic AgentProfile:</p> |
| <table class="docutils align-default"> |
| <colgroup> |
| <col style="width: 14%" /> |
| <col style="width: 69%" /> |
| <col style="width: 17%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Tag</p></th> |
| <th class="head"><p>Description</p></th> |
| <th class="head"><p>Required</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>DriverProfiles</p></td> |
| <td><p>List of <a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a> for random selection</p></td> |
| <td><p>At least one entry</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>VehicleProfiles</p></td> |
| <td><p>List of <a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a> for random selection</p></td> |
| <td><p>At least one entry</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="section" id="example"> |
| <h3>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h3> |
| <p>In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7. |
| Every LuxuryClassCarAgent has the driver profile “AgentFollowingDriver”. |
| Regarding the vehicle profile 50% have a MINI Cooper and the other 50% drive a BMW 7.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><AgentProfiles></span> |
| <span class="nt"><AgentProfile</span> <span class="na">Name=</span><span class="s">"EgoAgent"</span> <span class="na">Type=</span><span class="s">"Static"</span><span class="nt">></span> |
| <span class="nt"><System></span> |
| <span class="nt"><File></span>systemConfig.xml<span class="nt"></File></span> |
| <span class="nt"><Id></span>0<span class="nt"></Id></span> |
| <span class="nt"></System></span> |
| <span class="nt"><VehicleModel></span>car_bmw_7<span class="nt"></VehicleModel></span> |
| <span class="nt"></AgentProfile></span> |
| <span class="nt"><AgentProfile</span> <span class="na">Name=</span><span class="s">"LuxuryClassCarAgent"</span> <span class="na">Type=</span><span class="s">"Dynamic"</span><span class="nt">></span> |
| <span class="nt"><DriverProfiles></span> |
| <span class="nt"><DriverProfile</span> <span class="na">Name=</span><span class="s">"AgentFollowingDriver"</span> <span class="na">Probability=</span><span class="s">"1.0"</span><span class="nt">/></span> |
| <span class="nt"></DriverProfiles></span> |
| <span class="nt"><VehicleProfiles></span> |
| <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"MINI Cooper"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span> |
| <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"BMW 7"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span> |
| <span class="nt"></VehicleProfiles></span> |
| <span class="nt"></AgentProfile></span> |
| <span class="nt"></AgentProfiles></span> |
| </pre></div> |
| </div> |
| </div> |
| </div> |
| <div class="section" id="vehicleprofiles"> |
| <span id="profilescatalog-vehicleprofiles"></span><h2>VehicleProfiles<a class="headerlink" href="#vehicleprofiles" title="Permalink to this headline">¶</a></h2> |
| <p>This sections contains all vehicle profiles. |
| Every VehicleProfile used by <a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a> must be listed here.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><VehicleProfiles></span> |
| <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"BMW 7"</span><span class="nt">></span> |
| <span class="nt"><Model</span> <span class="na">Name=</span><span class="s">"car_bmw_7"</span><span class="nt">/></span> |
| <span class="nt"><Components></span> |
| <span class="nt"><Component</span> <span class="na">Type=</span><span class="s">"AEB"</span><span class="nt">></span> |
| <span class="nt"><Profiles></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"AebProfile"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span> |
| <span class="nt"></Profiles></span> |
| <span class="nt"><SensorLinks></span> |
| <span class="nt"><SensorLink</span> <span class="na">SensorId=</span><span class="s">"0"</span> <span class="na">InputId=</span><span class="s">"Camera"</span><span class="nt">/></span> |
| <span class="nt"></SensorLinks></span> |
| <span class="nt"></Component></span> |
| <span class="nt"></Components></span> |
| <span class="nt"><Sensors></span> |
| <span class="nt"><Sensor</span> <span class="na">Id=</span><span class="s">"0"</span><span class="nt">></span> |
| <span class="nt"><Position</span> <span class="na">Name=</span><span class="s">"Default"</span> <span class="na">Longitudinal=</span><span class="s">"0.0"</span> <span class="na">Lateral=</span><span class="s">"0.0"</span> <span class="na">Height=</span><span class="s">"0.5"</span> <span class="na">Pitch=</span><span class="s">"0.0"</span> <span class="na">Yaw=</span><span class="s">"0.0"</span> <span class="na">Roll=</span><span class="s">"0.0"</span><span class="nt">/></span> |
| <span class="nt"><Profile</span> <span class="na">Type=</span><span class="s">"Geometric2D"</span> <span class="na">Name=</span><span class="s">"Standard"</span><span class="nt">/></span> |
| <span class="nt"></Sensor></span> |
| <span class="nt"></Sensors></span> |
| <span class="nt"></VehicleProfile></span> |
| ... |
| <span class="nt"></VehicleProfiles></span> |
| </pre></div> |
| </div> |
| <table class="docutils align-default"> |
| <colgroup> |
| <col style="width: 19%" /> |
| <col style="width: 81%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> |
| <th class="head"><p>Description</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>Name</p></td> |
| <td><p>Name of the vehicle profile</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Components</p></td> |
| <td><p>Lists all ADAS and other components in the vehicle</p></td> |
| </tr> |
| <tr class="row-even"><td><p>Sensors</p></td> |
| <td><p>Lists all sensors in the vehicle</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="section" id="components"> |
| <span id="profilescatalog-components"></span><h3>Components<a class="headerlink" href="#components" title="Permalink to this headline">¶</a></h3> |
| <table class="docutils align-default"> |
| <colgroup> |
| <col style="width: 12%" /> |
| <col style="width: 88%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> |
| <th class="head"><p>Description</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>Type</p></td> |
| <td><p>Type of the component.</p> |
| <p>Must match component name in SystemConfigBlueprint</p> |
| </td> |
| </tr> |
| <tr class="row-odd"><td><p>Profile</p></td> |
| <td><p>Possible profiles of the component with probabilities.</p> |
| <p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p> |
| <p>Probabilities do not need to add up to 1.</p> |
| </td> |
| </tr> |
| <tr class="row-even"><td><p>SensorLinks</p></td> |
| <td><p>Defines which sensor this component uses as input</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="admonition note"> |
| <p class="admonition-title">Note</p> |
| <p>The possibility of “not having that component” can be achieved if the probabilities of the profiles do not add up to 1.</p> |
| </div> |
| </div> |
| <div class="section" id="sensors"> |
| <span id="profilescatalog-sensors"></span><h3>Sensors<a class="headerlink" href="#sensors" title="Permalink to this headline">¶</a></h3> |
| <table class="docutils align-default"> |
| <colgroup> |
| <col style="width: 12%" /> |
| <col style="width: 88%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> |
| <th class="head"><p>Description</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>Id</p></td> |
| <td><p>Identifier for the sensor used by the SensorLink definition of the components</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Position</p></td> |
| <td><p>Position of the sensor in the vehicle in relative coordinates</p></td> |
| </tr> |
| <tr class="row-even"><td><p>Profile</p></td> |
| <td><p>All possible profiles of the sensor with probabilities.</p> |
| <p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p> |
| </td> |
| </tr> |
| </tbody> |
| </table> |
| </div> |
| </div> |
| <div class="section" id="profilegroups"> |
| <span id="profilescatalog-profilegroups"></span><h2>ProfileGroups<a class="headerlink" href="#profilegroups" title="Permalink to this headline">¶</a></h2> |
| <p>A ProfileGroup defines all the possible profiles of a component. |
| A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig. |
| Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored. |
| Parameters can either be simple or stochastic. |
| Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters. |
| Which parameters are needed/supported depends on the component.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"ComponentName"</span><span class="nt">></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"ExampleProfile"</span><span class="nt">></span> |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"StringParameter"</span> <span class="na">Value=</span><span class="s">"Lorem ipsum"</span><span class="nt">/></span> |
| <span class="nt"><DoubleVector</span> <span class="na">Key=</span><span class="s">"DoubleParameter"</span> <span class="na">Value=</span><span class="s">"12.3,4.56,78.9"</span><span class="nt">/></span> |
| <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"RandomParameter"</span> <span class="na">Mean=</span><span class="s">"4.5"</span> <span class="na">SD=</span><span class="s">"0.5"</span> <span class="na">Min=</span><span class="s">"3.5"</span> <span class="na">Max=</span><span class="s">"10.0"</span><span class="nt">/></span> |
| <span class="nt"></Profile></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"AnotherProfile"</span><span class="nt">></span> |
| ... |
| <span class="nt"></Profile></span> |
| <span class="nt"></ProfileGroup></span> |
| </pre></div> |
| </div> |
| <p>There are the following types of simple parameters:</p> |
| <ul class="simple"> |
| <li><p>Bool</p></li> |
| <li><p>Int</p></li> |
| <li><p>Double</p></li> |
| <li><p>String</p></li> |
| <li><p>IntVector</p></li> |
| <li><p>DoubleVector</p></li> |
| <li><p>StringVector</p></li> |
| </ul> |
| <p>If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:</p> |
| <table class="docutils align-default"> |
| <colgroup> |
| <col style="width: 33%" /> |
| <col style="width: 67%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Distribution</p></th> |
| <th class="head"><p>Additional Attributes</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>NormalDistribution</p></td> |
| <td><p>(Mean and SD) or (Mu and Sigma) - equivalent</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>LogNormalDistribution</p></td> |
| <td><p>(Mean and SD) or (Mu and Sigma) - not equivalent</p></td> |
| </tr> |
| <tr class="row-even"><td><p>UniformDistribution</p></td> |
| <td><p>None</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>ExponentialDistribution</p></td> |
| <td><p>Lambda or Mean (Mean = 1 / Lambda)</p></td> |
| </tr> |
| <tr class="row-even"><td><p>GammaDistribution</p></td> |
| <td><p>(Mean and SD) or (Shape and Scale)</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <p>Additionally there is the list type. |
| The list contains any number of list items which itself contain a list of parameters. |
| Lists can be nested at most two times.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><List</span> <span class="na">Name=</span><span class="s">"ExampleList"</span><span class="nt">></span> |
| <span class="nt"><ListItem></span> |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FirstParameter"</span> <span class="na">Value=</span><span class="s">"Lorem"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SecondParameter"</span> <span class="na">Value=</span><span class="s">"0.4"</span><span class="nt">/></span> |
| <span class="nt"></ListItem></span> |
| <span class="nt"><ListItem></span> |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FirstParameter"</span> <span class="na">Value=</span><span class="s">"ipsum"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SecondParameter"</span> <span class="na">Value=</span><span class="s">"0.6"</span><span class="nt">/></span> |
| <span class="nt"></ListItem></span> |
| <span class="nt"></List></span> |
| </pre></div> |
| </div> |
| <p>A Profile can also reference another Profile in another ProfileGroup. |
| In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile. |
| References may not be nested.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"GroupType"</span> <span class="na">Name=</span><span class="s">"ProfileName"</span><span class="nt">/></span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="driver-profilegroup"> |
| <span id="profilescatalog-driverprofiles"></span><h2>Driver ProfileGroup<a class="headerlink" href="#driver-profilegroup" title="Permalink to this headline">¶</a></h2> |
| <p>This section contains all driver profiles used by the simulation. |
| At least one driver profile is required. |
| The special parameter “Type” defines the name of the component (i.e. library name). |
| For details on the indivual parameters see the <a class="reference internal" href="../components/driver.html#components-driver"><span class="std std-ref">components reference</span></a>.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Driver"</span><span class="nt">></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span> |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Type"</span> <span class="na">Value=</span><span class="s">"DriverLibrary"</span><span class="nt">/></span> |
| ... |
| <span class="nt"></Profile></span> |
| ... |
| <span class="nt"></ProfileGroup></span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="vehiclecomponent-profilegroups"> |
| <span id="profilescatalog-vehiclecomponentprofiles"></span><h2>VehicleComponent ProfileGroups<a class="headerlink" href="#vehiclecomponent-profilegroups" title="Permalink to this headline">¶</a></h2> |
| <p>This sections contains all driver assistance systems and other vehicle components and their parameter sets. |
| For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by <a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a> must be listed here. |
| For details on the indivual parameters see the <a class="reference internal" href="../components/vehicle.html#components-vehiclecomponents"><span class="std std-ref">components reference</span></a>.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"LibraryName"</span><span class="nt">></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span> |
| ... |
| <span class="nt"></Profile></span> |
| ... |
| <span class="nt"></ProfileGroup></span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="spawnerprofile-profilegroup"> |
| <span id="profilescatalog-spawnerprofiles"></span><h2>SpawnerProfile ProfileGroup<a class="headerlink" href="#spawnerprofile-profilegroup" title="Permalink to this headline">¶</a></h2> |
| <p>This sections contains all parameters of the spawners referenced in the <a class="reference internal" href="slaveconfig.html#slaveconfig"><span class="std std-ref">SlaveConfig</span></a>. |
| For details on the indivual parameters see the <a class="reference internal" href="../components/spawner.html#components-spawner"><span class="std std-ref">components reference</span></a>.</p> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Spawner"</span><span class="nt">></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span> |
| ... |
| <span class="nt"></Profile></span> |
| ... |
| <span class="nt"></ProfileGroup></span> |
| </pre></div> |
| </div> |
| </div> |
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