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| <div class="section" id="systemconfigblueprint"> | |
| <span id="id1"></span><h1>SystemConfigBlueprint<a class="headerlink" href="#systemconfigblueprint" title="Permalink to this headline">¶</a></h1> | |
| <p>This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents. | |
| If the simulation uses only statically configured agents (AgentProfile Type attribute is “Static”), this file isn’t required.</p> | |
| <div class="section" id="agentcomponents"> | |
| <span id="systemconfigblueprint-agentcomponents"></span><h2>AgentComponents<a class="headerlink" href="#agentcomponents" title="Permalink to this headline">¶</a></h2> | |
| <p>All components are listed here. An agent consists of a subset of this components.</p> | |
| <table class="tight-table 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>Used as key by the simulation to find the component</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Priority</p></td> | |
| <td><p>The module with the highest priority value gets executed first by the scheduler</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Offset</p></td> | |
| <td><p>Delay for the trigger method of each component in ms</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Cycle</p></td> | |
| <td><p>Interval in which the component gets triggered by the scheduler in ms</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Response</p></td> | |
| <td><p>Delay for the UpdateOutput method of each component in ms</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Library</p></td> | |
| <td><p>Library name of this component</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Parameters</p></td> | |
| <td><p>Parameters used by the component</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <p>Example: | |
| This example describes the Sensor_Driver module.</p> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><component></span> | |
| <span class="nt"><id></span>SensorObjectDetector<span class="nt"></id></span> | |
| <span class="nt"><schedule></span> | |
| <span class="nt"><priority></span>398<span class="nt"></priority></span> | |
| <span class="nt"><offset></span>0<span class="nt"></offset></span> | |
| <span class="nt"><cycle></span>100<span class="nt"></cycle></span> | |
| <span class="nt"><response></span>0<span class="nt"></response></span> | |
| <span class="nt"></schedule></span> | |
| <span class="nt"><library></span>Sensor_OSI<span class="nt"></library></span> | |
| <span class="nt"><parameters/></span> | |
| <span class="nt"></component></span> | |
| </pre></div> | |
| </div> | |
| </div> | |
| <div class="section" id="priorities"> | |
| <span id="systemconfigblueprint-priorities"></span><h2>Priorities<a class="headerlink" href="#priorities" title="Permalink to this headline">¶</a></h2> | |
| <p>Please refer to the <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channel communication diagram</span></a> for assignment of a proper priority. | |
| Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers. | |
| Data is then handled by algorithms like Algorithm_Lateral. | |
| Output-relevant modules like dynamics and actions are executed last.</p> | |
| <p>Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined: | |
| Level 1 describes data produced by ADAS and drivers. | |
| Level 2 describes data output by vehicle dynamic controllers. | |
| Level 3 describes data delivered by dynamics.</p> | |
| <p>Priorities can be grouped (coarse) as following: | |
| Highest number indicates highest priority.</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 71%" /> | |
| <col style="width: 29%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Scope</p></th> | |
| <th class="head"><p>Range</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Parameters</p></td> | |
| <td><p>500</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>OpenScenarioActions</p></td> | |
| <td><p>400</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Sensor</p></td> | |
| <td><p>350…399</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Event</p></td> | |
| <td><p>330</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>DriverMode</p></td> | |
| <td><p>310</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>ADAS</p></td> | |
| <td><p>250…299</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>ComponentController</p></td> | |
| <td><p>200</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Prioritizer (Lvl. 1)</p></td> | |
| <td><p>150…199</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>VehicleDynamicsControllers</p></td> | |
| <td><p>100…149</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Prioritizer (Lvl. 2)</p></td> | |
| <td><p>75…99</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Dynamics</p></td> | |
| <td><p>50…74</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Prioritizer (Lvl. 3)</p></td> | |
| <td><p>25…49</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Updater</p></td> | |
| <td><p>0…24</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <p>The table below can be used as orientation when a new module is introduced.</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 17%" /> | |
| <col style="width: 17%" /> | |
| <col style="width: 4%" /> | |
| <col style="width: 11%" /> | |
| <col style="width: 51%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Name</p></th> | |
| <th class="head"><p>Library</p></th> | |
| <th class="head"><p>Priority</p></th> | |
| <th class="head"><p>Scope</p></th> | |
| <th class="head"><p>Note</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>ParametersAgentModules</p></td> | |
| <td><p>ParametersAgent</p></td> | |
| <td><p>500</p></td> | |
| <td><p>Parameters</p></td> | |
| <td><p>Sets all init-data and is updated cyclically</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>OpenScenarioActions</p></td> | |
| <td><p>OpenScenarioActions</p></td> | |
| <td><p>400</p></td> | |
| <td><p>ADAS</p></td> | |
| <td><p>Reads events from OpenScenario Actions and forwards them to other components</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>SensorObjectDetector</p></td> | |
| <td><p>Sensor_OSI</p></td> | |
| <td><p>398</p></td> | |
| <td><p>Sensor</p></td> | |
| <td><p>Gets instantiated multiple times (one time per sensor)</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>SensorAggregation</p></td> | |
| <td><p>SensorAggregation_OSI</p></td> | |
| <td><p>351</p></td> | |
| <td><p>Sensor</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>SensorFusionErrorless</p></td> | |
| <td><p>SensorFusionErrorless_OSI</p></td> | |
| <td><p>350</p></td> | |
| <td><p>Sensor</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>AlgorithmAgentFollowingDriverModel</p></td> | |
| <td><p>AlgorithmAgentFollowingDriverModel</p></td> | |
| <td><p>310</p></td> | |
| <td><p>DriverModels</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>AEB</p></td> | |
| <td><p>AlgorithmAutonomousEmergencyBraking</p></td> | |
| <td><p>250</p></td> | |
| <td><p>ADAS</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>ComponentController</p></td> | |
| <td><p>ComponentController</p></td> | |
| <td><p>200</p></td> | |
| <td><p>ADAS</p></td> | |
| <td><p>Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerLaterDriver</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>150</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>PrioritizerAccelerationDriver</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>150</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>150</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>150</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>150</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>LimiterAccelerationVehicleComponents</p></td> | |
| <td><p>LimiterAccelerationVehicleComponents</p></td> | |
| <td><p>120</p></td> | |
| <td><p>VehicleDynamicsControllers</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>AlgorithmLateralDriver</p></td> | |
| <td><p>AlgorithmLateralDriver</p></td> | |
| <td><p>100</p></td> | |
| <td><p>VehicleDynamicsControllers</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>AlgorithmLongitudinalVehicleComponents</p></td> | |
| <td><p>AlgorithmLongitudinalVehicleComponents</p></td> | |
| <td><p>100</p></td> | |
| <td><p>VehicleDynamicsControllers</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>AlgorithmLongitudinalDriver</p></td> | |
| <td><p>AlgorithmLongitudinalDriver</p></td> | |
| <td><p>100</p></td> | |
| <td><p>VehicleDynamicsControllers</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>PrioritizerSteering</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>75</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerLongitudinal</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>75</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>DynamicsCollision</p></td> | |
| <td><p>DynamicsCollision</p></td> | |
| <td><p>50</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>DynamicsRegularDriving</p></td> | |
| <td><p>DynamicsRegularDriving</p></td> | |
| <td><p>50</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>DynamicsTrajectoryFollower</p></td> | |
| <td><p>DynamicsTrajectoryFollower</p></td> | |
| <td><p>50</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerDynamics</p></td> | |
| <td><p>SignalPrioritizer</p></td> | |
| <td><p>25</p></td> | |
| <td><p>Prioritizer</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>SensorRecordStateModule</p></td> | |
| <td><p>SensorRecordState</p></td> | |
| <td><p>2</p></td> | |
| <td><p>Updater</p></td> | |
| <td><p>Since values are “frozen” for current time step, logging can be placed anywhere</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>ActionLongitudinalDriverModules</p></td> | |
| <td><p>ActionLongitudinalDriver</p></td> | |
| <td><p>3</p></td> | |
| <td><p>Updater</p></td> | |
| <td><p>Will be expanded to ActionPrimary DriverTasks</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>ActionSecondaryDriverTasksModules</p></td> | |
| <td><p>ActionSecondaryDriverTasks</p></td> | |
| <td><p>3</p></td> | |
| <td><p>Updater</p></td> | |
| <td></td> | |
| </tr> | |
| <tr class="row-even"><td><p>AgentUpdater</p></td> | |
| <td><p>AgentUpdater</p></td> | |
| <td><p>1</p></td> | |
| <td><p>Updater</p></td> | |
| <td></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| </div> | |
| <div class="section" id="channel-ids"> | |
| <span id="systemconfigblueprint-channelids"></span><h2>Channel-Ids<a class="headerlink" href="#channel-ids" title="Permalink to this headline">¶</a></h2> | |
| <p>Channels allow components to communicate with each other. | |
| The signal flow is set explicitly via a channel-Id of 4 digits (see also <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channels communication diagram</span></a>).</p> | |
| <p>The first two numbers define the sending module (XX 00). | |
| The other two digits define the type of signal that is sent (00 XX).</p> | |
| <p>Signals as well as modules can be grouped to allow explicit numbering (see tables below).</p> | |
| <p>Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)</p> | |
| <p>Example: | |
| PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.</p> | |
| <p><strong>Ids for Modules (first two digits)</strong></p> | |
| <p>Index range for module groups:</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 63%" /> | |
| <col style="width: 37%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Group</p></th> | |
| <th class="head"><p>Id</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Dynamics</p></td> | |
| <td><p>1…10</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Algorithm</p></td> | |
| <td><p>11…30</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>DriverTasks</p></td> | |
| <td><p>31…40</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Driver</p></td> | |
| <td><p>41…50</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>VehicleComponent</p></td> | |
| <td><p>51…80</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Special</p></td> | |
| <td><p>81…89</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Sensor</p></td> | |
| <td><p>91…99</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <p>With corresponding defined indices:</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 65%" /> | |
| <col style="width: 27%" /> | |
| <col style="width: 8%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Module</p></th> | |
| <th class="head"><p>Group</p></th> | |
| <th class="head"><p>Id</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>AgentUpdater</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td><p>1</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Dynamics_TrajectoryFollower</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td><p>2</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Dynamics_RegularDriving</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td><p>3</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Dynamics_Collision</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td><p>4</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerDynamics</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td><p>5</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Algorithm_LongitudinalVehicleComponent</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>11</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Algorithm_LongitudinalAfdm</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>12</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Algorithm_SteeringVehicleComponent</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>14</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Algorithm_LateralVehicleAfdm</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>15</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>LimiterVehicleLongitudinal</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>17</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerLongitudinal</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>21</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>PrioritizerSteering</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>22</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>23</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>24</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Action_LongitudinalDriver</p></td> | |
| <td><p>DriverTasks</p></td> | |
| <td><p>31</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Action_SecondaryDriverTasks</p></td> | |
| <td><p>DriverTasks</p></td> | |
| <td><p>32</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td> | |
| <td><p>DriverTasks</p></td> | |
| <td><p>33</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>AlgorithmAgentFollowingDriver</p></td> | |
| <td><p>Driver</p></td> | |
| <td><p>41</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>AEB</p></td> | |
| <td><p>VehicleComponent</p></td> | |
| <td><p>52</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>ComponentController</p></td> | |
| <td><p>Special</p></td> | |
| <td><p>83</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>OpenScenarioActions</p></td> | |
| <td><p>Special</p></td> | |
| <td><p>84</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Parameter_Vehicle</p></td> | |
| <td><p>Sensor</p></td> | |
| <td><p>92</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>SensorAggregation</p></td> | |
| <td><p>Sensor</p></td> | |
| <td><p>93</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>SensorFusion</p></td> | |
| <td><p>Sensor</p></td> | |
| <td><p>94</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Sensor_Driver</p></td> | |
| <td><p>Sensor</p></td> | |
| <td><p>95</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <p><strong>Ids for Signals (last two digits)</strong></p> | |
| <p>Index range for signal groups:</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 67%" /> | |
| <col style="width: 33%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Group</p></th> | |
| <th class="head"><p>Id</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Dynamics</p></td> | |
| <td><p>1…10</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Algorithm</p></td> | |
| <td><p>11…30</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>OpenScenarioActions</p></td> | |
| <td><p>61…70</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Special</p></td> | |
| <td><p>71…80</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Sensor</p></td> | |
| <td><p>81…90</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Parameters</p></td> | |
| <td><p>91…99</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <p>With corresponding defined indices:</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 61%" /> | |
| <col style="width: 31%" /> | |
| <col style="width: 8%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Signal</p></th> | |
| <th class="head"><p>Group</p></th> | |
| <th class="head"><p>Id</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Dynamics</p></td> | |
| <td><p>Dynamics</p></td> | |
| <td><p>01</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Longitudinal</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>11</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Steering</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>12</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Acceleration</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>13</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Lateral</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>14</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>SecondaryDriverTasks</p></td> | |
| <td><p>Algorithm</p></td> | |
| <td><p>19</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Trajectory</p></td> | |
| <td><p>OpenScenarioActions</p></td> | |
| <td><p>71</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>AcquireGlobalPosition</p></td> | |
| <td><p>OpenScenarioActions</p></td> | |
| <td><p>62</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>CustomParameters (CustomCommandAction)</p></td> | |
| <td><p>OpenScenarioActions</p></td> | |
| <td><p>63</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>SensorDriver</p></td> | |
| <td><p>Sensor</p></td> | |
| <td><p>81</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>SensorData</p></td> | |
| <td><p>Sensor</p></td> | |
| <td><p>90</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>ParametersVehicle</p></td> | |
| <td><p>Parameters</p></td> | |
| <td><p>92</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| </div> | |
| <div class="section" id="parameters"> | |
| <span id="systemconfigblueprint-parameters"></span><h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2> | |
| <p>For more information on the type of parameters (especially stochastic distributions), please refer to the <a class="reference internal" href="profilescatalog.html#profilescatalog-profilegroups"><span class="std std-ref">ProfilesGroup section</span></a>.</p> | |
| <p><strong>Important Note:</strong> The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax. | |
| See the following example:</p> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><parameters></span> | |
| <span class="nt"><parameter></span> | |
| <span class="nt"><id></span>StringParameter<span class="nt"></id></span> | |
| <span class="nt"><type></span>string<span class="nt"></type></span> | |
| <span class="nt"><unit/></span> | |
| <span class="nt"><value></span>Lorem ipsum<span class="nt"></value></span> | |
| <span class="nt"></parameter></span> | |
| <span class="nt"><parameter></span> | |
| <span class="nt"><id></span>RandomParameter<span class="nt"></id></span> | |
| <span class="nt"><type></span>normalDistribution<span class="nt"></type></span> | |
| <span class="nt"><unit/></span> | |
| <span class="nt"><value></span> | |
| <span class="nt"><mean></span>15.0<span class="nt"></mean></span> | |
| <span class="nt"><sd></span>2.5<span class="nt"></sd></span> | |
| <span class="nt"><min></span>10.0<span class="nt"></min></span> | |
| <span class="nt"><max></span>20.0<span class="nt"></max></span> | |
| <span class="nt"></value></span> | |
| <span class="nt"></parameter></span> | |
| <span class="nt"></parameters></span> | |
| </pre></div> | |
| </div> | |
| </div> | |
| </div> | |
| </div> | |
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