| .. |
| ******************************************************************************* |
| Copyright (c) 2021 in-tech GmbH |
| |
| This program and the accompanying materials are made available under the |
| terms of the Eclipse Public License 2.0 which is available at |
| http://www.eclipse.org/legal/epl-2.0. |
| |
| SPDX-License-Identifier: EPL-2.0 |
| ******************************************************************************* |
| |
| .. _systemconfigblueprint: |
| |
| SystemConfigBlueprint |
| ===================== |
| |
| 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. |
| |
| .. _systemconfigblueprint_agentComponents: |
| |
| AgentComponents |
| --------------- |
| All components are listed here. An agent consists of a subset of this components. |
| |
| .. table:: |
| :class: tight-table |
| |
| =========== =============================================================================== |
| Attribute Description |
| =========== =============================================================================== |
| Id Used as key by the simulation to find the component |
| Priority The module with the highest priority value gets executed first by the scheduler |
| Offset Delay for the trigger method of each component in ms |
| Cycle Interval in which the component gets triggered by the scheduler in ms |
| Response Delay for the UpdateOutput method of each component in ms |
| Library Library name of this component |
| Parameters Parameters used by the component |
| =========== =============================================================================== |
| |
| Example: |
| This example describes the Sensor_Driver module. |
| |
| .. literalinclude:: /../../../tuev/sim/contrib/examples/Common/systemConfigBlueprint.xml |
| :language: xml |
| :dedent: 12 |
| :lines: 28-38 |
| |
| .. _systemconfigblueprint_priorities: |
| |
| Priorities |
| ---------- |
| |
| Please refer to the :ref:`Components and channel communication diagram <component_channel_communication>` 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. |
| |
| 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 |
| |
| Priorities can be grouped (coarse) as following: |
| Highest number indicates highest priority. |
| |
| .. table:: |
| :class: tight-table |
| |
| =========================== =========== |
| Scope Range |
| =========================== =========== |
| Parameters 500 |
| OpenScenarioActions 400 |
| Sensor 350...399 |
| Event 330 |
| DriverMode 310 |
| ADAS 250...299 |
| ComponentController 200 |
| Prioritizer (Lvl. 1) 150...199 |
| VehicleDynamicsControllers 100...149 |
| Prioritizer (Lvl. 2) 75...99 |
| Dynamics 50...74 |
| Prioritizer (Lvl. 3) 25...49 |
| Updater 0...24 |
| =========================== =========== |
| |
| The table below can be used as orientation when a new module is introduced. |
| |
| .. table:: |
| :class: tight-table |
| |
| ========================================= ======================================= ========= =========================== ======================================================================================================================= |
| Name Library Priority Scope Note |
| ========================================= ======================================= ========= =========================== ======================================================================================================================= |
| ParametersAgentModules ParametersAgent 500 Parameters Sets all init-data and is updated cyclically |
| OpenScenarioActions OpenScenarioActions 400 ADAS Reads events from OpenScenario Actions and forwards them to other components |
| SensorObjectDetector Sensor_OSI 398 Sensor Gets instantiated multiple times (one time per sensor) |
| SensorAggregation SensorAggregation_OSI 351 Sensor |
| SensorFusionErrorless SensorFusionErrorless_OSI 350 Sensor |
| AlgorithmAgentFollowingDriverModel AlgorithmAgentFollowingDriverModel 310 DriverModels |
| AEB AlgorithmAutonomousEmergencyBraking 250 ADAS |
| FMU1 AlgorithmFmuWrapper 250 ADAS |
| FMU2 AlgorithmFmuWrapper 250 ADAS |
| FMU3 AlgorithmFmuWrapper 250 ADAS |
| ComponentController ComponentController 200 ADAS Manages vehicle component states with regard to other vehicle component states and conditions and in response to events. |
| PrioritizerLaterDriver SignalPrioritizer 150 Prioritizer |
| PrioritizerAccelerationDriver SignalPrioritizer 150 Prioritizer |
| PrioritizerTurningIndicator SignalPrioritizer 150 Prioritizer |
| PrioritizerSteeringVehicleComponents SignalPrioritizer 150 Prioritizer |
| PrioritizerAccelerationVehicleComponents SignalPrioritizer 150 Prioritizer |
| LimiterAccelerationVehicleComponents LimiterAccelerationVehicleComponents 120 VehicleDynamicsControllers |
| AlgorithmLateralDriver AlgorithmLateralDriver 100 VehicleDynamicsControllers |
| AlgorithmLongitudinalVehicleComponents AlgorithmLongitudinalVehicleComponents 100 VehicleDynamicsControllers |
| AlgorithmLongitudinalDriver AlgorithmLongitudinalDriver 100 VehicleDynamicsControllers |
| PrioritizerSteering SignalPrioritizer 75 Prioritizer |
| PrioritizerLongitudinal SignalPrioritizer 75 Prioritizer |
| DynamicsCollision DynamicsCollision 50 Dynamics |
| DynamicsRegularDriving DynamicsRegularDriving 50 Dynamics |
| DynamicsTrajectoryFollower DynamicsTrajectoryFollower 50 Dynamics |
| PrioritizerDynamics SignalPrioritizer 25 Prioritizer |
| SensorRecordStateModule SensorRecordState 2 Updater Since values are "frozen" for current time step, logging can be placed anywhere |
| ActionLongitudinalDriverModules ActionLongitudinalDriver 3 Updater Will be expanded to ActionPrimary DriverTasks |
| ActionSecondaryDriverTasksModules ActionSecondaryDriverTasks 3 Updater |
| AgentUpdater AgentUpdater 1 Updater |
| ========================================= ======================================= ========= =========================== ======================================================================================================================= |
| |
| .. _systemconfigblueprint_channelids: |
| |
| Channel-Ids |
| ----------- |
| |
| Channels allow components to communicate with each other. |
| The signal flow is set explicitly via a channel-Id of 4 digits (see also :ref:`Components and channels communication diagram <component_channel_communication>`). |
| |
| The first two numbers define the sending module (XX 00). |
| The other two digits define the type of signal that is sent (00 XX). |
| |
| Signals as well as modules can be grouped to allow explicit numbering (see tables below). |
| |
| 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) |
| |
| Example: |
| PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813. |
| |
| |
| **Ids for Modules (first two digits)** |
| |
| |
| Index range for module groups: |
| |
| .. table:: |
| :class: tight-table |
| |
| ================= ========== |
| Group Id |
| ================= ========== |
| Dynamics 1...10 |
| Algorithm 11...30 |
| DriverTasks 31...40 |
| Driver 41...50 |
| VehicleComponent 51...70 |
| Special 81...89 |
| Sensor 91...99 |
| ================= ========== |
| |
| With corresponding defined indices: |
| |
| .. table:: |
| :class: tight-table |
| |
| ========================================= ================= ===== |
| Module Group Id |
| ========================================= ================= ===== |
| AgentUpdater Dynamics 1 |
| Dynamics_TrajectoryFollower Dynamics 2 |
| Dynamics_RegularDriving Dynamics 3 |
| Dynamics_Collision Dynamics 4 |
| PrioritizerDynamics Dynamics 5 |
| Algorithm_LongitudinalVehicleComponent Algorithm 11 |
| Algorithm_LongitudinalAfdm Algorithm 12 |
| Algorithm_SteeringVehicleComponent Algorithm 14 |
| Algorithm_LateralVehicleAfdm Algorithm 15 |
| LimiterAccelerationVehicleComponents Algorithm 17 |
| PrioritizerLongitudinal Algorithm 21 |
| PrioritizerSteering Algorithm 22 |
| PrioritizerAccelerationVehicleComponents Algorithm 23 |
| PrioritizerSteeringVehicleComponents Algorithm 24 |
| Action_LongitudinalDriver DriverTasks 31 |
| Action_SecondaryDriverTasks DriverTasks 32 |
| PrioritizerTurningIndicator DriverTasks 33 |
| AlgorithmAgentFollowingDriverModel Driver 41 |
| AEB VehicleComponent 52 |
| FMU1 VehicleComponent 71 |
| FMU2 VehicleComponent 72 |
| FMU3 VehicleComponent 73 |
| ComponentController Special 83 |
| OpenScenarioActions Special 84 |
| Parameter_Vehicle Sensor 92 |
| SensorAggregation Sensor 93 |
| SensorFusionErrorless Sensor 94 |
| Sensor_Driver Sensor 95 |
| SensorObjectDetector Sensor 98 |
| ========================================= ================= ===== |
| |
| **Ids for Signals (last two digits)** |
| |
| Index range for signal groups: |
| |
| |
| .. table:: |
| :class: tight-table |
| |
| ==================== ========== |
| Group Id |
| ==================== ========== |
| Dynamics 1...10 |
| Algorithm 11...30 |
| OpenScenarioActions 61...70 |
| Special 71...80 |
| Sensor 81...90 |
| Parameters 91...99 |
| ==================== ========== |
| |
| With corresponding defined indices: |
| |
| .. table:: |
| :class: tight-table |
| |
| ======================================= ==================== ===== |
| Signal Group Id |
| ======================================= ==================== ===== |
| Dynamics Dynamics 01 |
| Longitudinal Algorithm 11 |
| Steering Algorithm 12 |
| Acceleration Algorithm 13 |
| Lateral Algorithm 14 |
| SecondaryDriverTasks Algorithm 19 |
| Trajectory OpenScenarioActions 71 |
| AcquireGlobalPosition OpenScenarioActions 62 |
| CustomParameters (CustomCommandAction) OpenScenarioActions 63 |
| SensorDriver Sensor 81 |
| SensorData Sensor 90 |
| ParametersVehicle Parameters 92 |
| ======================================= ==================== ===== |
| |
| .. _systemconfigblueprint_parameters: |
| |
| Parameters |
| ---------- |
| |
| For more information on the type of parameters (especially stochastic distributions), please refer to the :ref:`ProfilesGroup section <profilescatalog_profilegroups>`. |
| |
| **Important Note:** The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax. |
| See the following example: |
| |
| .. code-block:: xml |
| |
| <parameters> |
| <parameter> |
| <id>StringParameter</id> |
| <type>string</type> |
| <unit/> |
| <value>Lorem ipsum</value> |
| </parameter> |
| <parameter> |
| <id>RandomParameter</id> |
| <type>normalDistribution</type> |
| <unit/> |
| <value> |
| <mean>15.0</mean> |
| <sd>2.5</sd> |
| <min>10.0</min> |
| <max>20.0</max> |
| </value> |
| </parameter> |
| </parameters> |
