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| <section id="vehiclecomponents"> |
| <span id="components-vehiclecomponents"></span><h1>VehicleComponents<a class="headerlink" href="#vehiclecomponents" title="Permalink to this headline"></a></h1> |
| <section id="aeb"> |
| <span id="components-aeb"></span><h2>AEB<a class="headerlink" href="#aeb" title="Permalink to this headline"></a></h2> |
| <p>The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision. |
| In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object. |
| If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.</p> |
| <table class="tight-table docutils align-default"> |
| <colgroup> |
| <col style="width: 29%" /> |
| <col style="width: 5%" /> |
| <col style="width: 3%" /> |
| <col style="width: 63%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> |
| <th class="head"><p>Type</p></th> |
| <th class="head"><p>Unit</p></th> |
| <th class="head"><p>Description</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>CollisionDetectionLongitudinalBoundary</p></td> |
| <td><p>Double</p></td> |
| <td><p>m</p></td> |
| <td><p>Additional length added the vehicle boundary when checking for collision detection</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>CollisionDetectionLateralBoundary</p></td> |
| <td><p>Double</p></td> |
| <td><p>m</p></td> |
| <td><p>Additional width added the vehicle boundary when checking for collision detection</p></td> |
| </tr> |
| <tr class="row-even"><td><p>TTC</p></td> |
| <td><p>Double</p></td> |
| <td><p>s</p></td> |
| <td><p>Time to collision which is used to trigger AEB</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Acceleration</p></td> |
| <td><p>Double</p></td> |
| <td><p>m/s²</p></td> |
| <td><p>Braking acceleration when activated</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"AEB"</span><span class="nt">></span> |
| <span class="nt"><Profile</span> <span class="na">Type=</span><span class="s">"AEB"</span> <span class="na">Name=</span><span class="s">"AEB1"</span><span class="nt">></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"CollisionDetectionLongitudinalBoundary"</span> <span class="na">Value=</span><span class="s">"4.0"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"CollisionDetectionLateralBoundary"</span> <span class="na">Value=</span><span class="s">"1.5"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"TTC"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Acceleration"</span> <span class="na">Value=</span><span class="s">"-2"</span><span class="nt">/></span> |
| <span class="nt"></Profile></span> |
| ... |
| <span class="nt"></ProfileGroup></span> |
| </pre></div> |
| </div> |
| </section> |
| <section id="dynamicstrajectoryfollower"> |
| <span id="components-trajectoryfollower"></span><h2>DynamicsTrajectoryFollower<a class="headerlink" href="#dynamicstrajectoryfollower" title="Permalink to this headline"></a></h2> |
| <p>This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from openSCENARIO is triggered. |
| It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.</p> |
| <p>All attributes are required.</p> |
| <table class="tight-table docutils align-default"> |
| <colgroup> |
| <col style="width: 15%" /> |
| <col style="width: 3%" /> |
| <col style="width: 83%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> |
| <th class="head"><p>Type</p></th> |
| <th class="head"><p>Description</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>AutomaticDeactivation</p></td> |
| <td><p>Bool</p></td> |
| <td><p>If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>EnforceTrajectory</p></td> |
| <td><p>Bool</p></td> |
| <td><p>If true, the trajectory follower overrides external input related to the vehicle’s travel.</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"DynamicsTrajectoryFollower"</span><span class="nt">></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"BasicTrajectoryFollower"</span><span class="nt">></span> |
| <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"AutomaticDeactivation"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span> |
| <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"EnforceTrajectory"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span> |
| <span class="nt"></Profile></span> |
| <span class="nt"></ProfileGroup></span> |
| </pre></div> |
| </div> |
| </section> |
| <section id="sensorgeometric2d"> |
| <span id="components-geometric2d"></span><h2>SensorGeometric2D<a class="headerlink" href="#sensorgeometric2d" title="Permalink to this headline"></a></h2> |
| <p>This sensor is selected, when a sensor is parameterized as ProfileGroup “Geometric2D”.</p> |
| <table class="tight-table docutils align-default"> |
| <colgroup> |
| <col style="width: 22%" /> |
| <col style="width: 4%" /> |
| <col style="width: 3%" /> |
| <col style="width: 71%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Parameter</p></th> |
| <th class="head"><p>Type</p></th> |
| <th class="head"><p>Unit</p></th> |
| <th class="head"><p>Description</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>DetectionRange</p></td> |
| <td><p>Double</p></td> |
| <td><p>m</p></td> |
| <td><p>Detection range</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>EnableVisualObstruction</p></td> |
| <td><p>Bool</p></td> |
| <td></td> |
| <td><p>Activates 2D sensor obstruction calculation</p></td> |
| </tr> |
| <tr class="row-even"><td><p>FailureProbability</p></td> |
| <td><p>Double</p></td> |
| <td></td> |
| <td><p>Probability of an object detection failure</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Latency</p></td> |
| <td><p>Double</p></td> |
| <td><p>s</p></td> |
| <td><p>Sensor latency</p></td> |
| </tr> |
| <tr class="row-even"><td><p>OpeningAngleH</p></td> |
| <td><p>Double</p></td> |
| <td><p>rad</p></td> |
| <td><p>Horizontal opening angle</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RequiredPercentageOfVisibleArea</p></td> |
| <td><p>Double</p></td> |
| <td></td> |
| <td><p>Required percentage of an object within the sensor cone to trigger a detection</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Geometric2D"</span><span class="nt">></span> |
| <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Standard"</span><span class="nt">></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"DetectionRange"</span> <span class="na">Value=</span><span class="s">"300"</span><span class="nt">/></span> |
| <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"EnableVisualObstruction"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"FailureProbability"</span> <span class="na">Value=</span><span class="s">"0"</span><span class="nt">/></span> |
| <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"Latency"</span> <span class="na">Max=</span><span class="s">"0.0"</span> <span class="na">Mean=</span><span class="s">"0.0"</span> <span class="na">Min=</span><span class="s">"0.0"</span> <span class="na">SD=</span><span class="s">"0.0"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"OpeningAngleH"</span> <span class="na">Value=</span><span class="s">"0.35"</span><span class="nt">/></span> |
| <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"RequiredPercentageOfVisibleArea"</span> <span class="na">Value=</span><span class="s">"0.001"</span><span class="nt">/></span> |
| <span class="nt"></Profile></span> |
| <span class="nt"></ProfileGroup></span> |
| </pre></div> |
| </div> |
| <div class="admonition note"> |
| <p class="admonition-title">Note</p> |
| <p>Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis). |
| See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a>.</p> |
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