.. ******************************************************************************* Copyright (c) 2021 in-tech GmbH 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG) 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 ******************************************************************************* .. _simulationconfig: SimulationConfig ================ This file describes the high level parameters of a simulation invocation (i.e. an experiment). It contains the basic experiment settings like number of runs and random seed, the environment definition, the parametrization of the output (more precisely the observation modules) and the definition of the spawners. The path to the SimulationConfig is given as command line argument (or defaulted) and all other configs are directly or indirectly refered to in the SimulationConfig. Several parameters depend on probabilities. Each invocation then rolls for said probabilities. All probabilities need to add up to 1.0. The simulationConfig.xml consists of the following sections: * :ref:`simulationconfig_profilescatalog` * :ref:`simulationconfig_experiment` * :ref:`simulationconfig_scenario` * :ref:`simulationconfig_environment` * :ref:`simulationconfig_observations` * :ref:`simulationconfig_spawners` .. _simulationconfig_profilescatalog: ProfilesCatalog --------------- Specifies the :ref:`profilescatalog` for the experiment. .. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml :language: xml :start-at: :end-at: .. _simulationconfig_experiment: Experiment ---------- Specifies the general experiment setup, not specific to a single invocation. .. table:: :class: tight-table ===================== ================================================== ========= Tag Description Mandatory ===================== ================================================== ========= ExperimentId Id of the experiment yes NumberOfInvocations Number of invocation in the experiment. For each invocation probabilities are rerolled. yes RandomSeed Random seed for the entire experiment. Must be within the bounds of an unsigned integer. yes Libraries Name of the core module Libraries to use. If not specified the default name is assumed. yes ===================== ================================================== ========= .. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml :language: xml :start-at: :end-at: .. _simulationconfig_scenario: Scenario -------- This section contains information about the scenario setup for the experiment. This information does not change between invocations. .. table:: :class: tight-table ================ ========================= ========= Tag Description Mandatory ================ ========================= ========= OpenScenarioFile Name of the scenario file yes ================ ========================= ========= **Example** This experiment uses the "HighwayScenario.xosc" scenario file. .. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml :language: xml :start-at: :end-at: .. _simulationconfig_environment: Environment ----------- This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities. All probabilities need to add up to 1.0. .. table:: :class: tight-table =================== ============================================================================================== ========= Tag Description Mandatory =================== ============================================================================================== ========= TimeOfDay **Currently unused.** Time of day ranging from 1-24 [h]. 1+ entry VisibilityDistance Defines how far a human driver can see [m]. 1+ entry Friction Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents. 1+ entry Weather **Currently unused.** Weather as string 1+ entry TrafficRules Defines which set of TrafficRules to use from the ProfilesCatalog yes TurningRates Defines the turning rates for random route generation no =================== ============================================================================================== ========= **Example** Every invocation has the time set to 15:00. In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter. Every invocation has a friction of 0.3. Every invocation has sunny weather. .. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml :language: xml :start-at: :end-at: **TurningRates** If routes are not defined in the Scenario, they are randomly generated. Starting at the current agent position at each junction a random connector is chosen based on the weights given in the TurningRates element, until the route terminates at a road without successors or a maximum depth is reached. If for a pair of incoming road / connector no weight is given, it is defaulted to 1. At the below example an agent coming from road "R1" has a 1/3 chance of selecting "R1-2" and a 2/3 chance of selecting "R1-3". .. table:: :class: tight-table =================== ============================== Attribute Description =================== ============================== Incoming Id of the incoming road Outgoing Id of the connector Weight Weight for this pair =================== ============================== .. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/TurningRates/simulationConfig.xml :language: xml :start-at: :end-at: .. _simulationconfig_observations: Observations ------------ In this section all observation libraries are defined with their parameters. A specific library is loaded by adding an entry to the `Observations` tag: .. code-block:: xml THE_OBSERVATION_LIBRARY ... ... Here, the ``Library`` tag contains the name of the library, and ``Parameters`` contain an optional list of key/value pairs, specific for each observer. Please refer to the documentation of the individual observers for available parameters: .. toctree:: :glob: :maxdepth: 1 ../outputs/* .. _simulationconfig_spawners: Spawners -------- In this section the spawners are defined with their Profile (defined in the ProfilesCatalog). The same library can be loaded multiple times with different profiles. A spawner is either of type "PreRun", meaning it is triggered only once at the start of the simulation, or "Runtime", meaning it is triggered in every timestep. If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first. .. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml :language: xml :start-at: :end-at: Full Example ------------ .. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml :language: xml :caption: simulationConfig.xml :linenos: