ProfilesCatalog

The ProfilesCatalog contains all AgentProfiles, SystemProfiles and generic ProfileGroups and Profiles. Depending on the configuration the simulator could require a “Driver”-ProfileGroup, a “Spawner”- and “TrafficGroup”-ProfileGroup, a “TrafficRules”-ProfileGroup or sensor and vehiclecomponent specific ProfileGroups.

AgentProfiles

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, system profile and the vehicle models of an agent get specified. At least one AgentProfile is required. But every AgentProfile referenced in the used Scenario file or TrafficGroups must exist. All probabilities must add up to 1.0.

Composition of a static AgentProfile:

Tag

Description

Required

System

Reference to a system defined in a SystemConfig

Yes

VehicleModel

Name of the VehicleModel in the VehicleCatalog

Yes

Composition of a dynamic AgentProfile:

Tag

Description

Required

DriverProfiles

List of Driver ProfileGroup for random selection

At least one entry

SystemProfiles

List of SystemProfiles for random selection

At least one entry

VehicleModels

List of vehicle models for random selection

At least one entry

Example

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 system profile 50% have a NoADAS and the other 50% have WithAEB. Regarding the vehicle model 50% use a car_mini_cooper and the other 50% use car_bmw_7_1 vehicle model.

<AgentProfiles>
    <AgentProfile Name="EgoAgent" Type="Static">
        <System>
            <File>systemConfig.xml</File>
            <Id>0</Id>
        </System>
        <VehicleModel>car_bmw_7</VehicleModel>
    </AgentProfile>
    <AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
        <DriverProfiles>
            <DriverProfile Name="AgentFollowingDriver" Probability="1.0"/>
        </DriverProfiles>
        <SystemProfiles>
            <SystemProfile Name="NoADAS" Probability="0.5"/>
            <SystemProfile Name="WithAEB" Probability="0.5"/>
        </SystemProfiles>
        <VehicleModels>
          <VehicleModel Name="car_mini_cooper" Probability="0.5"/>
          <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
        </VehicleModels>
    </AgentProfile>
</AgentProfiles>

SystemProfiles

This sections contains all system profiles. Every SystemProfile used by AgentProfiles must be listed here.

<SystemProfiles>
   <SystemProfile Name="WithAEB">
       <Components>
              <Component Type="AEB">
               <Profiles>
                   <Profile Name="AebProfile" Probability="0.5"/>
               </Profiles>
               <SensorLinks>
                   <SensorLink SensorId="0" InputId="Camera"/>
               </SensorLinks>
              </Component>
       </Components>
       <Sensors>
           <Sensor Id="0" Position="Default">
               <Profile Type="Geometric2D" Name="Standard"/>
           </Sensor>
       </Sensors>
   </SystemProfile>
   ...
</SystemProfiles>

Attribute

Description

Name

Name of the vehicle profile

Components

Lists all ADAS and other components in the vehicle

Sensors

Lists all sensors in the vehicle

Components

Attribute

Description

Type

Type of the component.

Must match component name in SystemConfigBlueprint

Profile

Possible profiles of the component with probabilities.

The profiles are defined in the VehicleComponent ProfileGroups section

Probabilities do not need to add up to 1.

SensorLinks

Defines which sensor this component uses as input

Note

The possibility of “not having that component” can be achieved if the probabilities of the profiles do not add up to 1.

Sensors

Attribute

Description

Id

Identifier for the sensor used by the SensorLink definition of the components

Position

Position of the sensor in the vehicle in relative coordinates

Profile

All possible profiles of the sensor with probabilities.

The profiles are defined in the VehicleComponent ProfileGroups section

 
<Sensors>
  <Sensor Id="0" Position="Default">
    <Profile Type="ReceiverCar2X" Name="Standard"/>
  </Sensor>
  <Sensor Id="1" Position="FrontWindow">
    <Profile Type="Geometric2D" Name="Standard"/>
  </Sensor>
</Sensors>

Note

The Position attribute in the XML specifies placement of a sensor within a vehicle. The position is defined in VehicleModelsCatalog. It follows the format “SensorPosition/Position/Parameters”. The parameters height, lateral, longitudinal, pitch, roll and yaw are required. For example, “FrontWindow” describes a sensor mounted on the front window, with corresponding positional parameters. See example catalog in VehicleCatalog.

ProfileGroups

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.

<ProfileGroup Type="ComponentName">
    <Profile Name="ExampleProfile">
        <String Key="StringParameter" Value="Lorem ipsum"/>
        <DoubleVector Key="DoubleParameter" Value="12.3,4.56,78.9"/>
        <NormalDistribution Key="RandomParameter" Mean="4.5" SD="0.5" Min="3.5" Max="10.0"/>
    </Profile>
    <Profile Name="AnotherProfile">
        ...
    </Profile>
</ProfileGroup>

There are the following types of simple parameters:

  • Bool

  • Int

  • Double

  • String

  • IntVector

  • DoubleVector

  • StringVector

If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:

Distribution

Additional Attributes

NormalDistribution

(Mean and SD) or (Mu and Sigma) - equivalent

LogNormalDistribution

(Mean and SD) or (Mu and Sigma) - not equivalent

UniformDistribution

None

ExponentialDistribution

Lambda or Mean (Mean = 1 / Lambda)

GammaDistribution

(Mean and SD) or (Shape and Scale)

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.

<List Name="ExampleList">
    <ListItem>
        <String Key="FirstParameter" Value="Lorem"/>
        <Double Key="SecondParameter" Value="0.4"/>
    </ListItem>
    <ListItem>
        <String Key="FirstParameter" Value="ipsum"/>
        <Double Key="SecondParameter" Value="0.6"/>
    </ListItem>
</List>

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.

<Reference Type="GroupType" Name="ProfileName"/>

Driver ProfileGroup

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 individual parameters see the components reference.

<ProfileGroup Type="Driver">
  <Profile Name="Name">
    <String Key="Type" Value="DriverLibrary"/>
    ...
  </Profile>
  ...
</ProfileGroup>

VehicleComponent ProfileGroups

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 SystemProfiles must be listed here. For details on the individual parameters see the components reference.

<ProfileGroup Type="LibraryName">
  <Profile Name="Name">
    ...
  </Profile>
  ...
</ProfileGroup>

SpawnerProfile ProfileGroup

This sections contains all parameters of the spawners referenced in the SimulationConfig. For details on the individual parameters see the components reference.

<ProfileGroup Type="Spawner">
  <Profile Name="Name">
    ...
  </Profile>
  ...
</ProfileGroup>

TrafficRules ProfileGroup

This sections contains the global traffic rules, that may vary depending on the country. The following country are supported:

Name

Description

DE

Germany

US

United States

CN

China

The Environment section in the SimulationConfig defines which set is used. Currently there are only rules regulating highway traffic. These are the following:

Name

Type

Description

OpenSpeedLimit

Double

maximum allowed speed if not restricted by signs

KeepToOuterLanes

Bool

if true, vehicles must use the outermost free lane for driving

DontOvertakeOnOuterLanes

Bool

if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic)

FormRescueLane

Bool

if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles

ZipperMerge

Bool

if true all merging shall be performed using zipper merge

 
  <ProfileGroup Type="TrafficRules">
    <Profile Name="DE">
      <Double Key="OpenSpeedLimit" Value="INF"/>
      <Double Key="OpenSpeedLimitTrucks" Value="22.2222222"/>
      <Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
      <Bool Key="KeepToOuterLanes" Value="true"/>
      <Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
      <Bool Key="FormRescueLane" Value="true"/>
      <Bool Key="ZipperMerge" Value="true"/>
    </Profile>
    <Profile Name="US">
      <Double Key="OpenSpeedLimit" Value="31.2928"/>
      <Double Key="OpenSpeedLimitTrucks" Value="26.8224"/>
      <Double Key="OpenSpeedLimitBuses" Value="26.8224"/>
      <Bool Key="KeepToOuterLanes" Value="false"/>
      <Bool Key="DontOvertakeOnOuterLanes" Value="false"/>
      <Bool Key="FormRescueLane" Value="true"/>
      <Bool Key="ZipperMerge" Value="false"/>
    </Profile>
    <Profile Name="CN">
      <Double Key="OpenSpeedLimit" Value="33.3333"/>
      <Double Key="OpenSpeedLimitTrucks" Value="25.0"/>
      <Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
      <Bool Key="KeepToOuterLanes" Value="false"/>
      <Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
      <Bool Key="FormRescueLane" Value="false"/>
      <Bool Key="ZipperMerge" Value="true"/>
    </Profile>
  </ProfileGroup>