Building SCM

SCM is a simple CMake Project and requires a minimum version of 3.14.

From within your root directory create a build directory and change into it:

mkdir build && cd build

Call cmake and provide the dependencies via the CMAKE_PREFIX_PATH

LinuxWindows

cmake ..
-G "Unix Makefiles"
-DUSE_CCACHE=ON
-DCMAKE_INSTALL_PREFIX="/home/$USER/scm-install"
-DCMAKE_PREFIX_PATH="deps/conan/direct_deploy/open-simulation-interface; \
                     deps/conan/direct_deploy/protobuf; \
                     deps/conan/direct_deploy/gtest; \
                     deps/conan/direct_deploy/stochastics; \
                     deps/conan/direct_deploy/units; \
                     deps/conan/direct_deploy/libiconv; \
                     deps/conan/direct_deploy/libxml2; \
                     deps/conan/direct_deploy/osiquerylibrary"

or as a one-liner for easy copy & paste

LinuxWindows

cmake .. -G "Unix Makefiles" -DUSE_CCACHE=ON -DCMAKE_INSTALL_PREFIX="/home/$USER/scm-install" -DCMAKE_PREFIX_PATH="deps/conan/direct_deploy/open-simulation-interface;deps/conan/direct_deploy/protobuf;deps/conan/direct_deploy/gtest;deps/conan/direct_deploy/stochastics;deps/conan/direct_deploy/units;deps/conan/direct_deploy/libiconv;deps/conan/direct_deploy/libxml2;deps/conan/direct_deploy/osiquerylibrary"

Note

If you don’t have sphinx installed or simply don’t want to build the documentation, add the following options to your cmake call:

-DWITH_DOC=OFF -DWITH_API_DOC=OFF

Otherwise you may need to install some additional modules:

pip3 install sphinx sphinx-rtd-theme sphinx-tabs breathe exhale sphinxcontrib-spelling myst-parser

Contrary, if you just want to build the documentation and not the whole project, call cmake with the following arguments:

-DWITH_DOC=ON -DONLY_DOC=ON

Then simply call:

make install -j4

to build SCM and install it to the directory provided by the given CMAKE_INSTALL_PREFIX. Adjust this installation directory to your needs.

The build generates the main output file AlgorithmScm.fmu.

Use SCM with OpenPASS

Make yourself familiar with how OpenPASS works in general. It comes with a few config files, see their default config set for a standard simulation.

Note

Get and install OpenPASS following their instructions from https://gitlab.eclipse.org/eclipse/openpass/opSimulation

As SCM is built as a Functional Mockup Unit (FMU) it requires some tweaks to the default OpenPASS configs to work properly. An example set is included in this repository and can be found in <root>/configs/example. The following subsections highlight some differences to the default set.

ProfilesCatalog

In the ProfilesCatalog, add a new ProfileGroup FMU1, if it isn’t there already and add a new Profile called RegularScm. The profile is the place to adjust all driver parameter SCM supports - here they can be adjusted to your needs (see examples for a whole example file).

Additionally to these parameters specific to the driver model behavior, there are some special parameters needed. They are prefixed with Parameter_AssignSpecial_ and are followed by Simulation or Vehicle respectively.

The simulation parameters are useful for the overall simulation, the vehicle parameters are necessary so that SCMs internal dynamics module can work properly.

Table 1 Additional Simulation-prefixed parameter expected by SCM

Parameter	Description
RandomSeed	As SCM is a stochastic model, it is advisable to provide a random seed for the simulation.
OutputPath	If configured, SCM produces some output files regarding its internal state / mental model. This path should be configured so that each agent has an individual place to write data.
ConfigPath	Path to configs (e.g. ScmConfig.xml or GazeFollowerTimeSeries.xml)

Table 2 Additional Vehicle-prefixed parameter expected by SCM

Parameter	Description
SteeringRatio	The steering ratio of the vehicle
MaxSteering	The maximum possible steering wheel angle in both directions in radian
NumberOfGears	The number of gears the vehicle has
GearRatio<X>	Ratio for each gear. The number <X> of GearRatio entries should match the NumberOfGears from above. If a vehicle has 8 gears, there should be GearRatio1, GearRatio2, …, GearRatio8.

Older ProfilesCatalog

You may find older versions of the ProfilesCatalog from a time before SCM was build as a FMU. For theses configs, there exists a converter script in the OpenPASS project to rewrite the ProfilesCatalog to the needed format. The conversion is done via XSL transformation which can be found in utils/rules/v2.0.8_1_to_v2.0.9_SCM_FMU. Although this is a useful tool, it may not cover every possible edge case. Thus it might be necessary to manually check the converted config file afterwards. One known limitation is that there is only one supported motorbike model BMW R 1200 GS which can be related to the RegularMotorbikeSCM profile and bus and truck models have to have these words actually written in their profile names.

ScmConfig

SCM comes with a config file including different options to log specific simulation data of the agents to files.

Table 3 ScmConfig Parameters

Parameter / LoggingDetails	Description
DriverParameter	If set to true (default) writes SCM-related driver parameter (e.g. comfortLateralAcceleration, outerKeepingIntensity, …) to the DriverSimulationOutput.xml file.
DriverValues	If set to true (default), writes SCM-related cyclic data to a file. This includes information about the ego vehicle as well as information about its surroundings (Perception.csv).
XmlOutput	If set to true (default false), writes the DriverValues into a XML file instead of csv.

Running a simulation

First of all, the simulator OpenPASS needs to be downloaded or manually build (see official OpenPASS documentation). It is recommended though to rely on an official release version of OpenPASS.

OpenPASS needs a specific set of config files in a directory called configs right besides the executable. The provided default configurations should be copied to this directory.

The artifact of SCM (AlgorithmScm.fmu) must be made available for OpenPASS. It is advisable to create a new directory which will match the resource path referenced in the ProfilesCatalog (in this case configs/resources/). However, this is not mandatory as long as the path chosen will match the actual position of AlgorithmScm.fmu.

Note

Of course it is possible to set the CMAKE_PREFIX_PATH for the SCM build to the resource directory so that the SCM FMU will be put in the correct place automatically.