Example config

Scenario_name: example

Ego:
  End_pos: [2,-2,45,0,1] # End position [Road index, Lane id, s, offset, orientation]
  Start_pos: [0,2,66,0,1] # Start position [Road index, Lane id, s, offset, orientation]
  Start_speed: 50 # Ego's start speed (km/h)

Map: # Clockwise index
  - 121
  - 17
  - 144
  - 16
Actors:
	Agents:
	  # Agent 1
	  - Type: 'car_red'
		  Start_pos: [0,1,55,0,1] # Start pos [Road index, Lane id, s, offset, orientation]
	    Start_speed: 50 # Agent's speed (km/hr)
	    Start_trigger: # (ego reach init pos)
	      lane: 2
	      road: 0
	      s: 60
	      offset: 0
	      type: absolute
	    Acts:
	      - Type: cut_in # Agent1's Act1
		      Delay: 1 # Overall delay
	        Events:
	        - Type: cut # Act1's position action
	          Dynamic_delay: 0
	          Dynamic_duration: 2
	          Dynamic_shape: linear
	          End: 2
	          Use_route: null
	        - Type: speed # Act1's speed action
	          Dynamic_delay: 0
	          Dynamic_duration: 3
	          Dynamic_shape: linear
	          End: 20
	          Use_route: null
	      - Type: turn
		      # ... Agent1's Act2
		# Agent 2
	  - Type: 'car_red'
		  Start_pos: [2,1,5,0]
	    # ...
	Pedestrians:
		...

Map

Trigger type

依 Ego 觸發 Agent 的位置分為:

Untitled

Actor type

Agent

Pedestrian


Action

Cut Action

Type: cut 
Dynamic_delay: 1 # Trigger觸發後過多久開始動
Dynamic_duration: 3 # 花多少時間cut
Dynamic_shape: linear 
End: [-2,0] # Target [lane id, offset]
Use_route: null # irrelevant

Position Action