// Blocked Take Over Request Scenario

Scenario BlockedTOR:

  Act AccidentTOR:

    @init:
      CreateVehicle(Ego,EgoProto,xyz=0m|0m|0m,speed=130km/h)
      CreateVehicle(Blocker,BlockerProto,xyz=0m|Ego.y-1000m|0m,speed=180km/h,model=ASAMStupidDriver(...))
      CreateVehicle(BlockerRear,BlockerRearProto,xyz=0m|Blocker.y-50m|0m,speed=150km/h)
      CreateVehicle(Accident,AccidentProto,xyz=0m|Ego.y+2000m|0m,speed=0km/h,model=ADACAccidentDriver(...))

    @Distance(Ego,Accident) <= 1000m % OnceOnly:
      LaneChange(Blocker,lane=+1,model=Sinusoidal(time=5s))
      SpeedChange(Blocker,SpeedToReach(Blocker,Ego,Accident.y-180m))
      

    @Distance(Blocker,Ego) <= 10m % OnceOnly:
      SpeedChange(Blocker,Ego.velocity.y + 10km/h)

  Prototypes:
    EgoProto: Vehicle(geometry="mycar.obj",color="blue")
    BlockerProto: Vehicle(geometry="traffic.obj",color="yellow",maxaccel=10km/h/10s,maxbrake=10m/s/s)
    BlockerRearProto: Vehicle(geometry="traffic.obj",color="green")
    AccidentProto: Vehicle(geometry="traffic.obj",color="red")

  Resources:
    Map: OpenDrive("OpenDriveMap.xodr")
    ADACAccidentDriver: ExternalModel("")