// Blocked Take Over Request Scenario

Scenario QueueSwitcher:

  Act QueueSwitcher(rightcount=30,rightspeed=10km/h,latpos=0.3,latpostime=1s,blinktime=-2s):

    @init:
      CreateVehicle(Ego,EgoProto,xyz=0m|0m|0m,speed=30km/h)
      CreateVehicle(Front,FrontProto,xyz=0m|Ego.y+100m|0m,speed=30km/h)
      repeat n in [1:$rightcount] by 1:
        CreateVehicle(RightQueue$n,RightQueueProto,xyz=5m|Ego.y+$n*15m|0m,speed=$rightspeed)

    @Headway(Ego,Front) >= 2s % OnceOnly:
      select next_queue in RightQueue* with DistanceBeforePassing(next_queue,Ego)>15m minimize Distance(next_queue,Ego):
        @Distance($next_queue,Ego) < 10m:
          LateralChange($next_queue,x=-$latpos,t=$latpostime)
          Delay(2s)
          SetLight($next_queue,LeftTurnIndicator)
          Delay($blinktime)
          LangeChange($next_queue,lane=+1,model=...)
      LaneChange(Blocker,lane=+1,model=Sinusoidal(time=5s))
      SpeedChange(Blocker,SpeedToReach(Blocker,Ego,Accident.y-180m))

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

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