28 lines
1.0 KiB
Plaintext
28 lines
1.0 KiB
Plaintext
// Blocked Take Over Request Scenario
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Scenario BlockedTOR:
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Act AccidentTOR:
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@init:
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CreateVehicle(Ego,EgoProto,xyz=0m|0m|0m,speed=130km/h)
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CreateVehicle(Blocker,BlockerProto,xyz=0m|Ego.y-1000m|0m,speed=180km/h)
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CreateVehicle(BlockerRear,BlockerRearProto,xyz=0m|Blocker.y-50m|0m,speed=150km/h)
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CreateVehicle(Accident,AccidentProto,xyz=0m|Ego.y+2000m|0m,speed=0km/h)
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@Distance(Ego,Accident) <= 1000m % OnceOnly:
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LaneChange(Blocker,lane=+1,model=Sinusoidal(time=5s))
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SpeedChange(Blocker,SpeedToReach(Blocker,Ego,Accident.y-180m))
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@Distance(Blocker,Ego) <= 10m % OnceOnly:
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SpeedChange(Blocker,Ego.velocity.y + 10km/h)
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Prototypes:
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EgoProto: Vehicle(geometry="mycar.obj",color="blue")
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BlockerProto: Vehicle(geometry="traffic.obj",color="yellow",maxaccel=10km/h/10s,maxbrake=10m/s/s)
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BlockerRearProto: Vehicle(geometry="traffic.obj",color="green")
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AccidentProto: Vehicle(geometry="traffic.obj",color="red")
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Resources:
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Map: OpenDrive("OpenDriveMap.xodr")
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