| <?xml version='1.0' encoding='utf-8'?> |
| <routes> |
| <route id="closed_occluded_pedestrian_0001" town="Town01" source_route_id="8002"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| <position x="88.400000" y="284.300000" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0001" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="static.prop.busstop" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="88.400000" y="225.300000" z="0.000000" yaw="90.000000" /> |
| <original_trigger_point x="88.400000" y="219.300000" z="0.000000" yaw="90.000000" /> |
| <scenario_arm_point x="88.400000" y="225.300000" z="0.000000" yaw="90.000000" /> |
| <cooperative_trigger_point x="88.400000" y="229.300000" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="88.400000" y="238.300000" z="0.000000" yaw="90.000000" /> |
| <collision_point x="88.400000" y="247.300000" z="0.000000" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0002" town="Town02" source_route_id="8003"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="55.7" y="306.5" z="0.0" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0002" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="static.prop.busstop" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <trigger_point x="69.699964" y="306.525454" z="0.000000" yaw="0.104174" /> |
| <original_trigger_point x="63.700000" y="306.500000" z="0.000000" yaw="0.000000" /> |
| <scenario_arm_point x="69.699964" y="306.525454" z="0.000000" yaw="0.104174" /> |
| <cooperative_trigger_point x="73.699957" y="306.532727" z="0.000000" yaw="0.104174" /> |
| <event_trigger_point x="82.699942" y="306.549091" z="0.000000" yaw="0.104174" /> |
| <collision_point x="91.699927" y="306.565454" z="0.000000" yaw="0.104174" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0003" town="Town05" source_route_id="codrive_occluded_town05_0078"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" fog_density="5.0" sun_altitude_angle="35.0" sun_azimuth_angle="210.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" fog_density="5.0" sun_altitude_angle="35.0" sun_azimuth_angle="210.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0003" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <source_provenance value="generated_routes/s1_large_vehicle_pedestrian_emerge/s1_0078.xml" /> |
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| <original_trigger_point x="210.340000" y="73.790000" z="0.000000" yaw="-89.300000" /> |
| <scenario_arm_point x="210.409996" y="67.790407" z="0.000000" yaw="-89.369772" /> |
| <cooperative_trigger_point x="210.457992" y="63.790695" z="0.000000" yaw="-89.312484" /> |
| <event_trigger_point x="210.565984" y="54.791343" z="0.000000" yaw="-89.312484" /> |
| <collision_point x="210.671978" y="45.791968" z="0.000000" yaw="-89.369772" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0004" town="Town04" source_route_id="8007"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
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| </weathers> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0004" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mercedes.sprinter" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
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| <scenario_arm_point x="288.029212" y="37.727389" z="2.163226" yaw="0.983973" /> |
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| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0005" town="Town05" source_route_id="8001"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0005" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
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| <scenario_arm_point x="151.524000" y="25.999964" z="0.040000" yaw="89.885409" /> |
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| <collision_point x="151.568000" y="47.999920" z="0.040000" yaw="89.885409" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0006" town="Town05" source_route_id="8004"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0006" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mercedes.sprinter" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
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| <scenario_arm_point x="203.956639" y="1.970834" z="0.000000" yaw="-90.739379" /> |
| <cooperative_trigger_point x="203.905022" y="-2.028833" z="0.000000" yaw="-90.739379" /> |
| <event_trigger_point x="203.788884" y="-11.028083" z="0.000000" yaw="-90.739379" /> |
| <collision_point x="203.672746" y="-20.027334" z="0.000000" yaw="-90.739379" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0007" town="Town13" source_route_id="codrive_occluded_town13_0022"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" fog_density="3.0" sun_altitude_angle="55.0" sun_azimuth_angle="120.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0007" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mercedes.sprinter" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <source_provenance value="generated_routes/s1_large_vehicle_pedestrian_emerge/s1_0022.xml" /> |
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| <scenario_arm_point x="4968.729997" y="3621.899700" z="159.429997" yaw="89.427061" /> |
| <cooperative_trigger_point x="4968.769995" y="3625.899500" z="159.469995" yaw="89.427061" /> |
| <event_trigger_point x="4968.859991" y="3634.899050" z="159.500000" yaw="89.427061" /> |
| <collision_point x="4968.900000" y="3643.898850" z="159.549989" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0008" town="Town06" source_route_id="8006"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-225.1" y="53.0" z="0.0" /> |
| <position x="-170.2" y="52.5" z="0.0" /> |
| <position x="-168.200083" y="52.481786" z="0.000000" /> |
| <position x="-166.200166" y="52.463572" z="0.000000" /> |
| <position x="-164.200249" y="52.445357" z="0.000000" /> |
| <position x="-162.200332" y="52.427143" z="0.000000" /> |
| <position x="-160.200415" y="52.408929" z="0.000000" /> |
| <position x="-158.200498" y="52.390715" z="0.000000" /> |
| <position x="-156.200581" y="52.372501" z="0.000000" /> |
| <position x="-154.200664" y="52.354287" z="0.000000" /> |
| <position x="-152.200746" y="52.336072" z="0.000000" /> |
| <position x="-150.200829" y="52.317858" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0008" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="-211.098180" y="52.872479" z="0.000000" yaw="-0.521805" /> |
| <original_trigger_point x="-217.100000" y="52.700000" z="0.000000" yaw="-1.500000" /> |
| <scenario_arm_point x="-211.098180" y="52.872479" z="0.000000" yaw="-0.521805" /> |
| <cooperative_trigger_point x="-207.098346" y="52.836051" z="0.000000" yaw="-0.521805" /> |
| <event_trigger_point x="-198.098719" y="52.754087" z="0.000000" yaw="-0.521805" /> |
| <collision_point x="-189.099093" y="52.672123" z="0.000000" yaw="-0.521805" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0009" town="Town10HD" source_route_id="8008"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="10.4" y="-57.4" z="0.0" /> |
| <position x="65.4" y="-57.4" z="0.0" /> |
| <position x="67.120" y="-57.376" z="0.000" /> |
| <position x="68.849" y="-57.241" z="0.000" /> |
| <position x="70.568" y="-57.018" z="0.000" /> |
| <position x="72.273" y="-56.709" z="0.000" /> |
| <position x="73.961" y="-56.313" z="0.000" /> |
| <position x="75.626" y="-55.833" z="0.000" /> |
| <position x="77.265" y="-55.268" z="0.000" /> |
| <position x="78.873" y="-54.621" z="0.000" /> |
| <position x="80.446" y="-53.893" z="0.000" /> |
| <position x="81.981" y="-53.087" z="0.000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0009" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mercedes.sprinter" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="24.400000" y="-57.400000" z="0.000000" yaw="0.000000" /> |
| <original_trigger_point x="18.400000" y="-57.400000" z="0.000000" yaw="0.000000" /> |
| <scenario_arm_point x="24.400000" y="-57.400000" z="0.000000" yaw="0.000000" /> |
| <cooperative_trigger_point x="28.400000" y="-57.400000" z="0.000000" yaw="0.000000" /> |
| <event_trigger_point x="37.400000" y="-57.400000" z="0.000000" yaw="0.000000" /> |
| <collision_point x="46.400000" y="-57.400000" z="0.000000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0010" town="Town10HD" source_route_id="8010"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-24.80" y="-61.25" z="0.00" /> |
| <position x="30.20" y="-60.91" z="0.00" /> |
| <position x="32.199962" y="-60.897637" z="0.000000" /> |
| <position x="34.199924" y="-60.885273" z="0.000000" /> |
| <position x="36.199885" y="-60.872910" z="0.000000" /> |
| <position x="38.199847" y="-60.860546" z="0.000000" /> |
| <position x="40.199809" y="-60.848183" z="0.000000" /> |
| <position x="42.199771" y="-60.835820" z="0.000000" /> |
| <position x="44.199733" y="-60.823456" z="0.000000" /> |
| <position x="46.199694" y="-60.811093" z="0.000000" /> |
| <position x="48.199656" y="-60.798729" z="0.000000" /> |
| <position x="50.199618" y="-60.786366" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0010" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <lateral_sign value="-1" /> |
| <trigger_point x="-10.759927" y="-61.163207" z="0.000000" yaw="0.354188" /> |
| <original_trigger_point x="-16.760000" y="-61.170000" z="0.000000" yaw="0.600000" /> |
| <scenario_arm_point x="-10.759927" y="-61.163207" z="0.000000" yaw="0.354188" /> |
| <cooperative_trigger_point x="-6.760004" y="-61.138480" z="0.000000" yaw="0.354188" /> |
| <event_trigger_point x="2.239824" y="-61.082845" z="0.000000" yaw="0.354188" /> |
| <collision_point x="11.239652" y="-61.027209" z="0.000000" yaw="0.354188" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0011" town="Town15" source_route_id="DynamicObjectCrossing_Town15_Route27_Weather1" candidate_source="Bench2Drive-Base" candidate_source_clip="DynamicObjectCrossing_Town15_Route27_Weather1" candidate_route_length_m="134.094" candidate_geometry_sha256="ceba4b6c0cf2439039d97e36e56eacfd7d50e5ea0f33d94a915c2539c4305446"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="266.209500" y="444.856200" z="137.718800" /> |
| <position x="167.456400" y="354.294900" z="150.137700" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0011" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="229.163889" y="408.779728" z="143.074354" yaw="-135.219430" /> |
| <original_trigger_point x="233.400028" y="413.028823" z="142.449349" yaw="-134.646953" /> |
| <scenario_arm_point x="229.163889" y="408.779728" z="143.074354" yaw="-135.219430" /> |
| <cooperative_trigger_point x="226.313056" y="405.973903" z="143.491305" yaw="-135.682738" /> |
| <event_trigger_point x="219.817029" y="399.744990" z="144.429315" yaw="-136.711087" /> |
| <collision_point x="213.209612" y="393.634360" z="145.367331" yaw="-137.739841" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0012" town="Town12" source_route_id="ParkingCrossingPedestrian_Town12_Route759_Weather5" candidate_source="Bench2Drive-Base" candidate_source_clip="ParkingCrossingPedestrian_Town12_Route759_Weather5" candidate_route_length_m="132.000" candidate_geometry_sha256="af637be74b80bb849935c10d17da4db4f8e488a15f87376934176db2ec8c0c67"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-605.035500" y="3523.060800" z="361.407900" /> |
| <position x="-604.958300" y="3655.060800" z="364.805100" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0012" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mercedes.sprinter" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <trigger_point x="-605.005840" y="3573.660791" z="362.665840" yaw="89.965623" /> |
| <original_trigger_point x="-605.009400" y="3567.660792" z="362.504240" yaw="89.971352" /> |
| <scenario_arm_point x="-605.005840" y="3573.660791" z="362.665840" yaw="89.965623" /> |
| <cooperative_trigger_point x="-605.003540" y="3577.660790" z="362.773380" yaw="89.965623" /> |
| <event_trigger_point x="-604.998240" y="3586.660789" z="363.015180" yaw="89.965623" /> |
| <collision_point x="-604.993000" y="3595.660787" z="363.256580" yaw="89.971352" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0013" town="Town13" source_route_id="PedestrianCrossing_Town13_Route687_Weather11" candidate_source="Bench2Drive-Base" candidate_source_clip="PedestrianCrossing_Town13_Route687_Weather11" candidate_route_length_m="82.566" candidate_geometry_sha256="e1509c83a0ac55fa83b9a9432f3f9eaf81841c6b34be8de753e09c156e9b807d"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3731.756800" y="2237.291300" z="169.749100" /> |
| <position x="3732.028300" y="2154.725300" z="170.405400" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0013" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.carlamotors.carlacola" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="3731.833901" y="2213.879428" z="169.923891" yaw="-89.805195" /> |
| <original_trigger_point x="3731.814142" y="2219.879395" z="169.878589" yaw="-89.799466" /> |
| <scenario_arm_point x="3731.833901" y="2213.879428" z="169.923891" yaw="-89.805195" /> |
| <cooperative_trigger_point x="3731.847019" y="2209.879449" z="169.954132" yaw="-89.816654" /> |
| <event_trigger_point x="3731.876636" y="2200.879498" z="170.023599" yaw="-89.816654" /> |
| <collision_point x="3731.906235" y="2191.879547" z="170.094988" yaw="-89.816654" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0014" town="Town01" source_route_id="DynamicObjectCrossing_Town01_Route4_Weather3" candidate_source="Bench2Drive-Base" candidate_source_clip="DynamicObjectCrossing_Town01_Route4_Weather3" candidate_route_length_m="133.003" candidate_geometry_sha256="4db448eceea8ca1fc3b835e5d66a5a730bde9c1d8dd985a097c0a0f4f26dfde6"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="392.353600" y="31.847600" z="0.000000" /> |
| <position x="392.303900" y="164.850400" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0014" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <trigger_point x="392.292218" y="82.999563" z="0.000000" yaw="90.068755" /> |
| <original_trigger_point x="392.299418" y="76.999567" z="0.000000" yaw="90.068755" /> |
| <scenario_arm_point x="392.292218" y="82.999563" z="0.000000" yaw="90.068755" /> |
| <cooperative_trigger_point x="392.287600" y="86.999560" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="392.289330" y="95.999560" z="0.000000" yaw="89.988541" /> |
| <collision_point x="392.291230" y="104.999560" z="0.000000" yaw="89.988541" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0015" town="Town02" source_route_id="DynamicObjectCrossing_Town02_Route12_Weather12" candidate_source="Bench2Drive-Base" candidate_source_clip="DynamicObjectCrossing_Town02_Route12_Weather12" candidate_route_length_m="132.006" candidate_geometry_sha256="6a89871439cab5678ed0c91abaec40b1d68163444df2bfa1b2f37e1fe6373537"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="159.498600" y="105.434900" z="0.000000" /> |
| <position x="27.493000" y="105.468100" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0015" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mercedes.sprinter" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="108.895611" y="105.430676" z="0.000000" yaw="-179.959893" /> |
| <original_trigger_point x="114.895610" y="105.434776" z="0.000000" yaw="-179.959893" /> |
| <scenario_arm_point x="108.895611" y="105.430676" z="0.000000" yaw="-179.959893" /> |
| <cooperative_trigger_point x="104.895612" y="105.427976" z="0.000000" yaw="-179.959893" /> |
| <event_trigger_point x="95.895614" y="105.421776" z="0.000000" yaw="-179.959893" /> |
| <collision_point x="86.895617" y="105.415676" z="0.000000" yaw="-179.959893" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0016" town="Town12" source_route_id="PedestrianCrossing_Town12_Route867_Weather9" candidate_source="Bench2Drive-Base" candidate_source_clip="PedestrianCrossing_Town12_Route867_Weather9" candidate_route_length_m="84.046" candidate_geometry_sha256="aa13d53ad7c878a3f130e20c633c6d8d6db90c0e2a631579d237bef5928c1498"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="2363.502200" y="5584.593300" z="370.119800" /> |
| <position x="2447.078900" y="5590.854500" z="370.048500" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0016" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.carlamotors.carlacola" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <trigger_point x="2387.727197" y="5584.582388" z="370.112810" yaw="-0.028648" /> |
| <original_trigger_point x="2381.727198" y="5584.585310" z="370.115310" yaw="-0.022918" /> |
| <scenario_arm_point x="2387.727197" y="5584.582388" z="370.112810" yaw="-0.028648" /> |
| <cooperative_trigger_point x="2391.727197" y="5584.581034" z="370.111107" yaw="-0.016855" /> |
| <event_trigger_point x="2400.726888" y="5584.626565" z="370.107066" yaw="1.072657" /> |
| <collision_point x="2409.716690" y="5585.018420" z="370.098969" yaw="4.796148" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="120.0" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0017" town="Town12" source_route_id="ParkingCrossingPedestrian_Town12_Route899_Weather15" candidate_source="Bench2Drive-Base" candidate_source_clip="ParkingCrossingPedestrian_Town12_Route899_Weather15" candidate_route_length_m="132.000" candidate_geometry_sha256="72ae78abfe87c8485eaab3964db3cdb264e1801ba814843f4550d2fb604cd7b8"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="1365.004500" y="5255.094700" z="370.656500" /> |
| <position x="1364.631600" y="5123.095200" z="370.825100" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0017" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="1364.861519" y="5204.494902" z="370.741500" yaw="-90.160428" /> |
| <original_trigger_point x="1364.878419" y="5210.494878" z="370.732300" yaw="-90.160428" /> |
| <scenario_arm_point x="1364.861519" y="5204.494902" z="370.741500" yaw="-90.160428" /> |
| <cooperative_trigger_point x="1364.850219" y="5200.494918" z="370.747240" yaw="-90.160428" /> |
| <event_trigger_point x="1364.824819" y="5191.494954" z="370.759380" yaw="-90.160428" /> |
| <collision_point x="1364.799319" y="5182.494990" z="370.770120" yaw="-90.160428" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0018" town="Town13" source_route_id="PedestrianCrossing_Town13_Route637_Weather13" candidate_source="Bench2Drive-Base" candidate_source_clip="PedestrianCrossing_Town13_Route637_Weather13" candidate_route_length_m="78.510" candidate_geometry_sha256="e4663005c754d95131b0aafd5520d7a94254d17e475c30b1c9f43ba1fc2ded2a"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3440.587900" y="4412.110800" z="181.041000" /> |
| <position x="3458.879900" y="4488.351600" z="180.996600" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0018" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mercedes.sprinter" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <trigger_point x="3447.122036" y="4432.246953" z="181.007708" yaw="75.157773" /> |
| <original_trigger_point x="3445.491273" y="4426.473071" z="181.017042" yaw="73.423952" /> |
| <scenario_arm_point x="3447.122036" y="4432.246953" z="181.007708" yaw="75.157773" /> |
| <cooperative_trigger_point x="3448.110890" y="4436.122719" z="181.001530" yaw="76.288391" /> |
| <event_trigger_point x="3450.090325" y="4444.901996" z="180.987536" yaw="78.284362" /> |
| <collision_point x="3451.823457" y="4453.733419" z="180.974200" yaw="78.778610" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0019" town="Town15" source_route_id="ParkingCrossingPedestrian_Town15_Route462_Weather20" candidate_source="Bench2Drive-Base" candidate_source_clip="ParkingCrossingPedestrian_Town15_Route462_Weather20" candidate_route_length_m="104.023" candidate_geometry_sha256="934456800f85013b538971b29855c9c0e6bf3b3b845ecb0003d5c2ad42c4f4be"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="391.106000" y="550.055500" z="125.626100" /> |
| <position x="313.046100" y="481.502100" z="135.769400" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0019" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.carlamotors.carlacola" /> |
| <ped_age value="adult" /> |
| <end_dist value="30" /> |
| <trigger_point x="364.380481" y="527.127309" z="129.003399" yaw="-139.484606" /> |
| <original_trigger_point x="368.935222" y="531.032988" z="128.427731" yaw="-139.371981" /> |
| <scenario_arm_point x="364.380481" y="527.127309" z="129.003399" yaw="-139.484606" /> |
| <cooperative_trigger_point x="361.335139" y="524.533881" z="129.387599" yaw="-139.704714" /> |
| <event_trigger_point x="354.469932" y="518.714179" z="130.250797" yaw="-139.712507" /> |
| <collision_point x="347.604663" y="512.894550" z="131.113901" yaw="-139.708802" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_occluded_pedestrian_0020" town="Town01" source_route_id="DynamicObjectCrossing_Town01_Route5_Weather2" candidate_source="Bench2Drive-Base" candidate_source_clip="DynamicObjectCrossing_Town01_Route5_Weather2" candidate_route_length_m="132.000" candidate_geometry_sha256="4246b65b1b2165b93a0c8d0f79a204cc40de80c32d98f3b6b7859f5bdc08a721"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="303.670100" y="195.157300" z="0.000000" /> |
| <position x="171.670200" y="195.146600" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedOccludedPedestrian_0020" type="ClosedOccludedPedestrian"> |
| <cross_dist value="22.0" /> |
| <ped_speed value="3.0" /> |
| <reaction_time value="1.5" /> |
| <min_trigger_dist value="9.0" /> |
| <occluder_model value="vehicle.mitsubishi.fusorosa" /> |
| <ped_age value="child" /> |
| <end_dist value="30" /> |
| <trigger_point x="253.070100" y="195.153240" z="0.000000" yaw="-179.994270" /> |
| <original_trigger_point x="259.070100" y="195.153700" z="0.000000" yaw="180.000000" /> |
| <scenario_arm_point x="253.070100" y="195.153240" z="0.000000" yaw="-179.994270" /> |
| <cooperative_trigger_point x="249.070100" y="195.152840" z="0.000000" yaw="-179.994270" /> |
| <event_trigger_point x="240.070100" y="195.152140" z="0.000000" yaw="-179.994270" /> |
| <collision_point x="231.070100" y="195.151440" z="0.000000" yaw="-179.994270" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The pedestrian at position <FRONT_CAR_POS> is about to enter the ego lane." /> |
| <closed_loop_family value="occluded_pedestrian" /> |
| <hint_lead_distance value="18.0" /> |
| <event_lead_distance value="9.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0001" town="Town04" source_route_id="40001"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="169.8" y="-307.7" z="0.03" /> |
| <position x="171.8" y="-307.7" z="0.03" /> |
| <position x="173.8" y="-307.7" z="0.03" /> |
| <position x="175.8" y="-307.7" z="0.03" /> |
| <position x="177.8" y="-307.7" z="0.03" /> |
| <position x="179.8" y="-307.7" z="0.03" /> |
| <position x="181.8" y="-307.7" z="0.03" /> |
| <position x="183.8" y="-307.7" z="0.03" /> |
| <position x="185.8" y="-307.7" z="0.03" /> |
| <position x="187.8" y="-307.7" z="0.03" /> |
| <position x="189.8" y="-307.7" z="0.03" /> |
| <position x="191.8" y="-307.7" z="0.03" /> |
| <position x="201.5" y="-297.6" z="0.02" /> |
| <position x="201.5" y="-295.6" z="0.02" /> |
| <position x="201.4" y="-293.6" z="0.02" /> |
| <position x="201.4" y="-291.6" z="0.02" /> |
| <position x="201.3" y="-289.6" z="0.02" /> |
| <position x="201.3" y="-287.6" z="0.02" /> |
| <position x="201.3" y="-285.6" z="0.02" /> |
| <position x="201.2" y="-283.6" z="0.02" /> |
| <position x="201.2" y="-281.6" z="0.02" /> |
| <position x="201.1" y="-279.6" z="0.02" /> |
| <position x="201.1" y="-277.6" z="0.02" /> |
| <position x="201.0" y="-275.6" z="0.02" /> |
| <position x="201.0" y="-273.6" z="0.02" /> |
| <position x="200.9" y="-271.6" z="0.02" /> |
| <position x="200.9" y="-269.6" z="0.02" /> |
| <position x="200.8" y="-267.6" z="0.02" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0001" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="8.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="177.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <original_trigger_point x="171.800000" y="-307.700000" z="0.030000" yaw="0.100000" /> |
| <scenario_arm_point x="177.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <cooperative_trigger_point x="181.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <event_trigger_point x="181.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <collision_point x="191.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0002" town="Town04" source_route_id="40003"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="290.3" y="-250.0" z="0.00" /> |
| <position x="288.3" y="-249.9" z="0.00" /> |
| <position x="286.3" y="-249.9" z="0.00" /> |
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| <position x="270.3" y="-249.8" z="0.00" /> |
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| <position x="258.7" y="-258.4" z="0.02" /> |
| <position x="258.7" y="-260.4" z="0.02" /> |
| <position x="258.7" y="-262.4" z="0.02" /> |
| <position x="258.7" y="-264.4" z="0.02" /> |
| <position x="258.7" y="-266.4" z="0.02" /> |
| <position x="258.7" y="-268.4" z="0.02" /> |
| <position x="258.7" y="-270.4" z="0.02" /> |
| <position x="258.7" y="-272.4" z="0.02" /> |
| <position x="258.7" y="-274.4" z="0.02" /> |
| <position x="258.8" y="-276.4" z="0.02" /> |
| <position x="258.8" y="-278.4" z="0.02" /> |
| <position x="258.8" y="-280.4" z="0.02" /> |
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| <position x="258.8" y="-286.4" z="0.02" /> |
| <position x="258.8" y="-288.4" z="0.02" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0002" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="9.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="282.297502" y="-249.900000" z="0.000000" yaw="180.000000" /> |
| <original_trigger_point x="288.300000" y="-249.900000" z="0.000000" yaw="179.600000" /> |
| <scenario_arm_point x="282.297502" y="-249.900000" z="0.000000" yaw="180.000000" /> |
| <cooperative_trigger_point x="278.297502" y="-249.900000" z="0.000000" yaw="180.000000" /> |
| <event_trigger_point x="278.297502" y="-249.900000" z="0.000000" yaw="180.000000" /> |
| <collision_point x="268.300000" y="-249.800000" z="0.000000" yaw="180.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0003" town="Town01" source_route_id="codrive_rtor_town01_0011"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" fog_density="5.0" sun_altitude_angle="35.0" sun_azimuth_angle="210.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" fog_density="5.0" sun_altitude_angle="35.0" sun_azimuth_angle="210.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="154.06" y="16.02" z="0.00" /> |
| <position x="154.06" y="16.81" z="0.00" /> |
| <position x="154.06" y="17.78" z="0.00" /> |
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| <position x="121.040000" y="55.490000" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0003" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="10.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="154.030176" y="37.472595" z="0.000000" yaw="90.212994" /> |
| <source_provenance value="right_turn_clip_coop10_trigger2_spawnfar15_visible250_0011" /> |
| <original_trigger_point x="154.060000" y="16.020000" z="0.000000" yaw="90.100000" /> |
| <scenario_arm_point x="154.030176" y="37.472595" z="0.000000" yaw="90.212994" /> |
| <cooperative_trigger_point x="154.030000" y="41.472595" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="154.030000" y="41.472595" z="0.000000" yaw="90.000000" /> |
| <collision_point x="153.250000" y="51.380000" z="0.000000" yaw="105.499275" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <clear_ego_route_corridor_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| <force_ego_traffic_light_green value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0004" town="Town04" source_route_id="40004"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0004" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="11.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="282.299600" y="-249.899996" z="0.000000" yaw="179.427061" /> |
| <original_trigger_point x="288.300000" y="-249.940000" z="0.000000" yaw="179.600000" /> |
| <scenario_arm_point x="282.299600" y="-249.899996" z="0.000000" yaw="179.427061" /> |
| <cooperative_trigger_point x="278.299725" y="-249.869997" z="0.000000" yaw="179.427061" /> |
| <event_trigger_point x="278.299725" y="-249.869997" z="0.000000" yaw="179.427061" /> |
| <collision_point x="268.300000" y="-249.800000" z="0.000000" yaw="179.713523" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0005" town="Town05" source_route_id="1"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0005" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="12.0" /> |
| <source_dist_interval from="10" to="60" /> |
| <trigger_point x="4.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <original_trigger_point x="-7.100000" y="6.100000" z="0.000000" yaw="359.900000" /> |
| <scenario_arm_point x="4.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <cooperative_trigger_point x="8.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <event_trigger_point x="8.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <collision_point x="18.500000" y="6.200000" z="0.000000" yaw="5.440332" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0006" town="Town05" source_route_id="26956"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0006" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="8.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="24.800000" y="-33.092624" z="0.000000" yaw="90.000000" /> |
| <original_trigger_point x="25.000000" y="-41.200000" z="0.000000" yaw="91.400000" /> |
| <scenario_arm_point x="24.800000" y="-33.092624" z="0.000000" yaw="90.000000" /> |
| <cooperative_trigger_point x="24.700000" y="-29.095122" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="24.700000" y="-29.095122" z="0.000000" yaw="90.000000" /> |
| <collision_point x="24.500000" y="-19.100000" z="0.000000" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0007" town="Town05" source_route_id="26966"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-120.0" y="133.6" z="0.0" /> |
| <position x="-120.0" y="131.6" z="0.0" /> |
| <position x="-120.1" y="129.6" z="0.0" /> |
| <position x="-120.1" y="127.6" z="0.0" /> |
| <position x="-120.1" y="125.6" z="0.0" /> |
| <position x="-120.1" y="123.6" z="0.0" /> |
| <position x="-120.1" y="121.6" z="0.0" /> |
| <position x="-120.2" y="119.6" z="0.0" /> |
| <position x="-120.2" y="117.6" z="0.0" /> |
| <position x="-120.2" y="115.6" z="0.0" /> |
| <position x="-120.2" y="113.6" z="0.0" /> |
| <position x="-120.2" y="111.6" z="0.0" /> |
| <position x="-120.2" y="109.6" z="0.0" /> |
| <position x="-103.9" y="94.9" z="0.0" /> |
| <position x="-101.9" y="95.0" z="0.0" /> |
| <position x="-99.9" y="95.0" z="0.0" /> |
| <position x="-97.9" y="95.0" z="0.0" /> |
| <position x="-95.9" y="95.0" z="0.0" /> |
| <position x="-93.9" y="95.0" z="0.0" /> |
| <position x="-91.9" y="95.0" z="0.0" /> |
| <position x="-89.9" y="95.0" z="0.0" /> |
| <position x="-87.9" y="95.0" z="0.0" /> |
| <position x="-85.9" y="95.0" z="0.0" /> |
| <position x="-83.9" y="95.0" z="0.0" /> |
| <position x="-81.9" y="95.0" z="0.0" /> |
| <position x="-79.9" y="95.0" z="0.0" /> |
| <position x="-77.9" y="95.0" z="0.0" /> |
| <position x="-75.9" y="95.0" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0007" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="9.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="-120.100000" y="123.597502" z="0.000000" yaw="-90.000000" /> |
| <original_trigger_point x="-120.000000" y="131.600000" z="0.000000" yaw="-90.000000" /> |
| <scenario_arm_point x="-120.100000" y="123.597502" z="0.000000" yaw="-90.000000" /> |
| <cooperative_trigger_point x="-120.200000" y="119.600000" z="0.000000" yaw="-92.862405" /> |
| <event_trigger_point x="-120.200000" y="119.600000" z="0.000000" yaw="-92.862405" /> |
| <collision_point x="-120.200000" y="109.600000" z="0.000000" yaw="-90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0008" town="Town05" source_route_id="27506"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-44.2" y="-45.9" z="0.0" /> |
| <position x="-44.2" y="-47.9" z="0.0" /> |
| <position x="-44.3" y="-49.9" z="0.0" /> |
| <position x="-44.3" y="-51.9" z="0.0" /> |
| <position x="-44.3" y="-53.9" z="0.0" /> |
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| <position x="-44.3" y="-57.9" z="0.0" /> |
| <position x="-44.3" y="-59.9" z="0.0" /> |
| <position x="-44.3" y="-61.9" z="0.0" /> |
| <position x="-44.3" y="-63.9" z="0.0" /> |
| <position x="-44.3" y="-65.9" z="0.0" /> |
| <position x="-44.4" y="-67.9" z="0.0" /> |
| <position x="-29.0" y="-84.4" z="0.0" /> |
| <position x="-27.0" y="-84.4" z="0.0" /> |
| <position x="-25.0" y="-84.4" z="0.0" /> |
| <position x="-23.0" y="-84.4" z="0.0" /> |
| <position x="-21.0" y="-84.4" z="0.0" /> |
| <position x="-19.0" y="-84.4" z="0.0" /> |
| <position x="-17.0" y="-84.4" z="0.0" /> |
| <position x="-15.0" y="-84.4" z="0.0" /> |
| <position x="-13.0" y="-84.4" z="0.0" /> |
| <position x="-11.0" y="-84.4" z="0.0" /> |
| <position x="-9.0" y="-84.4" z="0.0" /> |
| <position x="-7.0" y="-84.4" z="0.0" /> |
| <position x="-5.0" y="-84.4" z="0.0" /> |
| <position x="-3.0" y="-84.4" z="0.0" /> |
| <position x="-1.0" y="-84.4" z="0.0" /> |
| <position x="1.0" y="-84.4" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0008" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="10.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="-44.300000" y="-53.902498" z="0.000000" yaw="-90.000000" /> |
| <original_trigger_point x="-44.200000" y="-47.900000" z="0.000000" yaw="-91.400000" /> |
| <scenario_arm_point x="-44.300000" y="-53.902498" z="0.000000" yaw="-90.000000" /> |
| <cooperative_trigger_point x="-44.300000" y="-57.902498" z="0.000000" yaw="-90.000000" /> |
| <event_trigger_point x="-44.300000" y="-57.902498" z="0.000000" yaw="-90.000000" /> |
| <collision_point x="-44.400000" y="-67.900000" z="0.000000" yaw="-92.862405" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0009" town="Town05" source_route_id="40007"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-153.2" y="-4.1" z="0.00" /> |
| <position x="-155.2" y="-4.1" z="0.00" /> |
| <position x="-157.2" y="-4.1" z="0.00" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0009" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="11.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="-161.202498" y="-4.100000" z="0.000000" yaw="180.000000" /> |
| <original_trigger_point x="-155.200000" y="-4.100000" z="0.000000" yaw="179.900000" /> |
| <scenario_arm_point x="-161.202498" y="-4.100000" z="0.000000" yaw="180.000000" /> |
| <cooperative_trigger_point x="-165.200000" y="-4.000000" z="0.000000" yaw="177.137595" /> |
| <event_trigger_point x="-165.200000" y="-4.000000" z="0.000000" yaw="177.137595" /> |
| <collision_point x="-175.200000" y="-4.000000" z="0.000000" yaw="180.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0010" town="Town05" source_route_id="40008"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="120.1" y="1.4" z="0.02" /> |
| <position x="122.1" y="1.4" z="0.02" /> |
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| <position x="151.5" y="29.2" z="0.04" /> |
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| <position x="151.6" y="43.2" z="0.04" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0010" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="12.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="128.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <original_trigger_point x="122.100000" y="1.400000" z="0.020000" yaw="0.300000" /> |
| <scenario_arm_point x="128.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <cooperative_trigger_point x="132.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <event_trigger_point x="132.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <collision_point x="142.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0011" town="Town12" source_route_id="NonSignalizedJunctionRightTurn_Town12_Route816_Weather15" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town12_Route816_Weather15" candidate_route_length_m="83.863" candidate_geometry_sha256="39956af7cd388fba8c94996055448c8892f890ac0f6e86d2989fc97c550d23d8"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="2583.103000" y="1596.696700" z="350.303200" /> |
| <position x="2539.936800" y="1550.852300" z="353.482700" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0011" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="8.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="2583.103000" y="1596.696700" z="350.303200" yaw="-179.977082" /> |
| <original_trigger_point x="2549.590457" y="1596.401802" z="351.587515" yaw="-164.042659" /> |
| <scenario_arm_point x="2562.628927" y="1596.714209" z="351.080681" yaw="-179.977082" /> |
| <cooperative_trigger_point x="2558.628927" y="1596.712709" z="351.232429" yaw="-179.977082" /> |
| <event_trigger_point x="2558.628927" y="1596.712709" z="351.232429" yaw="-179.977082" /> |
| <collision_point x="2548.703900" y="1596.148300" z="351.627300" yaw="-164.042659" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="15866" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0012" town="Town07" source_route_id="SignalizedJunctionRightTurn_Town07_Route338_Weather10" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town07_Route338_Weather10" candidate_route_length_m="74.258" candidate_geometry_sha256="331887f6e9d5156aa5294a589935680860ce46e3a63e3e7137b6840b0d91d4d3"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-102.816600" y="9.247800" z="0.000000" /> |
| <position x="-139.695200" y="48.917700" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0012" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="9.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="-102.816600" y="9.247800" z="0.000000" yaw="90.309425" /> |
| <original_trigger_point x="-103.305642" y="45.154508" z="0.000000" yaw="101.151665" /> |
| <scenario_arm_point x="-102.933697" y="31.172785" z="0.000000" yaw="90.309425" /> |
| <cooperative_trigger_point x="-102.955007" y="35.172728" z="0.000000" yaw="90.303847" /> |
| <event_trigger_point x="-102.955007" y="35.172728" z="0.000000" yaw="90.303847" /> |
| <collision_point x="-103.305700" y="45.154800" z="0.000000" yaw="101.151665" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="68" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0013" town="Town13" source_route_id="NonSignalizedJunctionRightTurn_Town13_Route598_Weather0" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town13_Route598_Weather0" candidate_route_length_m="79.117" candidate_geometry_sha256="c30428d1b61fea65b9026c55f91449ed765fc216920b68be910000c70cf24301"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-3695.695300" y="4118.166500" z="182.190500" /> |
| <position x="-3743.286900" y="4154.917500" z="181.772200" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0013" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="10.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="-3695.695300" y="4118.166500" z="182.190500" yaw="90.464086" /> |
| <original_trigger_point x="-3696.379870" y="4146.610683" z="181.830302" yaw="104.572926" /> |
| <scenario_arm_point x="-3695.813778" y="4132.657136" z="182.015810" yaw="90.464086" /> |
| <cooperative_trigger_point x="-3695.846479" y="4136.657002" z="181.965710" yaw="90.464318" /> |
| <event_trigger_point x="-3695.846479" y="4136.657002" z="181.965710" yaw="90.464318" /> |
| <collision_point x="-3696.379900" y="4146.610800" z="181.830300" yaw="104.572926" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="2241" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0014" town="Town12" source_route_id="SignalizedJunctionRightTurn_Town12_Route805_Weather25" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town12_Route805_Weather25" candidate_route_length_m="71.727" candidate_geometry_sha256="836f2019158a616dd155300b19074eaa841fcf84ee20c7c763820aac9e3a934e"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="2007.449300" y="4068.205100" z="358.691500" /> |
| <position x="1961.460800" y="4095.575000" z="359.102300" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0014" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="11.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="2007.449300" y="4068.205100" z="358.691500" yaw="99.235329" /> |
| <original_trigger_point x="2002.517858" y="4096.285273" z="358.914601" yaw="119.722051" /> |
| <scenario_arm_point x="2005.114161" y="4082.559316" z="358.809163" yaw="99.235329" /> |
| <cooperative_trigger_point x="2004.471832" y="4086.507406" z="358.838362" yaw="99.241904" /> |
| <event_trigger_point x="2004.471832" y="4086.507406" z="358.838362" yaw="99.241904" /> |
| <collision_point x="2002.517900" y="4096.285200" z="358.914600" yaw="113.597764" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="12680" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0015" town="Town13" source_route_id="NonSignalizedJunctionRightTurn_Town13_Route595_Weather11" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town13_Route595_Weather11" candidate_route_length_m="73.402" candidate_geometry_sha256="08ee56c2d0f0723a9ceb19026a8c79a6165af3a8014995ab9e8e564c19f0fd28"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-2087.967000" y="-328.825700" z="164.280000" /> |
| <position x="-2051.664100" y="-288.023200" z="163.913700" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0015" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="12.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="-2087.967000" y="-328.825700" z="164.280000" yaw="-0.131780" /> |
| <original_trigger_point x="-2058.005038" y="-328.556779" z="163.645299" yaw="18.764460" /> |
| <scenario_arm_point x="-2071.975110" y="-328.863181" z="163.946969" yaw="-0.131780" /> |
| <cooperative_trigger_point x="-2067.975121" y="-328.872581" z="163.863470" yaw="-0.131780" /> |
| <event_trigger_point x="-2067.975121" y="-328.872581" z="163.863470" yaw="-0.131780" /> |
| <collision_point x="-2058.005100" y="-328.556800" z="163.645300" yaw="13.079712" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="9481" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0016" town="Town07" source_route_id="NonSignalizedJunctionRightTurn_Town07_Route345_Weather14" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town07_Route345_Weather14" candidate_route_length_m="71.406" candidate_geometry_sha256="07a08e05fefaa885903c75a5578216398a5d1604d7fc02f819b4088fd9a012a3"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-149.222800" y="4.353000" z="0.180800" /> |
| <position x="-112.465900" y="-33.162800" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0016" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="8.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="-149.222800" y="4.353000" z="0.180800" yaw="-89.312415" /> |
| <original_trigger_point x="-148.586392" y="-29.040078" z="0.278701" yaw="-68.747605" /> |
| <scenario_arm_point x="-148.990464" y="-15.065312" z="0.288174" yaw="-89.312415" /> |
| <cooperative_trigger_point x="-148.942606" y="-19.065025" z="0.257105" yaw="-89.318144" /> |
| <event_trigger_point x="-148.942606" y="-19.065025" z="0.257105" yaw="-89.318144" /> |
| <collision_point x="-148.586500" y="-29.039800" z="0.278700" yaw="-76.675469" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="169" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0017" town="Town12" source_route_id="SignalizedJunctionRightTurn_Town12_Route803_Weather23" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town12_Route803_Weather23" candidate_route_length_m="68.100" candidate_geometry_sha256="22df6f280ad3032c6e4993393a75bbaac74bc97d834cb2bd42e69247c15d1904"> |
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| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="821.204600" y="4030.991500" z="370.293800" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0017" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="9.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="821.204600" y="4030.991500" z="370.293800" yaw="9.340807" /> |
| <original_trigger_point x="849.540382" y="4035.841235" z="370.086797" yaw="25.641726" /> |
| <scenario_arm_point x="836.617186" y="4033.528631" z="370.186336" yaw="9.340807" /> |
| <cooperative_trigger_point x="840.564038" y="4034.178523" z="370.157212" yaw="9.340807" /> |
| <event_trigger_point x="840.564038" y="4034.178523" z="370.157212" yaw="9.340807" /> |
| <collision_point x="850.315700" y="4036.213400" z="370.078900" yaw="25.641726" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="16408" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0018" town="Town12" source_route_id="SignalizedJunctionRightTurn_Town12_Route988_Weather0" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town12_Route988_Weather0" candidate_route_length_m="76.401" candidate_geometry_sha256="7b63ccb5428cd24b62d5cdc3f356127d56812513f24759b3d5deaac3a4ae5c4f"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3446.881800" y="4770.229500" z="367.977900" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0018" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="10.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="3446.881800" y="4770.229500" z="367.977900" yaw="99.552724" /> |
| <original_trigger_point x="3441.130774" y="4803.200242" z="367.944501" yaw="110.753425" /> |
| <scenario_arm_point x="3443.645161" y="4789.443284" z="367.957564" yaw="99.552724" /> |
| <cooperative_trigger_point x="3442.980745" y="4793.387717" z="367.953764" yaw="99.575385" /> |
| <event_trigger_point x="3442.980745" y="4793.387717" z="367.953764" yaw="99.575385" /> |
| <collision_point x="3441.130600" y="4803.200700" z="367.944500" yaw="110.753425" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="13744" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0019" town="Town12" source_route_id="NonSignalizedJunctionRightTurn_Town12_Route931_Weather21" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town12_Route931_Weather21" candidate_route_length_m="75.908" candidate_geometry_sha256="d107eb18ae9e341774008ba04ec52d5c8dd6a79cc80ed5dfd05359bd455d2520"> |
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| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="1578.398900" y="1910.954800" z="357.331000" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0019" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="11.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="1578.398900" y="1910.954800" z="357.331000" yaw="89.547373" /> |
| <original_trigger_point x="1578.432268" y="1943.230695" z="357.534901" yaw="108.453576" /> |
| <scenario_arm_point x="1578.542456" y="1929.265137" z="357.424939" yaw="89.547373" /> |
| <cooperative_trigger_point x="1578.573725" y="1933.265014" z="357.455094" yaw="89.553102" /> |
| <event_trigger_point x="1578.573725" y="1933.265014" z="357.455094" yaw="89.553102" /> |
| <collision_point x="1578.432300" y="1943.230600" z="357.534900" yaw="102.758736" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="14736" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_right_turn_on_red_0020" town="Town12" source_route_id="NonSignalizedJunctionRightTurn_Town12_Route1024_Weather10" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town12_Route1024_Weather10" candidate_route_length_m="75.210" candidate_geometry_sha256="aa4b7a22b9db3d18529336ac66fcdebc5a05b28e9234153bb752524be2345426"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="2385.321000" y="2256.103500" z="363.010500" /> |
| <position x="2343.417000" y="2294.644000" z="364.195200" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedSignalizedJunctionRightTurnOnRed_0020" type="ClosedSignalizedJunctionRightTurnOnRed"> |
| <flow_speed value="12.0" /> |
| <source_dist_interval from="10" to="50" /> |
| <trigger_point x="2385.321000" y="2256.103500" z="363.010500" yaw="90.103132" /> |
| <original_trigger_point x="2384.961783" y="2285.056600" z="363.652110" yaw="106.347375" /> |
| <scenario_arm_point x="2385.296252" y="2272.019265" z="363.355038" yaw="90.103132" /> |
| <cooperative_trigger_point x="2385.290126" y="2276.019260" z="363.443730" yaw="90.085944" /> |
| <event_trigger_point x="2385.290126" y="2276.019260" z="363.443730" yaw="90.085944" /> |
| <collision_point x="2384.702900" y="2285.939200" z="363.674700" yaw="106.347375" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="right_turn_on_red_yield" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="10.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="0.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <junction_id value="4331" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <rtor_near_route_distance value="4.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0001" town="Town04" source_route_id="7007"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="4.55" y="-98.70" z="0.00" /> |
| <position x="4.32" y="-156.70" z="0.00" /> |
| <position x="4.312069" y="-158.699984" z="0.000000" /> |
| <position x="4.304138" y="-160.699969" z="0.000000" /> |
| <position x="4.296207" y="-162.699953" z="0.000000" /> |
| <position x="4.288276" y="-164.699937" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0001" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="right" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="static.prop.streetbarrier" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="4.478620" y="-116.700107" z="0.000000" yaw="-90.227206" /> |
| <original_trigger_point x="4.420000" y="-132.700000" z="0.000000" yaw="-90.200000" /> |
| <scenario_arm_point x="4.478620" y="-116.700107" z="0.000000" yaw="-90.227206" /> |
| <cooperative_trigger_point x="4.462758" y="-120.700075" z="0.000000" yaw="-90.227206" /> |
| <event_trigger_point x="4.438965" y="-126.700028" z="0.000000" yaw="-90.227206" /> |
| <collision_point x="4.415172" y="-132.699981" z="0.000000" yaw="-90.227206" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0002" town="Town04" source_route_id="7008"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="8.05" y="-98.70" z="0.00" /> |
| <position x="7.82" y="-156.70" z="0.00" /> |
| <position x="7.812069" y="-158.699984" z="0.000000" /> |
| <position x="7.804138" y="-160.699969" z="0.000000" /> |
| <position x="7.796207" y="-162.699953" z="0.000000" /> |
| <position x="7.788276" y="-164.699937" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0002" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="12" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="static.prop.streetbarrier" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="7.978620" y="-116.700107" z="0.000000" yaw="-90.227206" /> |
| <original_trigger_point x="7.920000" y="-132.700000" z="0.000000" yaw="-90.200000" /> |
| <scenario_arm_point x="7.978620" y="-116.700107" z="0.000000" yaw="-90.227206" /> |
| <cooperative_trigger_point x="7.962758" y="-120.700075" z="0.000000" yaw="-90.227206" /> |
| <event_trigger_point x="7.938965" y="-126.700028" z="0.000000" yaw="-90.227206" /> |
| <collision_point x="7.915172" y="-132.699981" z="0.000000" yaw="-90.227206" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0003" town="Town05" source_route_id="7001"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-130.0" y="208.6" z="8.43" /> |
| <position x="-40.0" y="208.6" z="2.35" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0003" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.audi.a2" /> |
| <trigger_point x="-110.000000" y="208.600000" z="7.078889" yaw="0.000000" /> |
| <original_trigger_point x="-94.000000" y="208.600000" z="7.920000" yaw="0.000000" /> |
| <scenario_arm_point x="-110.000000" y="208.600000" z="7.078889" yaw="0.000000" /> |
| <cooperative_trigger_point x="-106.000000" y="208.600000" z="6.808667" yaw="0.000000" /> |
| <event_trigger_point x="-100.000000" y="208.600000" z="6.403333" yaw="0.000000" /> |
| <collision_point x="-94.000000" y="208.600000" z="5.998000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0004" town="Town05" source_route_id="7002"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-130.0" y="205.1" z="8.43" /> |
| <position x="-40.0" y="205.1" z="2.35" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0004" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.seat.leon" /> |
| <trigger_point x="-110.000000" y="205.100000" z="7.078889" yaw="0.000000" /> |
| <original_trigger_point x="-94.000000" y="205.100000" z="7.920000" yaw="0.000000" /> |
| <scenario_arm_point x="-110.000000" y="205.100000" z="7.078889" yaw="0.000000" /> |
| <cooperative_trigger_point x="-106.000000" y="205.100000" z="6.808667" yaw="0.000000" /> |
| <event_trigger_point x="-100.000000" y="205.100000" z="6.403333" yaw="0.000000" /> |
| <collision_point x="-94.000000" y="205.100000" z="5.998000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0005" town="Town05" source_route_id="7003"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="44.20" y="201.79" z="0.00" /> |
| <position x="102.24" y="202.04" z="0.00" /> |
| <position x="104.239981" y="202.048615" z="0.000000" /> |
| <position x="106.239963" y="202.057229" z="0.000000" /> |
| <position x="108.239944" y="202.065844" z="0.000000" /> |
| <position x="110.239926" y="202.074459" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0005" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="right" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.nissan.micra" /> |
| <trigger_point x="62.200250" y="201.867534" z="0.000000" yaw="0.246793" /> |
| <original_trigger_point x="78.200000" y="201.960000" z="0.000000" yaw="0.300000" /> |
| <scenario_arm_point x="62.200250" y="201.867534" z="0.000000" yaw="0.246793" /> |
| <cooperative_trigger_point x="66.200213" y="201.884763" z="0.000000" yaw="0.246793" /> |
| <event_trigger_point x="72.200157" y="201.910607" z="0.000000" yaw="0.246793" /> |
| <collision_point x="78.200101" y="201.936451" z="0.000000" yaw="0.246793" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0006" town="Town05" source_route_id="7004"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="44.20" y="205.29" z="0.00" /> |
| <position x="102.34" y="205.54" z="0.00" /> |
| <position x="104.339982" y="205.548600" z="0.000000" /> |
| <position x="106.339963" y="205.557200" z="0.000000" /> |
| <position x="108.339945" y="205.565800" z="0.000000" /> |
| <position x="110.339926" y="205.574399" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0006" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="12" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.mini.cooper_s" /> |
| <trigger_point x="62.200250" y="205.367400" z="0.000000" yaw="0.246368" /> |
| <original_trigger_point x="78.200000" y="205.460000" z="0.000000" yaw="0.300000" /> |
| <scenario_arm_point x="62.200250" y="205.367400" z="0.000000" yaw="0.246368" /> |
| <cooperative_trigger_point x="66.200213" y="205.384600" z="0.000000" yaw="0.246368" /> |
| <event_trigger_point x="72.200158" y="205.410400" z="0.000000" yaw="0.246368" /> |
| <collision_point x="78.200102" y="205.436199" z="0.000000" yaw="0.246368" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0007" town="Town05" source_route_id="7005"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="204.06" y="8.83" z="0.00" /> |
| <position x="203.30" y="-49.18" z="0.00" /> |
| <position x="203.273800" y="-51.179828" z="0.000000" /> |
| <position x="203.247600" y="-53.179657" z="0.000000" /> |
| <position x="203.221400" y="-55.179485" z="0.000000" /> |
| <position x="203.195199" y="-57.179314" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0007" type="ClosedRevealObstacle"> |
| <car_a_dist value="12" /> |
| <car_a_speed value="15" /> |
| <b_gap value="14" /> |
| <car_a_dir value="right" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.citroen.c3" /> |
| <trigger_point x="203.824024" y="-9.181824" z="0.000000" yaw="-90.750600" /> |
| <original_trigger_point x="203.580000" y="-25.180000" z="0.000000" yaw="-90.100000" /> |
| <scenario_arm_point x="203.824024" y="-9.181824" z="0.000000" yaw="-90.750600" /> |
| <cooperative_trigger_point x="203.771623" y="-13.181481" z="0.000000" yaw="-90.750600" /> |
| <event_trigger_point x="203.693023" y="-19.180966" z="0.000000" yaw="-90.750600" /> |
| <collision_point x="203.614423" y="-25.180451" z="0.000000" yaw="-90.750600" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0008" town="Town05" source_route_id="7006"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="207.56" y="8.89" z="0.00" /> |
| <position x="206.80" y="-49.15" z="0.00" /> |
| <position x="206.773813" y="-51.149829" z="0.000000" /> |
| <position x="206.747627" y="-53.149657" z="0.000000" /> |
| <position x="206.721440" y="-55.149486" z="0.000000" /> |
| <position x="206.695254" y="-57.149314" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0008" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="16" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.ford.mustang" /> |
| <trigger_point x="207.323753" y="-9.151820" z="0.000000" yaw="-90.750212" /> |
| <original_trigger_point x="207.080000" y="-25.150000" z="0.000000" yaw="-90.100000" /> |
| <scenario_arm_point x="207.323753" y="-9.151820" z="0.000000" yaw="-90.750212" /> |
| <cooperative_trigger_point x="207.271380" y="-13.151477" z="0.000000" yaw="-90.750212" /> |
| <event_trigger_point x="207.192820" y="-19.150963" z="0.000000" yaw="-90.750212" /> |
| <collision_point x="207.114260" y="-25.150449" z="0.000000" yaw="-90.750212" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0009" town="Town05" source_route_id="7009"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="17.30" y="88.09" z="0.00" /> |
| <position x="-34.70" y="88.03" z="0.00" /> |
| <position x="-36.699999" y="88.027692" z="0.000000" /> |
| <position x="-38.699997" y="88.025385" z="0.000000" /> |
| <position x="-40.699996" y="88.023077" z="0.000000" /> |
| <position x="-42.699995" y="88.020769" z="0.000000" /> |
| <position x="-44.699993" y="88.018462" z="0.000000" /> |
| <position x="-46.699992" y="88.016154" z="0.000000" /> |
| <position x="-48.699991" y="88.013846" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0009" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="12" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="static.prop.warningaccident" /> |
| <obstacle_yaw_offset value="90" /> |
| <keep_obstacle value="false" /> |
| <trigger_point x="-0.700012" y="88.069231" z="0.000000" yaw="-179.933890" /> |
| <original_trigger_point x="-16.700000" y="88.050000" z="0.000000" yaw="-179.900000" /> |
| <scenario_arm_point x="-0.700012" y="88.069231" z="0.000000" yaw="-179.933890" /> |
| <cooperative_trigger_point x="-4.700009" y="88.064615" z="0.000000" yaw="-179.933890" /> |
| <event_trigger_point x="-10.700005" y="88.057692" z="0.000000" yaw="-179.933890" /> |
| <collision_point x="-16.700001" y="88.050769" z="0.000000" yaw="-179.933890" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0010" town="Town05" source_route_id="7010"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-131.61" y="13.90" z="-0.00" /> |
| <position x="-131.08" y="71.87" z="0.00" /> |
| <position x="-131.061715" y="73.869916" z="0.000000" /> |
| <position x="-131.043431" y="75.869833" z="0.000000" /> |
| <position x="-131.025146" y="77.869749" z="0.000000" /> |
| <position x="-131.006862" y="79.869666" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0010" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="right" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="static.prop.foodcart" /> |
| <keep_obstacle value="false" /> |
| <trigger_point x="-131.445700" y="31.870663" z="0.000000" yaw="89.476179" /> |
| <original_trigger_point x="-131.300000" y="47.870000" z="0.000000" yaw="89.200000" /> |
| <scenario_arm_point x="-131.445700" y="31.870663" z="0.000000" yaw="89.476179" /> |
| <cooperative_trigger_point x="-131.409131" y="35.870496" z="0.000000" yaw="89.476179" /> |
| <event_trigger_point x="-131.354278" y="41.870245" z="0.000000" yaw="89.476179" /> |
| <collision_point x="-131.299424" y="47.869995" z="0.000000" yaw="89.476179" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0011" town="Town03" source_route_id="Accident_Town03_Route156_Weather0" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town03_Route156_Weather0" candidate_route_length_m="133.227" candidate_geometry_sha256="14256f3dc3b2bdd9543b0e9848f459d15c3448aab1e2715b6ae606f80a0d9bb9"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="47.136200" y="207.413500" z="0.158300" /> |
| <position x="180.119400" y="204.061500" z="2.836600" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0011" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.audi.a2" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="104.411022" y="207.270612" z="1.400205" yaw="-0.143239" /> |
| <original_trigger_point x="120.410972" y="207.230613" z="1.756204" yaw="-0.143239" /> |
| <scenario_arm_point x="104.411022" y="207.270612" z="1.400205" yaw="-0.143239" /> |
| <cooperative_trigger_point x="108.411009" y="207.260612" z="1.489205" yaw="-0.143239" /> |
| <event_trigger_point x="114.410991" y="207.245613" z="1.622705" yaw="-0.143239" /> |
| <collision_point x="120.410972" y="207.230613" z="1.756204" yaw="-0.143239" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0012" town="Town15" source_route_id="Accident_Town15_Route414_Weather23" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town15_Route414_Weather23" candidate_route_length_m="132.605" candidate_geometry_sha256="3cd1dc41aebccbff4a8a731dfa10051a7cb780f6d6b5570754b72ca8d19ca23c"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="858.427200" y="493.577300" z="117.925000" /> |
| <position x="735.967700" y="444.908100" z="116.578800" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0012" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.seat.leon" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="808.031256" y="467.996740" z="117.343956" yaw="-162.235465" /> |
| <original_trigger_point x="792.793715" y="463.116437" z="117.172656" yaw="-162.237213" /> |
| <scenario_arm_point x="808.031256" y="467.996740" z="117.343956" yaw="-162.235465" /> |
| <cooperative_trigger_point x="804.221867" y="466.776675" z="117.301156" yaw="-162.240921" /> |
| <event_trigger_point x="798.507799" y="464.946532" z="117.236855" yaw="-162.237213" /> |
| <collision_point x="792.793715" y="463.116437" z="117.172656" yaw="-162.237213" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0013" town="Town06" source_route_id="Accident_Town06_Route280_Weather11" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town06_Route280_Weather11" candidate_route_length_m="132.000" candidate_geometry_sha256="0ec10462286a82857fb92ba624442dae08be25f2e5c3c644459221c9e030e7f5"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="275.057600" y="151.056500" z="0.000000" /> |
| <position x="407.056500" y="151.597400" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0013" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.nissan.micra" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="331.657125" y="151.288460" z="0.000000" yaw="0.234911" /> |
| <original_trigger_point x="347.656991" y="151.353960" z="0.000000" yaw="0.234911" /> |
| <scenario_arm_point x="331.657125" y="151.288460" z="0.000000" yaw="0.234911" /> |
| <cooperative_trigger_point x="335.657091" y="151.304860" z="0.000000" yaw="0.234911" /> |
| <event_trigger_point x="341.657041" y="151.329400" z="0.000000" yaw="0.229182" /> |
| <collision_point x="347.656991" y="151.353960" z="0.000000" yaw="0.234911" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0014" town="Town13" source_route_id="Accident_Town13_Route551_Weather5" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town13_Route551_Weather5" candidate_route_length_m="131.037" candidate_geometry_sha256="27c5232f0b9c521ddb22188f9410bf8bebb5192294dd2ca2ade725c348492394"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3619.041300" y="6068.210000" z="158.463800" /> |
| <position x="3750.046600" y="6071.075700" z="157.550800" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0014" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.mini.cooper_s" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="3675.097383" y="6069.459077" z="158.120923" yaw="1.289195" /> |
| <original_trigger_point x="3691.093411" y="6069.815569" z="158.010603" yaw="1.283467" /> |
| <scenario_arm_point x="3675.097383" y="6069.459077" z="158.120923" yaw="1.289195" /> |
| <cooperative_trigger_point x="3679.096385" y="6069.548433" z="158.093824" yaw="1.254953" /> |
| <event_trigger_point x="3685.094903" y="6069.681768" z="158.052617" yaw="1.283467" /> |
| <collision_point x="3691.093411" y="6069.815569" z="158.010603" yaw="1.283467" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0015" town="Town04" source_route_id="Accident_Town04_Route205_Weather23" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town04_Route205_Weather23" candidate_route_length_m="105.000" candidate_geometry_sha256="aaeba1faaf68498af79b492e9c9e194e3927ac911f36449044316166429bd02c"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-45.689900" y="37.397500" z="10.217100" /> |
| <position x="59.309200" y="37.823900" z="11.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0015" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.citroen.c3" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="-3.940244" y="37.567000" z="10.902626" yaw="0.229182" /> |
| <original_trigger_point x="12.059624" y="37.632000" z="10.999000" yaw="0.229182" /> |
| <scenario_arm_point x="-3.940244" y="37.567000" z="10.902626" yaw="0.229182" /> |
| <cooperative_trigger_point x="0.059723" y="37.583275" z="10.941550" yaw="0.234911" /> |
| <event_trigger_point x="6.059673" y="37.607675" z="10.981450" yaw="0.234935" /> |
| <collision_point x="12.059624" y="37.632000" z="10.999000" yaw="0.229182" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0016" town="Town15" source_route_id="Accident_Town15_Route411_Weather21" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town15_Route411_Weather21" candidate_route_length_m="131.001" candidate_geometry_sha256="d534a4684724c19b3e8fefd3b9daa7404fd2f30d84f1a702d2d4e164aa06c109"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="873.471900" y="232.718400" z="130.730300" /> |
| <position x="771.890800" y="315.438600" z="122.877200" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0016" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.ford.mustang" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="830.002572" y="268.103878" z="127.370242" yaw="140.852500" /> |
| <original_trigger_point x="817.594098" y="278.204857" z="126.411049" yaw="140.852500" /> |
| <scenario_arm_point x="830.002572" y="268.103878" z="127.370242" yaw="140.852500" /> |
| <cooperative_trigger_point x="826.900488" y="270.629165" z="127.130443" yaw="140.852500" /> |
| <event_trigger_point x="822.247268" y="274.416981" z="126.770747" yaw="140.852500" /> |
| <collision_point x="817.594098" y="278.204857" z="126.411049" yaw="140.852500" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0017" town="Town06" source_route_id="Accident_Town06_Route327_Weather15" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town06_Route327_Weather15" candidate_route_length_m="131.000" candidate_geometry_sha256="17797aeb0a166eab563cf4f7cbe99bf728ed0f5ad003c36b0e596cd11abbb42b"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="324.356000" y="52.318600" z="0.000000" /> |
| <position x="455.355900" y="52.254800" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0017" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="static.prop.streetbarrier" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="380.405993" y="52.291280" z="0.000000" yaw="-0.022918" /> |
| <original_trigger_point x="396.405991" y="52.283575" z="0.000000" yaw="-0.028648" /> |
| <scenario_arm_point x="380.405993" y="52.291280" z="0.000000" yaw="-0.022918" /> |
| <cooperative_trigger_point x="384.405992" y="52.289375" z="0.000000" yaw="-0.028648" /> |
| <event_trigger_point x="390.405992" y="52.286475" z="0.000000" yaw="-0.028648" /> |
| <collision_point x="396.405991" y="52.283575" z="0.000000" yaw="-0.028648" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0018" town="Town13" source_route_id="Accident_Town13_Route550_Weather3" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town13_Route550_Weather3" candidate_route_length_m="131.000" candidate_geometry_sha256="cf7246a5a1a7d96a157224f6c59f6b793127cbcd620e62852b993a2d19f7bb62"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="5113.731900" y="5957.175800" z="148.258000" /> |
| <position x="4982.731900" y="5956.955100" z="147.246500" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0018" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="static.prop.warningaccident" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="5057.681981" y="5957.081430" z="147.778006" yaw="-179.919786" /> |
| <original_trigger_point x="5041.682004" y="5957.054600" z="147.653521" yaw="-179.885409" /> |
| <scenario_arm_point x="5057.681981" y="5957.081430" z="147.778006" yaw="-179.919786" /> |
| <cooperative_trigger_point x="5053.681987" y="5957.074625" z="147.746306" yaw="-179.914056" /> |
| <event_trigger_point x="5047.681996" y="5957.064425" z="147.699416" yaw="-179.914056" /> |
| <collision_point x="5041.682004" y="5957.054600" z="147.653521" yaw="-179.885409" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0019" town="Town13" source_route_id="Accident_Town13_Route552_Weather6" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town13_Route552_Weather6" candidate_route_length_m="131.000" candidate_geometry_sha256="b5afed8590360cb14adfdadfc1a39d5dcda37a9f18c520c0af81cfa9ce4e4e39"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3180.445800" y="1055.263400" z="172.200800" /> |
| <position x="3311.365200" y="1050.669200" z="174.032900" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0019" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="static.prop.foodcart" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="3236.461319" y="1053.297641" z="172.967198" yaw="-2.005536" /> |
| <original_trigger_point x="3252.451477" y="1052.736541" z="173.190501" yaw="-2.011261" /> |
| <scenario_arm_point x="3236.461319" y="1053.297641" z="172.967198" yaw="-2.005536" /> |
| <cooperative_trigger_point x="3240.458861" y="1053.157438" z="173.022703" yaw="-2.011261" /> |
| <event_trigger_point x="3246.455167" y="1052.946943" z="173.106403" yaw="-2.005536" /> |
| <collision_point x="3252.451477" y="1052.736541" z="173.190501" yaw="-2.011261" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_reveal_obstacle_0020" town="Town15" source_route_id="Accident_Town15_Route413_Weather23" candidate_source="Bench2Drive-Base" candidate_source_clip="Accident_Town15_Route413_Weather23" candidate_route_length_m="131.923" candidate_geometry_sha256="d9d6b5b404cf8bc2e058d774d42279dbca9443311e779b82023c9a9c897a48bd"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="503.488700" y="787.839400" z="122.477100" /> |
| <position x="598.268100" y="699.330700" z="119.740400" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedRevealObstacle_0020" type="ClosedRevealObstacle"> |
| <car_a_dist value="10" /> |
| <car_a_speed value="20" /> |
| <b_gap value="14" /> |
| <car_a_dir value="left" /> |
| <stop_timeout value="8" /> |
| <obstacle_model value="vehicle.audi.a2" /> |
| <obstacle_yaw_offset value="90" /> |
| <trigger_point x="550.374614" y="756.925513" z="121.340666" yaw="-45.222121" /> |
| <original_trigger_point x="560.968624" y="744.947269" z="121.019019" yaw="-51.674428" /> |
| <scenario_arm_point x="550.374614" y="756.925513" z="121.340666" yaw="-45.222121" /> |
| <cooperative_trigger_point x="553.152589" y="754.047735" z="121.260258" yaw="-46.960431" /> |
| <event_trigger_point x="557.159964" y="749.582849" z="121.139745" yaw="-49.560093" /> |
| <collision_point x="560.968624" y="744.947269" z="121.019019" yaw="-51.674428" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The static object at position <FRONT_CAR_POS> is blocking the ego lane." /> |
| <closed_loop_family value="static_obstacle_reveal" /> |
| <hint_lead_distance value="12.0" /> |
| <event_lead_distance value="6.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <preserve_background_traffic value="true" /> |
| <background_clear_radius value="14.0" /> |
| <keep_obstacle value="false" /> |
| <local_green_light_radius value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0001" town="Town04" source_route_id="50005"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="4.580000" y="-92.700075" z="0.000000" /> |
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| <scenario name="ClosedLaneCutIn_0001" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
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| <cooperative_trigger_point x="4.470000" y="-118.699925" z="0.000000" yaw="-90.286477" /> |
| <event_trigger_point x="4.425001" y="-131.699813" z="0.000000" yaw="-90.286477" /> |
| <collision_point x="4.405001" y="-135.699763" z="0.000000" yaw="-90.286477" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.lincoln.mkz_2017" /> |
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| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0002" town="Town04" source_route_id="50006"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
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| <scenarios> |
| <scenario name="ClosedLaneCutIn_0002" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="85" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="10" /> |
| <end_dist value="50" /> |
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| <collision_point x="7.900001" y="-136.699800" z="0.000000" yaw="-90.286477" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
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| <cut_in_model value="vehicle.tesla.model3" /> |
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| </route> |
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| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
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| <scenario name="ClosedLaneCutIn_0004" type="ClosedLaneCutIn"> |
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| <same_lane_time value="0.0" /> |
| <speed_perc value="80" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
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| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
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| <closed_cut_in_min_speed_mps value="6.5" /> |
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| <cut_in_model value="vehicle.mini.cooper_s" /> |
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| </route> |
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| <scenarios> |
| <scenario name="ClosedLaneCutIn_0005" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="56.199950" y="201.850000" z="0.000000" yaw="0.286477" /> |
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| <scenario_arm_point x="56.199950" y="201.850000" z="0.000000" yaw="0.286477" /> |
| <cooperative_trigger_point x="60.199900" y="201.870000" z="0.000000" yaw="0.286477" /> |
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| <collision_point x="77.199688" y="201.954998" z="0.000000" yaw="0.286477" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
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| <closed_cut_in_direct_steer value="false" /> |
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| <cut_in_model value="vehicle.ford.mustang" /> |
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| </route> |
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| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" fog_density="2.0" sun_altitude_angle="45.0" sun_azimuth_angle="20.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
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| <scenario name="ClosedLaneCutIn_0006" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
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| <speed_perc value="80" /> |
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| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <source_provenance value="generated_routes/S7_new_vehicle_cut_in_brake_test/s7_9138.xml" /> |
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| </route> |
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| <scenarios> |
| <scenario name="ClosedLaneCutIn_0008" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="207.134998" y="-20.230112" z="0.000000" yaw="-90.859372" /> |
| <original_trigger_point x="207.120000" y="-21.230000" z="0.000000" yaw="-90.500000" /> |
| <scenario_arm_point x="207.134998" y="-20.230112" z="0.000000" yaw="-90.859372" /> |
| <cooperative_trigger_point x="207.090001" y="-24.229850" z="0.000000" yaw="-90.572939" /> |
| <event_trigger_point x="206.940010" y="-37.228950" z="0.000000" yaw="-90.572939" /> |
| <collision_point x="206.890014" y="-41.228625" z="0.000000" yaw="-90.572939" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.audi.a2" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0009" town="Town03" source_route_id="codrive_cut_in_town03_9011"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" fog_density="4.0" sun_altitude_angle="40.0" sun_azimuth_angle="300.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" fog_density="4.0" sun_altitude_angle="40.0" sun_azimuth_angle="300.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="242.53" y="-16.92" z="0.00" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0009" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <source_provenance value="generated_routes/S7_new_vehicle_cut_in_brake_test/s7_9011.xml" /> |
| <trigger_point x="243.067898" y="-38.913744" z="0.000000" yaw="-88.623790" /> |
| <original_trigger_point x="243.380000" y="-51.910000" z="0.000000" yaw="-88.600000" /> |
| <scenario_arm_point x="243.067898" y="-38.913744" z="0.000000" yaw="-88.623790" /> |
| <cooperative_trigger_point x="243.163966" y="-42.912591" z="0.000000" yaw="-88.623790" /> |
| <event_trigger_point x="243.484966" y="-55.908626" z="0.000000" yaw="-88.567904" /> |
| <collision_point x="243.581939" y="-59.907450" z="0.000000" yaw="-88.625165" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.mini.cooper_s" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0010" town="Town05" source_route_id="50008"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-131.61" y="13.90" z="-0.00" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0010" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="-131.610000" y="13.900000" z="0.000000" yaw="89.131949" /> |
| <original_trigger_point x="-131.560000" y="17.870000" z="0.000000" yaw="89.200000" /> |
| <scenario_arm_point x="-131.610000" y="13.900000" z="0.000000" yaw="89.131949" /> |
| <cooperative_trigger_point x="-131.560000" y="17.870000" z="0.000000" yaw="89.200000" /> |
| <event_trigger_point x="-131.510002" y="23.869775" z="0.000000" yaw="89.427061" /> |
| <collision_point x="-131.480002" y="27.869650" z="0.000000" yaw="89.713523" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| <force_all_traffic_lights_green value="true" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.ford.mustang" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0011" town="Town12" source_route_id="HighwayCutIn_Town12_Route940_Weather3" candidate_source="Bench2Drive-Base" candidate_source_clip="HighwayCutIn_Town12_Route940_Weather3" candidate_route_length_m="137.790" candidate_geometry_sha256="b51d3e1cf1c23cfc9c346989fe4b086c24ee34444c400535dc6c7b15dc29d91a"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="1026.202300" y="3102.873300" z="363.160600" /> |
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| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0011" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="1080.987265" y="3102.812005" z="364.418500" yaw="-0.068755" /> |
| <original_trigger_point x="1076.987268" y="3102.816571" z="364.336717" yaw="-0.057296" /> |
| <scenario_arm_point x="1080.987265" y="3102.812005" z="364.418500" yaw="-0.068755" /> |
| <cooperative_trigger_point x="1084.987263" y="3102.807605" z="364.500200" yaw="-0.068755" /> |
| <event_trigger_point x="1097.987254" y="3102.792905" z="364.739517" yaw="-0.068755" /> |
| <collision_point x="1101.987252" y="3102.788522" z="364.801456" yaw="-0.074484" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.lincoln.mkz_2017" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0012" town="Town15" source_route_id="StaticCutIn_Town15_Route428_Weather12" candidate_source="Bench2Drive-Base" candidate_source_clip="StaticCutIn_Town15_Route428_Weather12" candidate_route_length_m="132.049" candidate_geometry_sha256="ea0db53ff69633a17546f51350d261f787d9aea2a7d76bd922c9f3d72e2a6224"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="716.037600" y="371.863900" z="118.086600" /> |
| <position x="818.694600" y="288.806900" z="126.028900" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0012" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="756.162340" y="339.378420" z="121.189866" yaw="-38.947945" /> |
| <original_trigger_point x="753.051293" y="341.892657" z="120.949205" yaw="-38.947945" /> |
| <scenario_arm_point x="756.162340" y="339.378420" z="121.189866" yaw="-38.947945" /> |
| <cooperative_trigger_point x="759.273405" y="336.864206" z="121.430564" yaw="-38.943488" /> |
| <event_trigger_point x="769.384363" y="328.693005" z="122.212764" yaw="-38.939887" /> |
| <collision_point x="772.495449" y="326.178816" z="122.453405" yaw="-38.939887" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.tesla.model3" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0013" town="Town06" source_route_id="HighwayCutIn_Town06_Route298_Weather20" candidate_source="Bench2Drive-Base" candidate_source_clip="HighwayCutIn_Town06_Route298_Weather20" candidate_route_length_m="133.110" candidate_geometry_sha256="e0d96733dbff7d77954d99d6f3f06c98ac422e27c777b701da955a3d1edea2d8"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="153.948600" y="150.560300" z="0.000000" /> |
| <position x="287.057500" y="151.105700" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0013" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="206.158161" y="150.774240" z="0.000000" yaw="0.234911" /> |
| <original_trigger_point x="202.158195" y="150.757840" z="0.000000" yaw="0.234911" /> |
| <scenario_arm_point x="206.158161" y="150.774240" z="0.000000" yaw="0.234911" /> |
| <cooperative_trigger_point x="210.158128" y="150.790640" z="0.000000" yaw="0.234935" /> |
| <event_trigger_point x="223.158019" y="150.843840" z="0.000000" yaw="0.234911" /> |
| <collision_point x="227.157985" y="150.860240" z="0.000000" yaw="0.234911" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.audi.a2" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0014" town="Town05" source_route_id="StaticCutIn_Town05_Route227_Weather2" candidate_source="Bench2Drive-Base" candidate_source_clip="StaticCutIn_Town05_Route227_Weather2" candidate_route_length_m="114.548" candidate_geometry_sha256="69518bce67663287f2cc00544ce0e386862fa71239dfad8a15c26860589fd466"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="197.657700" y="131.981200" z="0.000000" /> |
| <position x="203.990600" y="18.023700" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0014" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="203.149153" y="90.565961" z="0.000000" yaw="-89.335332" /> |
| <original_trigger_point x="203.102754" y="94.565692" z="0.000000" yaw="-89.335399" /> |
| <scenario_arm_point x="203.149153" y="90.565961" z="0.000000" yaw="-89.335332" /> |
| <cooperative_trigger_point x="203.195554" y="86.566230" z="0.000000" yaw="-89.335332" /> |
| <event_trigger_point x="203.346299" y="73.567104" z="0.000000" yaw="-89.329603" /> |
| <collision_point x="203.392708" y="69.567374" z="0.000000" yaw="-89.341062" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.mini.cooper_s" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0015" town="Town15" source_route_id="StaticCutIn_Town15_Route429_Weather13" candidate_source="Bench2Drive-Base" candidate_source_clip="StaticCutIn_Town15_Route429_Weather13" candidate_route_length_m="132.000" candidate_geometry_sha256="7891afcc2dd1ba79da50cf92a57f4b307891b173f055c7d8f4583f9341eacc09"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="410.883100" y="177.320600" z="116.610500" /> |
| <position x="512.065700" y="262.091300" z="118.393700" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0015" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="450.436343" y="210.458206" z="117.532260" yaw="39.953751" /> |
| <original_trigger_point x="447.370190" y="207.889412" z="117.485380" yaw="39.957430" /> |
| <scenario_arm_point x="450.436343" y="210.458206" z="117.532260" yaw="39.953751" /> |
| <cooperative_trigger_point x="453.502488" y="213.027010" z="117.582600" yaw="39.957430" /> |
| <event_trigger_point x="463.467462" y="221.375621" z="117.770280" yaw="39.953751" /> |
| <collision_point x="466.533577" y="223.944461" z="117.835420" yaw="39.961822" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.ford.mustang" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0016" town="Town06" source_route_id="StaticCutIn_Town06_Route288_Weather2" candidate_source="Bench2Drive-Base" candidate_source_clip="StaticCutIn_Town06_Route288_Weather2" candidate_route_length_m="132.010" candidate_geometry_sha256="67061156fae98fe85edf8f062feb843f3e93501b5e642187fe47a5d5df31dcf9"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="312.349400" y="38.836800" z="0.000000" /> |
| <position x="444.349100" y="38.260200" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0016" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="363.944414" y="38.299302" z="0.000000" yaw="-0.028648" /> |
| <original_trigger_point x="359.944414" y="38.301302" z="0.000000" yaw="-0.028648" /> |
| <scenario_arm_point x="363.944414" y="38.299302" z="0.000000" yaw="-0.028648" /> |
| <cooperative_trigger_point x="367.944413" y="38.297402" z="0.000000" yaw="-0.028648" /> |
| <event_trigger_point x="380.944411" y="38.291062" z="0.000000" yaw="-0.022918" /> |
| <collision_point x="384.944411" y="38.289102" z="0.000000" yaw="-0.028648" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.lincoln.mkz_2017" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0017" town="Town13" source_route_id="HighwayCutIn_Town13_Route631_Weather7" candidate_source="Bench2Drive-Base" candidate_source_clip="HighwayCutIn_Town13_Route631_Weather7" candidate_route_length_m="130.461" candidate_geometry_sha256="bf52e00337a0277fc182f422d8c2e1ec10297cd729d08231f677e89a61277efd"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-5897.656200" y="1338.297500" z="162.237400" /> |
| <position x="-5855.479000" y="1214.842400" z="160.604300" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0017" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="-5881.259839" y="1290.264959" z="161.580498" yaw="-71.139169" /> |
| <original_trigger_point x="-5882.553700" y="1294.049919" z="161.631509" yaw="-71.142874" /> |
| <scenario_arm_point x="-5881.259839" y="1290.264959" z="161.580498" yaw="-71.139169" /> |
| <cooperative_trigger_point x="-5879.966234" y="1286.479911" z="161.529408" yaw="-71.115767" /> |
| <event_trigger_point x="-5875.761325" y="1274.178743" z="161.365123" yaw="-71.135599" /> |
| <collision_point x="-5874.467755" y="1270.393684" z="161.315047" yaw="-71.113913" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.tesla.model3" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0018" town="Town15" source_route_id="StaticCutIn_Town15_Route426_Weather10" candidate_source="Bench2Drive-Base" candidate_source_clip="StaticCutIn_Town15_Route426_Weather10" candidate_route_length_m="126.715" candidate_geometry_sha256="4c72170e8b19df3e6a6fb485107b6f18cf5cecb32ea79b2e365292aba9b4e77f"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="481.413700" y="562.566100" z="119.817100" /> |
| <position x="579.863600" y="482.790200" z="114.600300" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0018" type="ClosedLaneCutIn"> |
| <cut_in_from value="right" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="519.223588" y="531.883521" z="116.728722" yaw="-39.058006" /> |
| <original_trigger_point x="516.117594" y="534.403998" z="116.926686" yaw="-39.059568" /> |
| <scenario_arm_point x="519.223588" y="531.883521" z="116.728722" yaw="-39.058006" /> |
| <cooperative_trigger_point x="522.329573" y="529.363034" z="116.543072" yaw="-39.058006" /> |
| <event_trigger_point x="532.424035" y="521.171464" z="116.025001" yaw="-39.058006" /> |
| <collision_point x="535.529981" y="518.650927" z="115.891846" yaw="-39.058006" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.audi.a2" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0019" town="Town12" source_route_id="HighwayCutIn_Town12_Route1005_Weather9" candidate_source="Bench2Drive-Base" candidate_source_clip="HighwayCutIn_Town12_Route1005_Weather9" candidate_route_length_m="124.566" candidate_geometry_sha256="b8f9cefecafbd7597c89acaba79e5077a01c6f089966a1e62ffedfefd6a8d4d3"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="2746.959200" y="6205.314900" z="372.042100" /> |
| <position x="2624.038600" y="6185.137200" z="370.766300" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0019" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="2700.077957" y="6197.604900" z="371.582839" yaw="-170.671430" /> |
| <original_trigger_point x="2704.024892" y="6198.254289" z="371.623507" yaw="-170.671430" /> |
| <scenario_arm_point x="2700.077957" y="6197.604900" z="371.582839" yaw="-170.671430" /> |
| <cooperative_trigger_point x="2696.130943" y="6196.955997" z="371.541739" yaw="-170.671430" /> |
| <event_trigger_point x="2683.303290" y="6194.846182" z="371.405387" yaw="-170.644095" /> |
| <collision_point x="2679.356294" y="6194.197164" z="371.362985" yaw="-170.668643" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.mini.cooper_s" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_lane_cut_in_0020" town="Town13" source_route_id="HighwayCutIn_Town13_Route628_Weather3" candidate_source="Bench2Drive-Base" candidate_source_clip="HighwayCutIn_Town13_Route628_Weather3" candidate_route_length_m="129.531" candidate_geometry_sha256="5a4620f4a5804aa27b6049a0c73303b093c3ecfb7c16681f6ed909bddadb539b"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-5748.484400" y="4833.713900" z="188.198600" /> |
| <position x="-5745.595200" y="4704.215800" z="186.640100" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedLaneCutIn_0020" type="ClosedLaneCutIn"> |
| <cut_in_from value="left" /> |
| <spawn_dist value="21.0" /> |
| <speed_perc value="80" /> |
| <same_lane_time value="0.0" /> |
| <change_time value="2" /> |
| <other_lane_time value="8" /> |
| <end_dist value="50" /> |
| <trigger_point x="-5747.155397" y="4783.489690" z="187.621945" yaw="-88.769561" /> |
| <original_trigger_point x="-5747.242860" y="4787.488734" z="187.669417" yaw="-88.741583" /> |
| <scenario_arm_point x="-5747.155397" y="4783.489690" z="187.621945" yaw="-88.769561" /> |
| <cooperative_trigger_point x="-5747.071102" y="4779.490579" z="187.574128" yaw="-88.827359" /> |
| <event_trigger_point x="-5746.813544" y="4766.493131" z="187.415924" yaw="-88.882874" /> |
| <collision_point x="-5746.735446" y="4762.493894" z="187.366425" yaw="-88.882315" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="The vehicle at position <FRONT_CAR_POS> will cut into the ego lane soon." /> |
| <closed_loop_family value="vehicle_cut_in" /> |
| <hint_lead_distance value="17.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="0.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <closed_cut_in_min_speed_mps value="6.5" /> |
| <closed_cut_in_initial_velocity_boost value="false" /> |
| <closed_cut_in_destroy_after_cut_in value="false" /> |
| <closed_cut_in_direct_steer value="false" /> |
| <background_clear_distance value="25.0" /> |
| <force_all_traffic_lights_green value="false" /> |
| <deterministic_actor value="true" /> |
| <cut_in_model value="vehicle.ford.mustang" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0001" town="Town02" source_route_id="28048"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="41.9" y="200.2" z="0.0" /> |
| <position x="41.9" y="202.2" z="0.0" /> |
| <position x="41.9" y="204.2" z="0.0" /> |
| <position x="41.9" y="206.2" z="0.0" /> |
| <position x="41.9" y="208.2" z="0.0" /> |
| <position x="41.9" y="210.2" z="0.0" /> |
| <position x="41.9" y="212.2" z="0.0" /> |
| <position x="41.9" y="214.2" z="0.0" /> |
| <position x="41.9" y="216.2" z="0.0" /> |
| <position x="41.9" y="218.2" z="0.0" /> |
| <position x="41.9" y="220.2" z="0.0" /> |
| <position x="41.9" y="222.2" z="0.0" /> |
| <position x="59.8" y="240.9" z="0.0" /> |
| <position x="61.8" y="240.9" z="0.0" /> |
| <position x="63.8" y="240.9" z="0.0" /> |
| <position x="65.8" y="240.9" z="0.0" /> |
| <position x="67.8" y="240.9" z="0.0" /> |
| <position x="69.8" y="240.9" z="0.0" /> |
| <position x="71.8" y="240.9" z="0.0" /> |
| <position x="73.8" y="240.9" z="0.0" /> |
| <position x="75.8" y="240.9" z="0.0" /> |
| <position x="77.8" y="240.9" z="0.0" /> |
| <position x="79.8" y="240.9" z="0.0" /> |
| <position x="81.8" y="240.9" z="0.0" /> |
| <position x="83.8" y="240.9" z="0.0" /> |
| <position x="85.8" y="240.9" z="0.0" /> |
| <position x="87.8" y="240.9" z="0.0" /> |
| <position x="89.8" y="240.9" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0001" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="41.900000" y="208.200000" z="0.000000" yaw="90.000000" /> |
| <original_trigger_point x="41.900000" y="202.200000" z="0.000000" yaw="90.000000" /> |
| <scenario_arm_point x="41.900000" y="208.200000" z="0.000000" yaw="90.000000" /> |
| <cooperative_trigger_point x="41.900000" y="212.200000" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="41.900000" y="218.200000" z="0.000000" yaw="90.000000" /> |
| <collision_point x="41.900000" y="222.200000" z="0.000000" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <wrong_way_completion_distance value="15.0" /> |
| <wrong_way_minimum_travel_distance value="5.0" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0002" town="Town04" source_route_id="28087"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="217.8" y="-246.0" z="0.0" /> |
| <position x="219.8" y="-246.0" z="0.0" /> |
| <position x="221.8" y="-246.0" z="0.0" /> |
| <position x="223.8" y="-246.0" z="0.0" /> |
| <position x="225.8" y="-246.0" z="0.0" /> |
| <position x="227.8" y="-246.0" z="0.0" /> |
| <position x="229.8" y="-246.0" z="0.0" /> |
| <position x="231.8" y="-246.0" z="0.0" /> |
| <position x="233.8" y="-246.1" z="0.0" /> |
| <position x="235.8" y="-246.1" z="0.0" /> |
| <position x="237.8" y="-246.1" z="0.0" /> |
| <position x="239.8" y="-246.1" z="0.0" /> |
| <position x="258.7" y="-262.7" z="0.0" /> |
| <position x="258.7" y="-264.7" z="0.0" /> |
| <position x="258.7" y="-266.7" z="0.0" /> |
| <position x="258.7" y="-268.7" z="0.0" /> |
| <position x="258.7" y="-270.7" z="0.0" /> |
| <position x="258.7" y="-272.7" z="0.0" /> |
| <position x="258.8" y="-274.7" z="0.0" /> |
| <position x="258.8" y="-276.7" z="0.0" /> |
| <position x="258.8" y="-278.7" z="0.0" /> |
| <position x="258.8" y="-280.7" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0002" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="225.802498" y="-246.000000" z="0.000000" yaw="0.000000" /> |
| <original_trigger_point x="222.800000" y="-246.000000" z="0.000000" yaw="359.600000" /> |
| <scenario_arm_point x="225.802498" y="-246.000000" z="0.000000" yaw="0.000000" /> |
| <cooperative_trigger_point x="229.802498" y="-246.000000" z="0.000000" yaw="0.000000" /> |
| <event_trigger_point x="235.800000" y="-246.100000" z="0.000000" yaw="0.000000" /> |
| <collision_point x="239.800000" y="-246.100000" z="0.000000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0003" town="Town04" source_route_id="28093"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="255.3" y="-287.1" z="0.0" /> |
| <position x="255.3" y="-285.1" z="0.0" /> |
| <position x="255.3" y="-283.1" z="0.0" /> |
| <position x="255.3" y="-281.1" z="0.0" /> |
| <position x="255.3" y="-279.1" z="0.0" /> |
| <position x="255.3" y="-277.1" z="0.0" /> |
| <position x="255.3" y="-275.1" z="0.0" /> |
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| <position x="255.2" y="-269.1" z="0.0" /> |
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| <position x="273.6" y="-246.3" z="0.0" /> |
| <position x="275.6" y="-246.3" z="0.0" /> |
| <position x="277.6" y="-246.4" z="0.0" /> |
| <position x="279.6" y="-246.4" z="0.0" /> |
| <position x="281.6" y="-246.4" z="0.0" /> |
| <position x="283.6" y="-246.4" z="0.0" /> |
| <position x="285.6" y="-246.4" z="0.0" /> |
| <position x="287.6" y="-246.4" z="0.0" /> |
| <position x="289.6" y="-246.4" z="0.0" /> |
| <position x="291.6" y="-246.5" z="0.0" /> |
| <position x="293.6" y="-246.5" z="0.0" /> |
| <position x="295.6" y="-246.5" z="0.0" /> |
| <position x="297.6" y="-246.5" z="0.0" /> |
| <position x="299.6" y="-246.5" z="0.0" /> |
| <position x="301.6" y="-246.5" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0003" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="255.300000" y="-277.097502" z="0.000000" yaw="90.000000" /> |
| <original_trigger_point x="255.300000" y="-285.100000" z="0.000000" yaw="90.000000" /> |
| <scenario_arm_point x="255.300000" y="-277.097502" z="0.000000" yaw="90.000000" /> |
| <cooperative_trigger_point x="255.200000" y="-273.100000" z="0.000000" yaw="92.862405" /> |
| <event_trigger_point x="255.200000" y="-267.100000" z="0.000000" yaw="90.000000" /> |
| <collision_point x="255.200000" y="-263.100000" z="0.000000" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0004" town="Town04" source_route_id="28099"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="204.3" y="-267.4" z="0.0" /> |
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| <position x="167.5" y="-311.2" z="0.0" /> |
| <position x="165.5" y="-311.2" z="0.0" /> |
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| <position x="157.4" y="-311.1" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0004" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="204.600374" y="-279.407486" z="0.000000" yaw="-87.137595" /> |
| <original_trigger_point x="204.400000" y="-269.400000" z="0.000000" yaw="-89.000000" /> |
| <scenario_arm_point x="204.600374" y="-279.407486" z="0.000000" yaw="-87.137595" /> |
| <cooperative_trigger_point x="204.700000" y="-283.404997" z="0.000000" yaw="-90.000000" /> |
| <event_trigger_point x="204.800125" y="-289.402495" z="0.000000" yaw="-87.137595" /> |
| <collision_point x="204.900000" y="-293.400000" z="0.000000" yaw="-90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0005" town="Town04" source_route_id="30006"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| <position x="315.3" y="-263.6" z="0.0" /> |
| <position x="315.3" y="-265.6" z="0.0" /> |
| <position x="315.3" y="-267.6" z="0.0" /> |
| <position x="315.3" y="-269.7" z="0.0" /> |
| <position x="315.1" y="-271.8" z="0.0" /> |
| <position x="314.9" y="-273.8" z="0.0" /> |
| <position x="314.6" y="-275.8" z="0.0" /> |
| <position x="314.3" y="-277.9" z="0.0" /> |
| <position x="313.9" y="-279.9" z="0.0" /> |
| <position x="313.4" y="-281.9" z="0.0" /> |
| <position x="312.8" y="-283.9" z="0.0" /> |
| <position x="312.2" y="-285.8" z="0.0" /> |
| <position x="311.5" y="-287.8" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0005" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="290.300000" y="-246.500000" z="0.000000" yaw="-2.862405" /> |
| <original_trigger_point x="284.300000" y="-246.400000" z="0.000000" yaw="-0.400000" /> |
| <scenario_arm_point x="290.300000" y="-246.500000" z="0.000000" yaw="-2.862405" /> |
| <cooperative_trigger_point x="294.300000" y="-246.500000" z="0.000000" yaw="0.000000" /> |
| <event_trigger_point x="300.300000" y="-246.500000" z="0.000000" yaw="0.000000" /> |
| <collision_point x="304.300000" y="-246.500000" z="0.000000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0006" town="Town04" source_route_id="30007"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="254.9" y="-151.7" z="0.02" /> |
| <position x="254.9" y="-149.7" z="0.02" /> |
| <position x="254.9" y="-147.7" z="0.02" /> |
| <position x="254.9" y="-145.7" z="0.02" /> |
| <position x="254.8" y="-143.7" z="0.02" /> |
| <position x="254.8" y="-141.7" z="0.02" /> |
| <position x="254.8" y="-139.7" z="0.02" /> |
| <position x="254.8" y="-137.7" z="0.02" /> |
| <position x="254.8" y="-135.7" z="0.02" /> |
| <position x="254.8" y="-133.7" z="0.02" /> |
| <position x="254.8" y="-131.7" z="0.02" /> |
| <position x="254.8" y="-129.7" z="0.02" /> |
| <position x="267.6" y="-118.7" z="0.02" /> |
| <position x="269.6" y="-118.6" z="0.02" /> |
| <position x="271.6" y="-118.6" z="0.02" /> |
| <position x="273.6" y="-118.6" z="0.02" /> |
| <position x="275.6" y="-118.5" z="0.02" /> |
| <position x="277.6" y="-118.5" z="0.02" /> |
| <position x="279.6" y="-118.5" z="0.02" /> |
| <position x="281.6" y="-118.4" z="0.02" /> |
| <position x="283.6" y="-118.4" z="0.02" /> |
| <position x="285.6" y="-118.4" z="0.02" /> |
| <position x="287.6" y="-118.3" z="0.02" /> |
| <position x="289.6" y="-118.3" z="0.02" /> |
| <position x="291.6" y="-118.3" z="0.02" /> |
| <position x="293.6" y="-118.3" z="0.02" /> |
| <position x="295.6" y="-118.2" z="0.02" /> |
| <position x="297.6" y="-118.2" z="0.02" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0006" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="254.800000" y="-143.700000" z="0.020000" yaw="92.862405" /> |
| <original_trigger_point x="254.900000" y="-149.700000" z="0.020000" yaw="90.200000" /> |
| <scenario_arm_point x="254.800000" y="-143.700000" z="0.020000" yaw="92.862405" /> |
| <cooperative_trigger_point x="254.800000" y="-139.700000" z="0.020000" yaw="90.000000" /> |
| <event_trigger_point x="254.800000" y="-133.700000" z="0.020000" yaw="90.000000" /> |
| <collision_point x="254.800000" y="-129.700000" z="0.020000" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0007" town="Town05" source_route_id="30002"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-127.7" y="53.9" z="0.00" /> |
| <position x="-127.7" y="55.9" z="0.00" /> |
| <position x="-127.7" y="57.9" z="0.00" /> |
| <position x="-127.7" y="59.9" z="0.00" /> |
| <position x="-127.7" y="61.9" z="0.00" /> |
| <position x="-127.7" y="63.9" z="0.00" /> |
| <position x="-127.6" y="65.9" z="0.00" /> |
| <position x="-127.6" y="67.9" z="0.00" /> |
| <position x="-127.6" y="69.9" z="0.00" /> |
| <position x="-127.6" y="71.9" z="0.00" /> |
| <position x="-127.6" y="73.9" z="0.00" /> |
| <position x="-127.5" y="75.9" z="0.00" /> |
| <position x="-109.5" y="91.4" z="0.00" /> |
| <position x="-107.5" y="91.4" z="0.00" /> |
| <position x="-105.5" y="91.4" z="0.00" /> |
| <position x="-103.5" y="91.4" z="0.00" /> |
| <position x="-101.5" y="91.5" z="0.00" /> |
| <position x="-99.5" y="91.5" z="0.00" /> |
| <position x="-97.5" y="91.5" z="0.00" /> |
| <position x="-95.5" y="91.5" z="0.00" /> |
| <position x="-93.5" y="91.5" z="0.00" /> |
| <position x="-91.5" y="91.5" z="0.00" /> |
| <position x="-89.5" y="91.5" z="0.00" /> |
| <position x="-87.5" y="91.5" z="0.00" /> |
| <position x="-85.5" y="91.5" z="0.00" /> |
| <position x="-83.5" y="91.5" z="0.00" /> |
| <position x="-81.5" y="91.5" z="0.00" /> |
| <position x="-79.5" y="91.5" z="0.00" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0007" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-127.700000" y="61.904997" z="0.000000" yaw="90.000000" /> |
| <original_trigger_point x="-127.700000" y="55.900000" z="0.000000" yaw="89.500000" /> |
| <scenario_arm_point x="-127.700000" y="61.904997" z="0.000000" yaw="90.000000" /> |
| <cooperative_trigger_point x="-127.600000" y="65.902498" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="-127.600000" y="71.902498" z="0.000000" yaw="90.000000" /> |
| <collision_point x="-127.500000" y="75.900000" z="0.000000" yaw="87.137595" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0008" town="Town05" source_route_id="30003"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-127.2" y="114.6" z="0.00" /> |
| <position x="-127.2" y="116.6" z="0.00" /> |
| <position x="-127.2" y="118.6" z="0.00" /> |
| <position x="-127.1" y="120.6" z="0.00" /> |
| <position x="-127.1" y="122.6" z="0.00" /> |
| <position x="-127.1" y="124.6" z="0.00" /> |
| <position x="-127.1" y="126.6" z="0.00" /> |
| <position x="-127.1" y="128.6" z="0.00" /> |
| <position x="-127.1" y="130.6" z="0.00" /> |
| <position x="-127.0" y="132.6" z="0.00" /> |
| <position x="-127.0" y="134.6" z="0.00" /> |
| <position x="-127.0" y="136.6" z="0.00" /> |
| <position x="-106.3" y="151.2" z="0.06" /> |
| <position x="-104.3" y="151.2" z="0.06" /> |
| <position x="-102.3" y="151.2" z="0.06" /> |
| <position x="-100.3" y="151.2" z="0.06" /> |
| <position x="-98.3" y="151.3" z="0.06" /> |
| <position x="-96.3" y="151.3" z="0.06" /> |
| <position x="-94.3" y="151.3" z="0.06" /> |
| <position x="-92.3" y="151.3" z="0.06" /> |
| <position x="-90.3" y="151.3" z="0.06" /> |
| <position x="-88.3" y="151.3" z="0.06" /> |
| <position x="-86.2" y="151.3" z="0.06" /> |
| <position x="-84.1" y="151.1" z="0.06" /> |
| <position x="-82.1" y="150.8" z="0.06" /> |
| <position x="-80.0" y="150.5" z="0.06" /> |
| <position x="-78.0" y="150.0" z="0.06" /> |
| <position x="-75.9" y="149.4" z="0.06" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0008" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-127.100000" y="122.602498" z="0.000000" yaw="90.000000" /> |
| <original_trigger_point x="-127.200000" y="116.600000" z="0.000000" yaw="89.500000" /> |
| <scenario_arm_point x="-127.100000" y="122.602498" z="0.000000" yaw="90.000000" /> |
| <cooperative_trigger_point x="-127.100000" y="126.602498" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="-127.000000" y="132.600000" z="0.000000" yaw="87.137595" /> |
| <collision_point x="-127.000000" y="136.600000" z="0.000000" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0009" town="Town05" source_route_id="30004"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="136.1" y="-2.0" z="0.02" /> |
| <position x="134.1" y="-2.0" z="0.02" /> |
| <position x="132.1" y="-2.0" z="0.02" /> |
| <position x="130.1" y="-2.0" z="0.02" /> |
| <position x="128.1" y="-2.0" z="0.02" /> |
| <position x="126.1" y="-2.0" z="0.02" /> |
| <position x="124.1" y="-2.1" z="0.02" /> |
| <position x="122.1" y="-2.1" z="0.02" /> |
| <position x="120.1" y="-2.1" z="0.02" /> |
| <position x="118.1" y="-2.1" z="0.02" /> |
| <position x="116.1" y="-2.1" z="0.02" /> |
| <position x="114.1" y="-2.1" z="0.02" /> |
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| <position x="99.7" y="15.0" z="0.00" /> |
| <position x="99.7" y="17.0" z="0.00" /> |
| <position x="99.7" y="19.0" z="0.00" /> |
| <position x="99.6" y="21.0" z="0.00" /> |
| <position x="99.6" y="23.0" z="0.00" /> |
| <position x="99.6" y="25.0" z="0.00" /> |
| <position x="99.6" y="27.0" z="0.00" /> |
| <position x="99.5" y="29.0" z="0.00" /> |
| <position x="99.5" y="31.0" z="0.00" /> |
| <position x="99.5" y="33.0" z="0.00" /> |
| <position x="99.5" y="35.0" z="0.00" /> |
| <position x="99.4" y="37.0" z="0.00" /> |
| <position x="99.4" y="39.0" z="0.00" /> |
| <position x="99.4" y="41.0" z="0.00" /> |
| <position x="99.4" y="43.0" z="0.00" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0009" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="128.097502" y="-2.000000" z="0.020000" yaw="180.000000" /> |
| <original_trigger_point x="134.100000" y="-2.000000" z="0.020000" yaw="179.700000" /> |
| <scenario_arm_point x="128.097502" y="-2.000000" z="0.020000" yaw="180.000000" /> |
| <cooperative_trigger_point x="124.100000" y="-2.100000" z="0.020000" yaw="-177.137595" /> |
| <event_trigger_point x="118.100000" y="-2.100000" z="0.020000" yaw="180.000000" /> |
| <collision_point x="114.100000" y="-2.100000" z="0.020000" yaw="180.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0010" town="Town05" source_route_id="30005"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-47.8" y="-52.7" z="0.06" /> |
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| <position x="-47.8" y="-56.7" z="0.06" /> |
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| <position x="-93.6" y="-91.5" z="0.00" /> |
| <position x="-95.6" y="-91.5" z="0.00" /> |
| <position x="-97.6" y="-91.5" z="0.00" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0010" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-47.800000" y="-60.702498" z="0.060000" yaw="-90.000000" /> |
| <original_trigger_point x="-47.800000" y="-54.700000" z="0.060000" yaw="-90.300000" /> |
| <scenario_arm_point x="-47.800000" y="-60.702498" z="0.060000" yaw="-90.000000" /> |
| <cooperative_trigger_point x="-47.800125" y="-64.702495" z="0.060000" yaw="-92.862405" /> |
| <event_trigger_point x="-47.900000" y="-70.700000" z="0.060000" yaw="-90.000000" /> |
| <collision_point x="-47.900000" y="-74.700000" z="0.060000" yaw="-90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0011" town="Town05" source_route_id="NonSignalizedJunctionLeftTurn_Town05_Route238_Weather26" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurn_Town05_Route238_Weather26" candidate_route_length_m="94.689" candidate_geometry_sha256="d68d39458aff9a19e168d14a50ea6532092a45f4bb76203bbb83cb5095078cb5"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-142.518800" y="-91.608500" z="0.000000" /> |
| <position x="-191.582200" y="-40.273800" z="0.055500" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0011" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-142.518800" y="-91.608500" z="0.000000" yaw="-179.914056" /> |
| <original_trigger_point x="-182.009704" y="-90.952126" z="0.000000" yaw="164.669561" /> |
| <scenario_arm_point x="-168.080871" y="-91.646943" z="0.000000" yaw="-179.914056" /> |
| <cooperative_trigger_point x="-172.080866" y="-91.653043" z="0.000000" yaw="-179.914056" /> |
| <event_trigger_point x="-178.080259" y="-91.635023" z="0.000000" yaw="177.213983" /> |
| <collision_point x="-182.009800" y="-90.952100" z="0.000000" yaw="164.669561" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <junction_id value="396" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0012" town="Town13" source_route_id="NonSignalizedJunctionLeftTurnEnterFlow_Town13_Route660_Weather10" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurnEnterFlow_Town13_Route660_Weather10" candidate_route_length_m="84.565" candidate_geometry_sha256="d1d4459f23bc3e9591f6416bce29f678d818160113cd5ed45e1aeac2c3562071"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-4382.650900" y="3888.643800" z="180.883900" /> |
| <position x="-4331.606000" y="3930.804400" z="180.990500" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0012" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-4382.650900" y="3888.643800" z="180.883900" yaw="82.440477" /> |
| <original_trigger_point x="-4377.917058" y="3923.728828" z="180.374202" yaw="71.462732" /> |
| <scenario_arm_point x="-4380.301137" y="3909.958215" z="180.567659" yaw="82.440477" /> |
| <cooperative_trigger_point x="-4379.762258" y="3913.921738" z="180.509521" yaw="82.019410" /> |
| <event_trigger_point x="-4378.776416" y="3919.833231" z="180.422745" yaw="81.574081" /> |
| <collision_point x="-4377.917000" y="3923.729000" z="180.374200" yaw="71.462732" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <junction_id value="6960" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0013" town="Town12" source_route_id="SignalizedJunctionLeftTurnEnterFlow_Town12_Route1020_Weather6" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionLeftTurnEnterFlow_Town12_Route1020_Weather6" candidate_route_length_m="81.682" candidate_geometry_sha256="beb196d68a79f586fb3c948cb4ea20ebc3cec2bf2fc86d3a8cfd42a64885c3ca"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="983.312400" y="5538.886700" z="370.851800" /> |
| <position x="1027.270600" y="5581.921900" z="370.533600" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0013" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="983.312400" y="5538.886700" z="370.851800" yaw="90.103132" /> |
| <original_trigger_point x="983.848903" y="5572.667313" z="370.689998" yaw="71.763373" /> |
| <scenario_arm_point x="983.276898" y="5558.721339" z="370.756910" yaw="90.103132" /> |
| <cooperative_trigger_point x="983.269798" y="5562.721332" z="370.737210" yaw="90.103132" /> |
| <event_trigger_point x="983.270081" y="5568.721204" z="370.707851" yaw="88.658031" /> |
| <collision_point x="983.848800" y="5572.667000" z="370.690000" yaw="76.033578" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <junction_id value="18974" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0014" town="Town04" source_route_id="NonSignalizedJunctionLeftTurn_Town04_Route181_Weather15" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurn_Town04_Route181_Weather15" candidate_route_length_m="82.608" candidate_geometry_sha256="07bf994c21b52b5c90aa87faf1f49a3f4aea6ea389e9fd7950c69005a7b192e4"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="160.307500" y="-169.744100" z="0.195900" /> |
| <position x="203.116900" y="-214.372100" z="0.019600" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0014" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="160.307500" y="-169.744100" z="0.195900" yaw="0.326582" /> |
| <original_trigger_point x="195.772624" y="-170.044152" z="0.195900" yaw="-15.326174" /> |
| <scenario_arm_point x="181.826334" y="-169.621641" z="0.195900" yaw="0.326582" /> |
| <cooperative_trigger_point x="185.826269" y="-169.598841" z="0.195900" yaw="0.326582" /> |
| <event_trigger_point x="191.826172" y="-169.564728" z="0.195900" yaw="0.326582" /> |
| <collision_point x="195.772800" y="-170.044200" z="0.195900" yaw="-15.326174" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <junction_id value="1452" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0015" town="Town07" source_route_id="NonSignalizedJunctionLeftTurn_Town07_Route369_Weather18" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurn_Town07_Route369_Weather18" candidate_route_length_m="75.679" candidate_geometry_sha256="4d37530ffa6395219b41e0538193ba6c8e80e5b3ed6a9232830a0d90dd122744"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-111.828700" y="-36.257900" z="0.000000" /> |
| <position x="-152.300200" y="2.446000" z="0.214400" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0015" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-111.828700" y="-36.257900" z="0.000000" yaw="-179.553102" /> |
| <original_trigger_point x="-145.780140" y="-36.314923" z="0.146199" yaw="171.844426" /> |
| <scenario_arm_point x="-133.033841" y="-36.422205" z="0.042655" yaw="-179.553102" /> |
| <cooperative_trigger_point x="-137.033721" y="-36.453205" z="0.069905" yaw="-179.553057" /> |
| <event_trigger_point x="-143.033540" y="-36.499723" z="0.122989" yaw="-179.553102" /> |
| <collision_point x="-146.966100" y="-35.950200" z="0.157200" yaw="162.904402" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <junction_id value="169" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0016" town="Town03" source_route_id="NonSignalizedJunctionLeftTurn_Town03_Route124_Weather26" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurn_Town03_Route124_Weather26" candidate_route_length_m="94.037" candidate_geometry_sha256="e225818334ad2f2bc08a1dc0c6d12617f9410a206e12e85cb682d78743eae00c"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-34.356300" y="-139.008400" z="0.000000" /> |
| <position x="-85.112900" y="-90.918600" z="-0.720200" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0016" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-34.356300" y="-139.008400" z="0.000000" yaw="-178.773812" /> |
| <original_trigger_point x="-75.504304" y="-138.727077" z="0.004599" yaw="165.422156" /> |
| <scenario_arm_point x="-61.597356" y="-139.591992" z="0.000000" yaw="-178.773812" /> |
| <cooperative_trigger_point x="-65.596439" y="-139.677621" z="0.000000" yaw="-178.768084" /> |
| <event_trigger_point x="-71.586926" y="-139.515620" z="0.000000" yaw="172.297781" /> |
| <collision_point x="-75.504600" y="-138.727000" z="0.004600" yaw="165.422156" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <junction_id value="730" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0017" town="Town13" source_route_id="NonSignalizedJunctionLeftTurnEnterFlow_Town13_Route661_Weather11" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurnEnterFlow_Town13_Route661_Weather11" candidate_route_length_m="79.979" candidate_geometry_sha256="c1b199d67dc96030bc59b584ffa2869404adfb17aba8580ac2d77355fd2dc59e"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-4093.911900" y="4289.333500" z="177.100700" /> |
| <position x="-4050.851600" y="4330.956500" z="176.605800" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0017" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="-4093.911900" y="4289.333500" z="177.100700" yaw="90.910926" /> |
| <original_trigger_point x="-4093.985132" y="4322.240555" z="176.343503" yaw="77.639667" /> |
| <scenario_arm_point x="-4094.213028" y="4308.276255" z="176.663278" yaw="90.910926" /> |
| <cooperative_trigger_point x="-4094.276433" y="4312.275752" z="176.569689" yaw="90.905198" /> |
| <event_trigger_point x="-4094.371869" y="4318.274993" z="176.428659" yaw="90.907107" /> |
| <collision_point x="-4093.985100" y="4322.240700" z="176.343500" yaw="77.639667" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <junction_id value="12237" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0018" town="Town12" source_route_id="SignalizedJunctionLeftTurnEnterFlow_Town12_Route1034_Weather20" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionLeftTurnEnterFlow_Town12_Route1034_Weather20" candidate_route_length_m="77.208" candidate_geometry_sha256="3615f2ebbbd0cc1712f0578a7cf1d6b1c57bd1f745a5659153e0cc489f6d4c1c"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3653.449500" y="4920.129900" z="367.946700" /> |
| <position x="3686.636700" y="4967.329100" z="367.806400" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0018" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="3653.449500" y="4920.129900" z="367.946700" yaw="99.586688" /> |
| <original_trigger_point x="3648.637213" y="4952.694910" z="367.943000" yaw="83.368708" /> |
| <scenario_arm_point x="3650.110623" y="4939.901288" z="367.944795" yaw="99.586688" /> |
| <cooperative_trigger_point x="3649.444567" y="4943.845444" z="367.944395" yaw="99.581918" /> |
| <event_trigger_point x="3648.589360" y="4949.780102" z="367.943800" yaw="92.392125" /> |
| <collision_point x="3648.762200" y="4953.770000" z="367.942300" yaw="83.368708" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <junction_id value="14834" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0019" town="Town04" source_route_id="NonSignalizedJunctionLeftTurn_Town04_Route183_Weather1" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurn_Town04_Route183_Weather1" candidate_route_length_m="81.566" candidate_geometry_sha256="10f06458ad01c9859aaabcdad911cb519e809926696a7273c23b11cf978db601"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="199.621200" y="-214.602400" z="0.019600" /> |
| <position x="239.576200" y="-169.292900" z="0.195900" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0019" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="199.621200" y="-214.602400" z="0.019600" yaw="91.312106" /> |
| <original_trigger_point x="199.221405" y="-175.867088" z="0.019600" yaw="65.041844" /> |
| <scenario_arm_point x="199.052588" y="-189.817935" z="0.019600" yaw="91.312106" /> |
| <cooperative_trigger_point x="198.960808" y="-185.818988" z="0.019600" yaw="91.317966" /> |
| <event_trigger_point x="198.823159" y="-179.820567" z="0.019600" yaw="91.317966" /> |
| <collision_point x="199.221400" y="-175.867100" z="0.019600" yaw="75.384262" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <junction_id value="1452" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_left_turn_0020" town="Town12" source_route_id="NonSignalizedJunctionLeftTurnEnterFlow_Town12_Route1035_Weather21" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionLeftTurnEnterFlow_Town12_Route1035_Weather21" candidate_route_length_m="77.604" candidate_geometry_sha256="75cb82247bf9805cd50023b67c375c49d40542ce10f453b82a7c53350fc5c8e1"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="2772.602100" y="2371.770000" z="355.335400" /> |
| <position x="2816.337600" y="2410.627000" z="353.134600" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverLeftTurn_0020" type="ClosedGhostDriverLeftTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="25" /> |
| <trigger_point x="2772.602100" y="2371.770000" z="355.335400" yaw="89.845302" /> |
| <original_trigger_point x="2773.195238" y="2402.413516" z="355.191901" yaw="77.663707" /> |
| <scenario_arm_point x="2772.652297" y="2389.583543" z="355.238839" yaw="89.845302" /> |
| <cooperative_trigger_point x="2772.663597" y="2393.583527" z="355.222146" yaw="89.845302" /> |
| <event_trigger_point x="2772.742350" y="2399.579183" z="355.200646" yaw="82.171054" /> |
| <collision_point x="2773.546100" y="2403.484100" z="355.185200" yaw="71.853000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego left-turn path. Yield before turning left." /> |
| <closed_loop_family value="wrong_way_left_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <junction_id value="11938" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0001" town="Town04" source_route_id="40001"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="169.8" y="-307.7" z="0.03" /> |
| <position x="171.8" y="-307.7" z="0.03" /> |
| <position x="173.8" y="-307.7" z="0.03" /> |
| <position x="175.8" y="-307.7" z="0.03" /> |
| <position x="177.8" y="-307.7" z="0.03" /> |
| <position x="179.8" y="-307.7" z="0.03" /> |
| <position x="181.8" y="-307.7" z="0.03" /> |
| <position x="183.8" y="-307.7" z="0.03" /> |
| <position x="185.8" y="-307.7" z="0.03" /> |
| <position x="187.8" y="-307.7" z="0.03" /> |
| <position x="189.8" y="-307.7" z="0.03" /> |
| <position x="191.8" y="-307.7" z="0.03" /> |
| <position x="201.5" y="-297.6" z="0.02" /> |
| <position x="201.5" y="-295.6" z="0.02" /> |
| <position x="201.4" y="-293.6" z="0.02" /> |
| <position x="201.4" y="-291.6" z="0.02" /> |
| <position x="201.3" y="-289.6" z="0.02" /> |
| <position x="201.3" y="-287.6" z="0.02" /> |
| <position x="201.3" y="-285.6" z="0.02" /> |
| <position x="201.2" y="-283.6" z="0.02" /> |
| <position x="201.2" y="-281.6" z="0.02" /> |
| <position x="201.1" y="-279.6" z="0.02" /> |
| <position x="201.1" y="-277.6" z="0.02" /> |
| <position x="201.0" y="-275.6" z="0.02" /> |
| <position x="201.0" y="-273.6" z="0.02" /> |
| <position x="200.9" y="-271.6" z="0.02" /> |
| <position x="200.9" y="-269.6" z="0.02" /> |
| <position x="200.8" y="-267.6" z="0.02" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0001" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="177.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <original_trigger_point x="171.800000" y="-307.700000" z="0.030000" yaw="0.100000" /> |
| <scenario_arm_point x="177.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <cooperative_trigger_point x="181.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <event_trigger_point x="187.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <collision_point x="191.800000" y="-307.700000" z="0.030000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0002" town="Town04" source_route_id="40003"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="290.3" y="-250.0" z="0.00" /> |
| <position x="288.3" y="-249.9" z="0.00" /> |
| <position x="286.3" y="-249.9" z="0.00" /> |
| <position x="284.3" y="-249.9" z="0.00" /> |
| <position x="282.3" y="-249.9" z="0.00" /> |
| <position x="280.3" y="-249.9" z="0.00" /> |
| <position x="278.3" y="-249.9" z="0.00" /> |
| <position x="276.3" y="-249.9" z="0.00" /> |
| <position x="274.3" y="-249.8" z="0.00" /> |
| <position x="272.3" y="-249.8" z="0.00" /> |
| <position x="270.3" y="-249.8" z="0.00" /> |
| <position x="268.3" y="-249.8" z="0.00" /> |
| <position x="258.7" y="-258.4" z="0.02" /> |
| <position x="258.7" y="-260.4" z="0.02" /> |
| <position x="258.7" y="-262.4" z="0.02" /> |
| <position x="258.7" y="-264.4" z="0.02" /> |
| <position x="258.7" y="-266.4" z="0.02" /> |
| <position x="258.7" y="-268.4" z="0.02" /> |
| <position x="258.7" y="-270.4" z="0.02" /> |
| <position x="258.7" y="-272.4" z="0.02" /> |
| <position x="258.7" y="-274.4" z="0.02" /> |
| <position x="258.8" y="-276.4" z="0.02" /> |
| <position x="258.8" y="-278.4" z="0.02" /> |
| <position x="258.8" y="-280.4" z="0.02" /> |
| <position x="258.8" y="-282.4" z="0.02" /> |
| <position x="258.8" y="-284.4" z="0.02" /> |
| <position x="258.8" y="-286.4" z="0.02" /> |
| <position x="258.8" y="-288.4" z="0.02" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0002" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="282.297502" y="-249.900000" z="0.000000" yaw="180.000000" /> |
| <original_trigger_point x="288.300000" y="-249.900000" z="0.000000" yaw="179.600000" /> |
| <scenario_arm_point x="282.297502" y="-249.900000" z="0.000000" yaw="180.000000" /> |
| <cooperative_trigger_point x="278.297502" y="-249.900000" z="0.000000" yaw="180.000000" /> |
| <event_trigger_point x="272.300000" y="-249.800000" z="0.000000" yaw="180.000000" /> |
| <collision_point x="268.300000" y="-249.800000" z="0.000000" yaw="180.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0003" town="Town04" source_route_id="40004"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="223.3" y="-307.8" z="0.00" /> |
| <position x="225.3" y="-307.7" z="0.00" /> |
| <position x="227.3" y="-307.7" z="0.00" /> |
| <position x="229.3" y="-307.7" z="0.00" /> |
| <position x="231.3" y="-307.7" z="0.00" /> |
| <position x="233.3" y="-307.7" z="0.00" /> |
| <position x="235.3" y="-307.6" z="0.00" /> |
| <position x="237.3" y="-307.6" z="0.00" /> |
| <position x="239.3" y="-307.6" z="0.00" /> |
| <position x="241.3" y="-307.6" z="0.00" /> |
| <position x="243.3" y="-307.6" z="0.00" /> |
| <position x="245.3" y="-307.5" z="0.00" /> |
| <position x="255.3" y="-298.8" z="0.02" /> |
| <position x="255.3" y="-296.8" z="0.02" /> |
| <position x="255.3" y="-294.8" z="0.02" /> |
| <position x="255.3" y="-292.8" z="0.02" /> |
| <position x="255.3" y="-290.8" z="0.02" /> |
| <position x="255.3" y="-288.8" z="0.02" /> |
| <position x="255.3" y="-286.8" z="0.02" /> |
| <position x="255.3" y="-284.8" z="0.02" /> |
| <position x="255.3" y="-282.8" z="0.02" /> |
| <position x="255.3" y="-280.8" z="0.02" /> |
| <position x="255.3" y="-278.8" z="0.02" /> |
| <position x="255.3" y="-276.8" z="0.02" /> |
| <position x="255.3" y="-274.8" z="0.02" /> |
| <position x="255.2" y="-272.8" z="0.02" /> |
| <position x="255.2" y="-270.8" z="0.02" /> |
| <position x="255.2" y="-268.8" z="0.02" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0003" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="231.304997" y="-307.700000" z="0.000000" yaw="0.000000" /> |
| <original_trigger_point x="225.300000" y="-307.700000" z="0.000000" yaw="0.600000" /> |
| <scenario_arm_point x="231.304997" y="-307.700000" z="0.000000" yaw="0.000000" /> |
| <cooperative_trigger_point x="235.302498" y="-307.600000" z="0.000000" yaw="0.000000" /> |
| <event_trigger_point x="241.302498" y="-307.600000" z="0.000000" yaw="0.000000" /> |
| <collision_point x="245.300000" y="-307.500000" z="0.000000" yaw="2.862405" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0004" town="Town04" source_route_id="62"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="382.406677" y="-209.198471" z="0.000000" /> |
| <position x="382.385773" y="-207.198578" z="0.000000" /> |
| <position x="382.364899" y="-205.198685" z="0.000000" /> |
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| <position x="382.218628" y="-191.199448" z="0.000000" /> |
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| <position x="374.700000" y="-172.200000" z="0.000000" /> |
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| <position x="365.000000" y="-172.100000" z="0.000000" /> |
| <position x="363.300000" y="-172.100000" z="0.000000" /> |
| <position x="361.200000" y="-172.100000" z="0.000000" /> |
| <position x="359.600000" y="-172.100000" z="0.000000" /> |
| <position x="357.600000" y="-172.200000" z="0.000000" /> |
| <position x="355.400000" y="-172.800000" z="0.000000" /> |
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| <position x="352.100000" y="-179.100000" z="0.000000" /> |
| <position x="352.100000" y="-181.600000" z="0.000000" /> |
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| <position x="352.100000" y="-186.500000" z="0.000000" /> |
| <position x="352.100000" y="-189.000000" z="0.000000" /> |
| <position x="352.200000" y="-193.800000" z="0.000000" /> |
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| <position x="352.300000" y="-198.600000" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0004" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="382.239532" y="-193.199295" z="0.000000" yaw="90.598866" /> |
| <original_trigger_point x="369.200000" y="-172.100000" z="0.000000" yaw="178.500000" /> |
| <scenario_arm_point x="382.239532" y="-193.199295" z="0.000000" yaw="90.598866" /> |
| <cooperative_trigger_point x="382.197723" y="-189.199513" z="0.000000" yaw="90.598006" /> |
| <event_trigger_point x="382.135040" y="-183.199841" z="0.000000" yaw="90.598870" /> |
| <collision_point x="382.100000" y="-179.200000" z="0.000000" yaw="90.404960" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0005" town="Town05" source_route_id="1"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-7.4" y="6.1" z="0.0" /> |
| <position x="-7.1" y="6.1" z="0.0" /> |
| <position x="-6.6" y="6.1" z="0.0" /> |
| <position x="-5.6" y="6.1" z="0.0" /> |
| <position x="-4.2" y="6.1" z="0.0" /> |
| <position x="-2.6" y="6.1" z="0.0" /> |
| <position x="-0.4" y="6.1" z="0.0" /> |
| <position x="2.1" y="6.0" z="0.0" /> |
| <position x="5.0" y="6.0" z="0.0" /> |
| <position x="7.9" y="6.0" z="0.0" /> |
| <position x="10.2" y="6.0" z="0.0" /> |
| <position x="12.1" y="6.0" z="0.0" /> |
| <position x="13.5" y="6.0" z="0.0" /> |
| <position x="14.8" y="6.0" z="0.0" /> |
| <position x="16.4" y="6.0" z="0.0" /> |
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| <position x="24.1" y="11.2" z="0.0" /> |
| <position x="24.5" y="14.2" z="0.0" /> |
| <position x="24.6" y="17.5" z="0.0" /> |
| <position x="24.6" y="21.1" z="0.0" /> |
| <position x="24.600000" y="23.100000" z="0.000000" /> |
| <position x="24.600000" y="25.100000" z="0.000000" /> |
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| <position x="24.600000" y="29.100000" z="0.000000" /> |
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| <position x="24.600000" y="37.100000" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0005" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="4.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <original_trigger_point x="-7.100000" y="6.100000" z="0.000000" yaw="359.900000" /> |
| <scenario_arm_point x="4.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <cooperative_trigger_point x="8.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <event_trigger_point x="14.509502" y="6.000000" z="0.000000" yaw="0.000000" /> |
| <collision_point x="18.500000" y="6.200000" z="0.000000" yaw="5.440332" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0006" town="Town05" source_route_id="26956"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="25.1" y="-43.2" z="0.0" /> |
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| <position x="25.0" y="-39.2" z="0.0" /> |
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| <position x="-15.1" y="-4.4" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0006" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="24.800000" y="-33.092624" z="0.000000" yaw="90.000000" /> |
| <original_trigger_point x="25.000000" y="-41.200000" z="0.000000" yaw="91.400000" /> |
| <scenario_arm_point x="24.800000" y="-33.092624" z="0.000000" yaw="90.000000" /> |
| <cooperative_trigger_point x="24.700000" y="-29.095122" z="0.000000" yaw="90.000000" /> |
| <event_trigger_point x="24.595130" y="-23.097736" z="0.000000" yaw="92.726311" /> |
| <collision_point x="24.500000" y="-19.100000" z="0.000000" yaw="90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0007" town="Town05" source_route_id="26966"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-120.0" y="133.6" z="0.0" /> |
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| <position x="-120.1" y="129.6" z="0.0" /> |
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| <position x="-91.9" y="95.0" z="0.0" /> |
| <position x="-89.9" y="95.0" z="0.0" /> |
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| <position x="-85.9" y="95.0" z="0.0" /> |
| <position x="-83.9" y="95.0" z="0.0" /> |
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| <position x="-77.9" y="95.0" z="0.0" /> |
| <position x="-75.9" y="95.0" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0007" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="-120.100000" y="123.597502" z="0.000000" yaw="-90.000000" /> |
| <original_trigger_point x="-120.000000" y="131.600000" z="0.000000" yaw="-90.000000" /> |
| <scenario_arm_point x="-120.100000" y="123.597502" z="0.000000" yaw="-90.000000" /> |
| <cooperative_trigger_point x="-120.200000" y="119.600000" z="0.000000" yaw="-92.862405" /> |
| <event_trigger_point x="-120.200000" y="113.600000" z="0.000000" yaw="-90.000000" /> |
| <collision_point x="-120.200000" y="109.600000" z="0.000000" yaw="-90.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0008" town="Town05" source_route_id="27506"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
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| <position x="-9.0" y="-84.4" z="0.0" /> |
| <position x="-7.0" y="-84.4" z="0.0" /> |
| <position x="-5.0" y="-84.4" z="0.0" /> |
| <position x="-3.0" y="-84.4" z="0.0" /> |
| <position x="-1.0" y="-84.4" z="0.0" /> |
| <position x="1.0" y="-84.4" z="0.0" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0008" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="-44.300000" y="-53.902498" z="0.000000" yaw="-90.000000" /> |
| <original_trigger_point x="-44.200000" y="-47.900000" z="0.000000" yaw="-91.400000" /> |
| <scenario_arm_point x="-44.300000" y="-53.902498" z="0.000000" yaw="-90.000000" /> |
| <cooperative_trigger_point x="-44.300000" y="-57.902498" z="0.000000" yaw="-90.000000" /> |
| <event_trigger_point x="-44.300000" y="-63.902498" z="0.000000" yaw="-90.000000" /> |
| <collision_point x="-44.400000" y="-67.900000" z="0.000000" yaw="-92.862405" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| <wrong_way_completion_distance value="20.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0009" town="Town05" source_route_id="40007"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-153.2" y="-4.1" z="0.00" /> |
| <position x="-155.2" y="-4.1" z="0.00" /> |
| <position x="-157.2" y="-4.1" z="0.00" /> |
| <position x="-159.2" y="-4.1" z="0.00" /> |
| <position x="-161.2" y="-4.1" z="0.00" /> |
| <position x="-163.2" y="-4.1" z="0.00" /> |
| <position x="-165.2" y="-4.0" z="0.00" /> |
| <position x="-167.2" y="-4.0" z="0.00" /> |
| <position x="-169.2" y="-4.0" z="0.00" /> |
| <position x="-171.2" y="-4.0" z="0.00" /> |
| <position x="-173.2" y="-4.0" z="0.00" /> |
| <position x="-175.2" y="-4.0" z="0.00" /> |
| <position x="-184.6" y="-12.9" z="0.06" /> |
| <position x="-184.6" y="-14.9" z="0.06" /> |
| <position x="-184.6" y="-16.9" z="0.06" /> |
| <position x="-184.6" y="-18.9" z="0.06" /> |
| <position x="-184.6" y="-20.9" z="0.06" /> |
| <position x="-184.6" y="-22.9" z="0.06" /> |
| <position x="-184.6" y="-24.9" z="0.06" /> |
| <position x="-184.6" y="-26.9" z="0.06" /> |
| <position x="-184.6" y="-28.9" z="0.06" /> |
| <position x="-184.6" y="-30.9" z="0.06" /> |
| <position x="-184.6" y="-32.9" z="0.06" /> |
| <position x="-184.6" y="-34.9" z="0.06" /> |
| <position x="-184.6" y="-36.9" z="0.06" /> |
| <position x="-184.6" y="-38.9" z="0.06" /> |
| <position x="-184.6" y="-40.9" z="0.06" /> |
| <position x="-184.6" y="-42.9" z="0.06" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0009" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="-161.202498" y="-4.100000" z="0.000000" yaw="180.000000" /> |
| <original_trigger_point x="-155.200000" y="-4.100000" z="0.000000" yaw="179.900000" /> |
| <scenario_arm_point x="-161.202498" y="-4.100000" z="0.000000" yaw="180.000000" /> |
| <cooperative_trigger_point x="-165.200000" y="-4.000000" z="0.000000" yaw="177.137595" /> |
| <event_trigger_point x="-171.200000" y="-4.000000" z="0.000000" yaw="180.000000" /> |
| <collision_point x="-175.200000" y="-4.000000" z="0.000000" yaw="180.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0010" town="Town05" source_route_id="40008"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="120.1" y="1.4" z="0.02" /> |
| <position x="122.1" y="1.4" z="0.02" /> |
| <position x="124.1" y="1.4" z="0.02" /> |
| <position x="126.1" y="1.5" z="0.02" /> |
| <position x="128.1" y="1.5" z="0.02" /> |
| <position x="130.1" y="1.5" z="0.02" /> |
| <position x="132.1" y="1.5" z="0.02" /> |
| <position x="134.1" y="1.5" z="0.02" /> |
| <position x="136.1" y="1.5" z="0.02" /> |
| <position x="138.1" y="1.5" z="0.02" /> |
| <position x="140.1" y="1.5" z="0.02" /> |
| <position x="142.1" y="1.5" z="0.02" /> |
| <position x="151.5" y="13.2" z="0.04" /> |
| <position x="151.5" y="15.2" z="0.04" /> |
| <position x="151.5" y="17.2" z="0.04" /> |
| <position x="151.5" y="19.2" z="0.04" /> |
| <position x="151.5" y="21.2" z="0.04" /> |
| <position x="151.5" y="23.2" z="0.04" /> |
| <position x="151.5" y="25.2" z="0.04" /> |
| <position x="151.5" y="27.2" z="0.04" /> |
| <position x="151.5" y="29.2" z="0.04" /> |
| <position x="151.5" y="31.2" z="0.04" /> |
| <position x="151.6" y="33.2" z="0.04" /> |
| <position x="151.6" y="35.2" z="0.04" /> |
| <position x="151.6" y="37.2" z="0.04" /> |
| <position x="151.6" y="39.2" z="0.04" /> |
| <position x="151.6" y="41.2" z="0.04" /> |
| <position x="151.6" y="43.2" z="0.04" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0010" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="128.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <original_trigger_point x="122.100000" y="1.400000" z="0.020000" yaw="0.300000" /> |
| <scenario_arm_point x="128.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <cooperative_trigger_point x="132.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <event_trigger_point x="138.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <collision_point x="142.100000" y="1.500000" z="0.020000" yaw="0.000000" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <clear_ego_lane_front_background value="true" /> |
| <ego_lane_front_clear_distance value="60.0" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0011" town="Town12" source_route_id="NonSignalizedJunctionRightTurn_Town12_Route817_Weather11" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town12_Route817_Weather11" candidate_route_length_m="82.208" candidate_geometry_sha256="4d77baf2a79ad67309bb5f041e9492ccaf52658d2744189c42beb6d3292f471c"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="2494.487300" y="1948.876800" z="355.924700" /> |
| <position x="2536.991700" y="1993.626800" z="356.405800" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0011" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="2494.487300" y="1948.876800" z="355.924700" yaw="-0.211993" /> |
| <original_trigger_point x="2527.325852" y="1949.066843" z="355.706199" yaw="15.849788" /> |
| <scenario_arm_point x="2514.288958" y="1948.803434" z="355.793189" yaw="-0.211993" /> |
| <cooperative_trigger_point x="2518.288930" y="1948.788534" z="355.767089" yaw="-0.211993" /> |
| <event_trigger_point x="2524.281618" y="1948.654931" z="355.727815" yaw="1.004339" /> |
| <collision_point x="2528.212600" y="1949.318600" z="355.701200" yaw="15.849788" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <junction_id value="19912" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0012" town="Town07" source_route_id="SignalizedJunctionRightTurn_Town07_Route339_Weather1" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town07_Route339_Weather1" candidate_route_length_m="78.348" candidate_geometry_sha256="e73141b1836633d8f83539ac25324cc7df4a520d989d81e9d691f52d9f5d74ec"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-2.295500" y="37.807900" z="0.000000" /> |
| <position x="40.018800" y="-0.001300" z="0.026800" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0012" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="-2.295500" y="37.807900" z="0.000000" yaw="-89.518679" /> |
| <original_trigger_point x="-1.989051" y="2.794354" z="0.000001" yaw="-71.339572" /> |
| <scenario_arm_point x="-2.119676" y="16.793790" z="0.000000" yaw="-89.518679" /> |
| <cooperative_trigger_point x="-2.086175" y="12.793930" z="0.000000" yaw="-89.518727" /> |
| <event_trigger_point x="-2.035939" y="6.794140" z="0.000000" yaw="-89.518679" /> |
| <collision_point x="-1.989100" y="2.794500" z="0.000000" yaw="-88.596413" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <junction_id value="725" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0013" town="Town03" source_route_id="NonSignalizedJunctionRightTurn_Town03_Route126_Weather18" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town03_Route126_Weather18" candidate_route_length_m="80.794" candidate_geometry_sha256="b56f86386b8a4c1fffd1b97fb5b19fdba6022f58c8582508b5a4b8f463af8b39"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-34.356300" y="-139.008400" z="0.000000" /> |
| <position x="-70.990100" y="-183.125700" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0013" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="-34.356300" y="-139.008400" z="0.000000" yaw="-178.768084" /> |
| <original_trigger_point x="-69.546469" y="-140.016427" z="0.000000" yaw="-158.736179" /> |
| <scenario_arm_point x="-55.578358" y="-139.462978" z="0.000000" yaw="-178.768084" /> |
| <cooperative_trigger_point x="-59.577441" y="-139.548655" z="0.000000" yaw="-178.773812" /> |
| <event_trigger_point x="-65.576064" y="-139.677183" z="0.000000" yaw="-178.768084" /> |
| <collision_point x="-69.546400" y="-140.016400" z="0.000000" yaw="-165.929902" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <junction_id value="730" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0014" town="Town13" source_route_id="SignalizedJunctionRightTurn_Town13_Route583_Weather11" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town13_Route583_Weather11" candidate_route_length_m="76.230" candidate_geometry_sha256="2f8cb4045f4f244567a2f3df4b8945987cf46e25c78ab7feb46f9b4fea8f21a8"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="6133.934100" y="3779.358900" z="161.413400" /> |
| <position x="6095.215800" y="3738.579800" z="160.674100" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0014" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="6133.934100" y="3779.358900" z="161.413400" yaw="179.444248" /> |
| <original_trigger_point x="6101.503902" y="3779.343911" z="160.970808" yaw="-167.578829" /> |
| <scenario_arm_point x="6115.476466" y="3779.539149" z="161.162854" yaw="179.444248" /> |
| <cooperative_trigger_point x="6111.476657" y="3779.578193" z="161.109357" yaw="179.438519" /> |
| <event_trigger_point x="6105.476943" y="3779.636784" z="161.029323" yaw="179.439765" /> |
| <collision_point x="6101.503400" y="3779.343800" z="160.970800" yaw="-167.578829" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <junction_id value="9733" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0015" town="Town04" source_route_id="NonSignalizedJunctionRightTurn_Town04_Route185_Weather9" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town04_Route185_Weather9" candidate_route_length_m="75.802" candidate_geometry_sha256="b3107f1378405c5f58cb2b6a05001b4f20dee044348c73a7a278e8228243b1f6"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="215.790800" y="-245.937600" z="0.004300" /> |
| <position x="255.039900" y="-206.299500" z="0.019600" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0015" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="215.790800" y="-245.937600" z="0.004300" yaw="-0.389605" /> |
| <original_trigger_point x="249.248243" y="-245.843503" z="0.004300" yaw="12.653106" /> |
| <scenario_arm_point x="235.275806" y="-246.071801" z="0.004300" yaw="-0.389605" /> |
| <cooperative_trigger_point x="239.275711" y="-246.099349" z="0.004300" yaw="-0.395335" /> |
| <event_trigger_point x="245.275569" y="-246.140651" z="0.004300" yaw="-0.395598" /> |
| <collision_point x="249.248700" y="-245.843400" z="0.004300" yaw="12.653106" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <junction_id value="53" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0016" town="Town12" source_route_id="SignalizedJunctionRightTurn_Town12_Route964_Weather2" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town12_Route964_Weather2" candidate_route_length_m="73.401" candidate_geometry_sha256="1766a3504aa65f0e7ad14c196ee6740e939cc0d2ce0e952bb5a99da517de3d54"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="20.0" sun_altitude_angle="45.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3446.217500" y="4774.173800" z="367.973400" /> |
| <position x="3398.969000" y="4801.446800" z="367.931200" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0016" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="3446.217500" y="4774.173800" z="367.973400" yaw="99.552724" /> |
| <original_trigger_point x="3441.130426" y="4803.201015" z="367.944500" yaw="118.941891" /> |
| <scenario_arm_point x="3443.645161" y="4789.443284" z="367.957564" yaw="99.552724" /> |
| <cooperative_trigger_point x="3442.980745" y="4793.387717" z="367.953764" yaw="99.575385" /> |
| <event_trigger_point x="3441.984020" y="4799.304349" z="367.948364" yaw="99.564082" /> |
| <collision_point x="3441.130600" y="4803.200700" z="367.944500" yaw="110.753425" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.lincoln.mkz_2017" /> |
| <junction_id value="13744" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0017" town="Town13" source_route_id="NonSignalizedJunctionRightTurn_Town13_Route596_Weather23" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town13_Route596_Weather23" candidate_route_length_m="77.027" candidate_geometry_sha256="fe6bae0ea4c2f1d9d8ecbb3f6b6134b93d1c4c18c9a849660943b6a0df0f27db"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="75.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0" wind_intensity="10.0" sun_azimuth_angle="120.0" sun_altitude_angle="55.0" fog_density="3.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-3464.250000" y="4159.066900" z="181.107000" /> |
| <position x="-3425.893100" y="4201.208500" z="180.849000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0017" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="7.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="-3464.250000" y="4159.066900" z="181.107000" yaw="0.303665" /> |
| <original_trigger_point x="-3431.721260" y="4159.577513" z="181.033801" yaw="13.540398" /> |
| <scenario_arm_point x="-3445.687880" y="4159.163180" z="181.064163" yaw="0.303665" /> |
| <cooperative_trigger_point x="-3441.687935" y="4159.184180" z="181.055519" yaw="0.303665" /> |
| <event_trigger_point x="-3435.688016" y="4159.215227" z="181.042846" yaw="0.287946" /> |
| <collision_point x="-3431.720900" y="4159.577600" z="181.033800" yaw="13.540398" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.tesla.model3" /> |
| <junction_id value="13602" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0018" town="Town07" source_route_id="NonSignalizedJunctionRightTurn_Town07_Route346_Weather15" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town07_Route346_Weather15" candidate_route_length_m="71.406" candidate_geometry_sha256="07a08e05fefaa885903c75a5578216398a5d1604d7fc02f819b4088fd9a012a3"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="65.0" precipitation="0.0" precipitation_deposits="60.0" wetness="70.0" wind_intensity="10.0" sun_azimuth_angle="210.0" sun_altitude_angle="35.0" fog_density="5.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="-149.222800" y="4.353000" z="0.180800" /> |
| <position x="-112.465900" y="-33.162800" z="0.000000" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0018" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="-149.222800" y="4.353000" z="0.180800" yaw="-89.312415" /> |
| <original_trigger_point x="-148.586392" y="-29.040078" z="0.278701" yaw="-68.747605" /> |
| <scenario_arm_point x="-148.990464" y="-15.065312" z="0.288174" yaw="-89.312415" /> |
| <cooperative_trigger_point x="-148.942606" y="-19.065025" z="0.257105" yaw="-89.318144" /> |
| <event_trigger_point x="-148.870796" y="-25.064595" z="0.263259" yaw="-89.316699" /> |
| <collision_point x="-148.586500" y="-29.039800" z="0.278700" yaw="-76.675469" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.audi.a2" /> |
| <junction_id value="169" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0019" town="Town12" source_route_id="SignalizedJunctionRightTurn_Town12_Route804_Weather5" candidate_source="Bench2Drive-Base" candidate_source_clip="SignalizedJunctionRightTurn_Town12_Route804_Weather5" candidate_route_length_m="71.958" candidate_geometry_sha256="06bfca14adad79e314aee4cce274ed596cf936ad7d45e835ab39920ceaa732d0"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="85.0" precipitation="25.0" precipitation_deposits="70.0" wetness="80.0" wind_intensity="10.0" sun_azimuth_angle="300.0" sun_altitude_angle="40.0" fog_density="4.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="1173.355800" y="5248.951200" z="371.220400" /> |
| <position x="1134.331100" y="5285.249500" z="371.255300" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0019" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="8.5" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="1173.355800" y="5248.951200" z="371.220400" yaw="89.942704" /> |
| <original_trigger_point x="1173.190689" y="5279.983450" z="371.145801" yaw="101.116497" /> |
| <scenario_arm_point x="1173.371348" y="5265.999652" z="371.180984" yaw="89.942704" /> |
| <cooperative_trigger_point x="1173.375048" y="5269.999650" z="371.171384" yaw="89.942704" /> |
| <event_trigger_point x="1173.380548" y="5275.999648" z="371.156779" yaw="89.942704" /> |
| <collision_point x="1173.190600" y="5279.983900" z="371.145800" yaw="101.116497" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.mini.cooper_s" /> |
| <junction_id value="8158" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| </scenario> |
| </scenarios> |
| </route> |
| <route id="closed_ghost_driver_right_turn_0020" town="Town12" source_route_id="NonSignalizedJunctionRightTurn_Town12_Route967_Weather25" candidate_source="Bench2Drive-Base" candidate_source_clip="NonSignalizedJunctionRightTurn_Town12_Route967_Weather25" candidate_route_length_m="73.402" candidate_geometry_sha256="58c58f8734adddbc0e878ba2e5329e3d7d70357bf1a8c12fcd9f15f9bf61a6bf"> |
| <weathers> |
| <weather route_percentage="0" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| <weather route_percentage="100" cloudiness="40.0" precipitation="0.0" precipitation_deposits="10.0" wetness="10.0" wind_intensity="10.0" sun_azimuth_angle="250.0" sun_altitude_angle="8.0" fog_density="2.0" fog_distance="0.75" fog_falloff="0.1" scattering_intensity="1.0" mie_scattering_scale="0.03" /> |
| </weathers> |
| <waypoints> |
| <position x="3089.569300" y="2526.686800" z="352.910900" /> |
| <position x="3123.549300" y="2569.484900" z="354.386700" /> |
| </waypoints> |
| <scenarios> |
| <scenario name="ClosedGhostDriverRightTurn_0020" type="ClosedGhostDriverRightTurn"> |
| <ghost_speed value="9.0" /> |
| <ghost_spawn_dist value="20" /> |
| <trigger_point x="3089.569300" y="2526.686800" z="352.910900" yaw="-0.171887" /> |
| <original_trigger_point x="3117.275465" y="2526.775921" z="353.414501" yaw="17.772443" /> |
| <scenario_arm_point x="3104.178608" y="2526.645172" z="353.216955" yaw="-0.171887" /> |
| <cooperative_trigger_point x="3108.178592" y="2526.633855" z="353.286831" yaw="-0.154698" /> |
| <event_trigger_point x="3114.178567" y="2526.616559" z="353.372794" yaw="-0.173115" /> |
| <collision_point x="3118.106200" y="2527.042200" z="353.427000" yaw="17.772443" /> |
| <cooperative_enabled value="true" /> |
| <cooperative_notice_distance value="1.5" /> |
| <cooperative_prompt value="A wrong-way vehicle at position <FRONT_CAR_POS> will cross the ego right-turn path. Yield before turning right." /> |
| <closed_loop_family value="wrong_way_right_turn" /> |
| <hint_lead_distance value="10.0" /> |
| <event_lead_distance value="4.0" /> |
| <event_trigger_tolerance value="1.5" /> |
| <event_force_after_hint_time value="2.0" /> |
| <event_trigger_policy value="distance_or_timeout" /> |
| <ghost_model value="vehicle.ford.mustang" /> |
| <junction_id value="8674" /> |
| <junction_arm_count value="4" /> |
| <junction_topology value="cross_or_multiarm" /> |
| <scenario_activation_policy value="route_start" /> |
| <disable_background_activity value="true" /> |
| </scenario> |
| </scenarios> |
| </route> |
| </routes> |
