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OpenSCENARIO Support#

The ROS 2 package openscenario_interpreter provides scenario-based simulation on ASAM OpenSCENARIO 1.2. This section describes the differences between our OpenSCENARIO Interpreter and the OpenSCENARIO standard set by ASAM, and the OpenSCENARIO implementation by other companies and organizations. If you want to know about OpenSCENARIO, refer to the link below.

Dialects and Extensions#

Substitution Syntax#

The interpreter supports some substitution syntax of the ROS 2 Launch system (a.k.a. string-interpolation). The substitution syntax works with any attribute string in OpenSCENARIO XML.

Substitution syntaxes can be nested and the substitution is performed from the innermost to the outermost in order.

[!IMPORTANT] This substitution is performed only once during the reading of the attribute, so changes in parameters that occur during the simulation, such as those from ParameterModifyAction, do not affect the substitution.

Available Syntax#

$(find-pkg-prefix <package-name>)#

Substituted with the install prefix path of the given package. Forward and backwards slashes will be resolved to the local filesystem convention. Substitution will fail if the specified name is not ROS 2 package.

$(var <parameter-name>)#

Substituted with an external representation of the value of the specified OpenSCENARIO parameter. The parameters you specify must be declared by ParameterDeclarations before $ (var ...) is written.

$(dirname)#

Substituted with the path to the directory where the running scenario script is located.

Example#

ParameterDeclarations:
  ParameterDeclaration:
    - name: map_name
      parameterType: string
      value: kashiwanoha
RoadNetwork:
  LogicFile:
    filepath: $(find-pkg-share $(var map_name)_map)/map/lanelet2_map.osm

Scoping#

The OpenSCENARIO XML standard does not define what to do if the name cannot be resolved. In the interpreter, the names of the Element and Parameter are lexically scoped.

  • If you refer to an identifier that does not exist, the simulation will stop with an error.
  • If multiple identifiers with the same name are defined, the identifier reference is chosen that is closest to the lexical position where the reference occurred.
  • Defining a StoryboardElement with the same name at the same level is treated as a syntax error (In normal lexical scoping, this should be handled by shadowing, but in scenario languages it is likely a copy-and-paste mistake).

Command#

OpenSCENARIO XML standard states that CustomCommandAction can be used to either issue a command to the simulation environment or start an external script.

For OpenSCENARIO interpreters implemented in scripting languages such as Python, this action is often implemented as a call to an external script file written in the same language as the host language. However, scenario_simulator_v2 is implemented in C++ and we cannot simply implement such a feature. Therefore, scenario_simulator_v2 treats the string given in CustomCommandAction.type as a command and executes it on a subprocess, as sh does.

[!NOTE] To make scenarios portable, the usage of CustomCommandAction should be avoided.

Built-in Commands#

FaultInjectionAction(<EVENT-NAME>, ...)#

Same as FaultInjectionAction@v1.

FaultInjectionAction@v1(<EVENT-NAME>, ...)#

Forward any number of event names to Autoware as ERROR level event. Events are forwarded by publishing to the tier4_simulation_msgs::msg::SimulationEvents type topic /simulation/events. In order to perform fault injection using this CustomCommandAction, Autoware must have a node that receives the above message types. Note that scenario_simulator_v2 has no knowledge of the contents of the event name. In other words, what happens to Autoware by this CustomCommandAction depends on Autoware implementation.

FaultInjectionAction@v2(<ERROR-LEVEL>, <EVENT-NAME>)#

Forwards a single event to Autoware with the specified error level. Same as FaultInjectionAction@v1 except that instead of specifying an error level, only one event can be specified at a time. Available error levels are OK, WARN, ERROR and STALE.

PseudoTrafficSignalDetectorConfidenceSetAction@v1(<LANELET-ID>, <CONFIDENCE>)#

Set a confidence value for traffic light topic. This action sets the confidence value to all traffic light bulbs of specified traffic light. If you specify the traffic light by a regulatory element ID, this action sets the confidence value to all traffic lights the regulatory element refers to.

RequestToCooperateCommandAction@v1(<MODULE-NAME>, <COMMAND>)#

Send an ACTIVATE / DEACTIVATE command to the module publishing a valid request to cooperate. If the send fails, throw an exception to fail the scenario.

V2ITrafficSignalStateAction(<LANELET-ID>, <STATE>, <PUBLISH-RATE(optional)>)#

TrafficSignalStateAction for V2I traffic signal. You can optionally specify the publish rate of the traffic signal topic, but otherwise the functionality is the same as TrafficSignalStateAction.

WalkStraightAction(<ENTITY-REF>, ...)#

Make pedestrian entities walk straight without a target.

exitFailure#

This command immediately terminates the simulation as a failure without transitioning the state of the StoryboardElement. See Termination for more details.

exitSuccess#

This command immediately terminates the simulation as a success without transitioning the state of the StoryboardElement. See Termination for more details.

: (do nothing)#

Actually : is not a built-in command but executed as a shell command, it is worth mentioning here as it achieves 'doing nothing'. : is known as the null command in shell scripts, and can be used as a command that does nothing in the simulator as well.

UserDefinedAction:
  CustomCommandAction:
    type: ':'

Example#

In YAML format, echo command can be written as follows:

UserDefinedAction:
  CustomCommandAction:
    type: 'echo Hello, world!'

In XML format, the string given to attribute type of CustomCommandAction and the string given to its content are concatenated with whitespace and passed to the subprocess so following two examples have the same effect.

<UserDefinedAction>
  <CustomCommandAction type="echo">Hello, world"</CustomCommandAction>
</UserDefinedAction>

<UserDefinedAction>
  <CustomCommandAction type="echo Hello, world!" />
</UserDefinedAction>

The effect of calling a command with CustomCommandAction is outside the control of the interpreter. Therefore, if you call a command that has a destructive effect on the system, there is no guarantee that the scenario execution can continue normally.

Condition#

UserDefinedValueCondition enables simulators to import external values and compare them with a specific value. The boolean value of the comparison result can be used as a condition to control the scenario.

scenario_simulator_v2 uses UserDefinedValueCondition to control the progress of the scenario by Autoware's state.

<ENTITY-REF>.currentState#

Returns Autoware's state. <ENTITY-REF> must be the name of Vehicle with ObjectController's property isEgo set to true.

<ENTITY-REF>.currentMinimumRiskManeuverState.behavior#

Returns Autoware's MRM behavior. <ENTITY-REF> must be the name of Vehicle with ObjectController's property isEgo set to true.

<ENTITY-REF>.currentMinimumRiskManeuverState.state#

Returns Autoware's MRM state. <ENTITY-REF> must be the name of Vehicle with ObjectController's property isEgo set to true.

<ENTITY-REF>.currentEmergencyState#

Returns Autoware's emergency state. <ENTITY-REF> must be the name of Vehicle with ObjectController's property isEgo set to true.

<ENTITY-REF>.currentTurnIndicatorsState#

Returns Autoware's turn indicators state. <ENTITY-REF> must be the name of Vehicle with ObjectController's property isEgo set to true.

Other Built-in Conditions#

RelativeHeadingCondition(<ENTITY-REF>)#

Calculates the relative angle between the orientation of <ENTITY-REF> and the orientation of the lane on which <ENTITY-REF> is positioned.

RelativeHeadingCondition(<ENTITY-REF>, <LANE-ID>, <S>)#

Calculates the relative angle between the orientation of <ENTITY-REF> and the direction at the position specified by <S> on <LANE-ID>.

ROS 2 Topic Condition#

scenario_simulator_v2 can read values from another ROS 2 node to a scenario through ROS 2 topics. name field should be filled with the name of the ROS 2 topic like below.

ByValueCondition:
  UserDefinedValueCondition:
    name: /count_up
    rule: equalTo
    value: '500'

The type of topic must be tier4_simulation_msgs::msg::UserDefinedValue type. scenario_simulator_v2 can handle the following through this function.

  • Boolean
  • DateTime
  • Double
  • Integer
  • String
  • UnsignedInt
  • UnsignedShort

See Message Definitions for more information.

Example#

ByValueCondition:
  UserDefinedValueCondition:
    name: ego.currentState
    rule: equalTo
    value: ARRIVED_GOAL

Termination#

scenario_simulator_v2 is being developed to be integrated into the CI/CD pipeline of autonomous driving systems, and it concludes simulations with a status of either success, failure, or error. failure and error are each caused by different factors. Specifically, failure is used when issues arise from the autonomous driving system itself, such as a vehicle accident occurring during the simulation. On the other hand, error is specifically attributed to problems on the simulator's side, such as syntax errors in the scenario file or internal errors within the simulator itself.

Within the scenario, you can end the scenario simulation with a status of either success or failure by using exitSuccess and exitFailure from CustomCommandAction.

[!IMPORTANT] exitSuccess and exitFailure terminate the simulation immediately without any state transitions in the lifecycle of a StoryboardElement. This means there is no way to detect simulations terminated by exitSuccess or exitFailure from within the scenario using conditions like StoryboardElementStateCondition.

Currently, the only way to know the result of the simulation is by viewing the status string printed to standard output. However, this method may change in the future.

Standards Supported by scenario_simulator_v2#

Name Supported Version Detail
AbsoluteSpeed unimplemented
AbsoluteTargetLane 1.3
AbsoluteTargetLaneOffset unimplemented
AbsoluteTargetSpeed 1.3
AccelerationCondition 1.3
AcquirePositionAction 1.3 (partial) detail
Act 1.3
Action 1.3
ActivateControllerAction unimplemented
Actors 1.3 (partial)
AddEntityAction 1.3
AngleCondition unimplemented
AngleType unimplemented
AnimationAction unimplemented
AnimationFile unimplemented
AnimationState unimplemented
AnimationType unimplemented
AppearanceAction unimplemented
AssignControllerAction 1.2 (partial) detail
AssignRouteAction 1.3
AutomaticGear unimplemented
AutomaticGearType unimplemented
Axle 1.3
Axles 1.3 detail
BoundingBox 1.3
Brake unimplemented
BrakeInput unimplemented
ByEntityCondition 1.3
ByObjectType unimplemented
ByType 1.3
ByValueCondition 1.3 (partial) detail
Catalog 1.3 (partial) detail
CatalogDefinition 1.3
CatalogLocations 1.3
CatalogReference 1.3
Center 1.3
CentralSwarmObject unimplemented
Clothoid unimplemented
ClothoidSpline unimplemented
ClothoidSplineSegment unimplemented
CloudState unimplemented
CollisionCondition 1.3 (partial) detail
Color unimplemented
ColorCmyk unimplemented
ColorRgb unimplemented
ColorType unimplemented
ComponentAnimation unimplemented
Condition 1.3
ConditionEdge 1.3 (modified) detail
ConditionGroup 1.3
ConnectTrailerAction unimplemented
ControlPoint unimplemented
Controller 1.1 detail
ControllerAction 1.0 detail
ControllerCatalogLocation 1.3
ControllerDistribution unimplemented
ControllerDistributionEntry unimplemented
ControllerType unimplemented
CoordinateSystem 1.2 (partial) detail
CustomCommandAction 1.3
CustomContent unimplemented
DeleteEntityAction 1.3
Deterministic 1.3
DeterministicMultiParameterDistribution 1.3
DeterministicMultiParameterDistributionType 1.3
DeterministicParameterDistribution 1.3
DeterministicSingleParameterDistribution 1.3
DeterministicSingleParameterDistributionType 1.3
Dimensions 1.3
DirectionOfTravelDistribution unimplemented
DirectionalDimension unimplemented
Directory 1.3
DisconnectTrailerAction unimplemented
DistanceCondition 1.3 (partial) detail
DistributionDefinition 1.3
DistributionRange 1.3 (partial) detail
DistributionSet 1.3
DistributionSetElement 1.3
DomeImage 1.3
DynamicConstraints 1.3
DynamicsDimension 1.3
DynamicsShape 1.3 (partial) detail
EndOfRoadCondition unimplemented
Entities 1.3 (partial) detail
EntityAction 1.3
EntityCondition 1.3 (partial) detail
EntityDistribution unimplemented
EntityDistributionEntry unimplemented
EntityObject 1.3 (partial) detail
EntityRef 1.3
EntitySelection 1.3
Environment 1.3
EnvironmentAction 1.3
EnvironmentCatalogLocation 1.3
Event 1.3
ExternalObjectReference unimplemented
File 1.3
FileHeader 1.3
FinalSpeed unimplemented
Fog 1.3
FollowTrajectoryAction 1.3 detail
FollowingMode 1.3
FractionalCloudCover 1.3
Gear unimplemented
GeoPosition unimplemented
GlobalAction 1.1 (partial) detail
Histogram 1.3
HistogramBin 1.3
InRoutePosition unimplemented
InfrastructureAction 1.3
Init 1.3
InitActions 1.3
Knot unimplemented
Lane unimplemented
LaneChangeAction 1.3 (partial) detail
LaneChangeTarget 1.3
LaneOffsetAction unimplemented
LaneOffsetActionDynamics unimplemented
LaneOffsetTarget unimplemented
LanePosition 1.3
LateralAction 1.3 (partial) detail
LateralDisplacement unimplemented
LateralDistanceAction unimplemented
License 1.3
LightMode unimplemented
LightState unimplemented
LightStateAction unimplemented
LightType unimplemented
LogNormalDistribution unimplemented
LongitudinalAction 1.3 detail
LongitudinalDisplacement unimplemented
LongitudinalDistanceAction unimplemented
Maneuver 1.3
ManeuverCatalogLocation 1.3
ManeuverGroup 1.3
ManualGear unimplemented
MiscObject 1.3
MiscObjectCatalogLocation 1.3
MiscObjectCategory 1.3 (partial) detail
ModifyRule 1.1 detail
MonitorDeclaration unimplemented
MonitorDeclarations unimplemented
None 1.3
NormalDistribution 1.3
Nurbs unimplemented
ObjectController 1.3 detail
ObjectType 1.3
OffroadCondition unimplemented
OpenScenario 1.3
OpenScenarioCategory 1.3 (modified) detail
Orientation 1.3
OverrideBrakeAction unimplemented
OverrideClutchAction unimplemented
OverrideControllerValueAction unimplemented
OverrideGearAction unimplemented
OverrideParkingBrakeAction unimplemented
OverrideSteeringWheelAction unimplemented
OverrideThrottleAction unimplemented
ParameterAction 1.1 detail
ParameterAddValueRule 1.1 detail
ParameterAssignment 1.3
ParameterCondition 1.3
ParameterDeclaration 1.3
ParameterModifyAction 1.1 detail
ParameterMultiplyByValueRule 1.1 detail
ParameterSetAction 1.1 detail
ParameterType 1.3 detail
ParameterValueDistribution 1.3
ParameterValueDistributionDefinition 1.3
ParameterValueSet 1.3
Pedestrian 1.3 (partial) detail
PedestrianAnimation unimplemented
PedestrianCatalogLocation 1.3
PedestrianCategory 1.3 (partial) detail
PedestrianGesture unimplemented
PedestrianGestureType unimplemented
PedestrianMotionType unimplemented
Performance 1.3
Phase 1.1 detail
PoissonDistribution 1.3
Polygon unimplemented
Polyline 1.3
Position 1.3 (partial) detail
PositionInLaneCoordinates unimplemented
PositionInRoadCoordinates unimplemented
PositionOfCurrentEntity unimplemented
Precipitation 1.3 detail
PrecipitationType 1.3
Priority 1.1 detail
Private 1.3
PrivateAction 1.3 detail
ProbabilityDistributionSet 1.3
ProbabilityDistributionSetElement 1.3
Properties 1.3 (partial) detail
Property 1.3
RandomRouteAction unimplemented
Range 1.3
ReachPositionCondition 1.1 detail
ReferenceContext 1.3 (partial) detail
RelativeAngleCondition unimplemented
RelativeClearanceCondition 1.3 (partial) detail
RelativeDistanceCondition 1.3 (partial) detail
RelativeDistanceType 1.3 detail
RelativeLanePosition unimplemented
RelativeLaneRange 1.3
RelativeObjectPosition 1.3
RelativeRoadPosition unimplemented
RelativeSpeedCondition unimplemented
RelativeSpeedToMaster unimplemented
RelativeTargetLane 1.3
RelativeTargetLaneOffset unimplemented
RelativeTargetSpeed 1.3
RelativeWorldPosition 1.3
RoadCondition 1.3
RoadCursor unimplemented
RoadNetwork 1.3 (partial) detail
RoadPosition unimplemented
RoadRange unimplemented
Role unimplemented
Route 1.3
RouteCatalogLocation 1.3
RoutePosition unimplemented
RouteRef unimplemented
RouteStrategy 1.3 (partial) detail
RoutingAction 1.2 detail
RoutingAlgorithm 1.3
Rule 1.3
ScenarioDefinition 1.1 detail
ScenarioObject 1.3
ScenarioObjectTemplate unimplemented
SelectedEntities 1.3
SensorReference unimplemented
SensorReferenceSet unimplemented
SetMonitorAction unimplemented
Shape 1.2 detail
SimulationTimeCondition 1.3
SpeedAction 1.3 (partial) detail
SpeedActionTarget 1.3
SpeedCondition 1.3 (partial) detail
SpeedProfileAction 1.3
SpeedProfileEntry 1.3
SpeedTargetValueType 1.3
StandStillCondition 1.3
SteadyState unimplemented
Stochastic 1.3
StochasticDistribution 1.3
StochasticDistributionType 1.2 detail
Story 1.3
Storyboard 1.3
StoryboardElementState 1.3
StoryboardElementStateCondition 1.3 (modified) detail
StoryboardElementType 1.3
Sun 1.3 detail
SynchronizeAction unimplemented
TargetDistanceSteadyState unimplemented
TargetTimeSteadyState unimplemented
TeleportAction 1.3 detail
TimeHeadwayCondition 1.0 detail
TimeOfDay 1.3
TimeOfDayCondition unimplemented
TimeReference 1.3
TimeToCollisionCondition unimplemented
TimeToCollisionConditionTarget unimplemented
Timing 1.3
TrafficAction unimplemented
TrafficArea unimplemented
TrafficAreaAction unimplemented
TrafficDefinition unimplemented
TrafficDistribution unimplemented
TrafficDistributionEntry unimplemented
TrafficSignalAction 1.3
TrafficSignalCondition 1.3
TrafficSignalController 1.3
TrafficSignalControllerAction 1.3
TrafficSignalControllerCondition 1.3
TrafficSignalGroupState unimplemented
TrafficSignalState 1.3
TrafficSignalStateAction 1.3
TrafficSinkAction unimplemented
TrafficSourceAction unimplemented
TrafficStopAction unimplemented
TrafficSwarmAction unimplemented
Trailer unimplemented
TrailerAction unimplemented
TrailerCoupler unimplemented
TrailerHitch unimplemented
Trajectory 1.3
TrajectoryCatalogLocation 1.3
TrajectoryFollowingMode 1.3
TrajectoryPosition unimplemented
TrajectoryRef 1.3
TransitionDynamics 1.1 detail
TraveledDistanceCondition unimplemented
Trigger 1.3
TriggeringEntities 1.3
TriggeringEntitiesRule 1.3 (modified) detail
UniformDistribution 1.3
UsedArea unimplemented
UserDefinedAction 1.3
UserDefinedAnimation unimplemented
UserDefinedComponent unimplemented
UserDefinedDistribution unimplemented
UserDefinedLight unimplemented
UserDefinedValueCondition 1.3
ValueConstraint 1.3
ValueConstraintGroup 1.3
ValueSetDistribution 1.3
VariableAction unimplemented
VariableAddValueRule unimplemented
VariableCondition unimplemented
VariableDeclaration unimplemented
VariableDeclarations unimplemented
VariableModifyAction unimplemented
VariableModifyRule unimplemented
VariableMultiplyByValueRule unimplemented
VariableSetAction unimplemented
Vehicle 1.1 (partial) detail
VehicleCatalogLocation 1.3
VehicleCategory 1.3
VehicleCategoryDistribution unimplemented
VehicleCategoryDistributionEntry unimplemented
VehicleComponent unimplemented
VehicleComponentType unimplemented
VehicleLight unimplemented
VehicleLightType unimplemented
VehicleRoleDistribution unimplemented
VehicleRoleDistributionEntry unimplemented
Vertex 1.3
VisibilityAction unimplemented
Waypoint 1.3
Weather 1.3
Wetness 1.3
Wind 1.3
WorldPosition 1.3

Details#

AcquirePositionAction#

  • Property Position of types RoadPosition, RelativeRoadPosition, RelativeLanePosition, RoutePosition, GeoPosition, and TrajectoryPosition are not supported.

AssignControllerAction#

  • Properties activateAnimation, activateLateral, activateLighting, and activateLongitudinal are ignored.
  • The simulator behaves as if these properties are false.
  • Property ObjectController created in version 1.3 is not supported.
  • Properties Controller and CatalogReference deprecated in version 1.3 are supported.

Axles#

  • Property RearAxle is made mandatory in version 1.3, but still can be omitted like specified in version 1.2.

ByValueCondition#

  • Properties TimeOfDayCondition and VariableCondition are not supported.

Catalog#

  • Property Trajectory is ignored.

CollisionCondition#

  • Property ByType is not supported.

ConditionEdge#

  • Enumeration literal sticky is added as TIER IV extension.

Controller#

  • Property controllerType created in version 1.2 is ignored.

ControllerAction#

  • Property OverrideControllerValueAction is ignored.
  • Property ActivateControllerAction created in version 1.1 is ignored.

CoordinateSystem#

  • Enumeration literals road and trajectory are not supported.
  • Enumeration literal world created in version 1.3 is not supported.

DistanceCondition#

  • Property alongRoute deprecated in version 1.1 is not supported.
  • Property Position of types RoadPosition, RelativeRoadPosition, RelativeLanePosition, RoutePosition, GeoPosition, and TrajectoryPosition are not supported.
  • Not all combinations of properties for distance calculation are supported. Supported combinations are listed below: | coordinateSystem | relativeDistanceType | routingAlgorithm | freespace | |:----------------:|:--------------------:|:----------------:|:---------:| | entity | euclidianDistance | undefined | false | | entity | euclidianDistance | undefined | true | | entity | lateral | undefined | false | | entity | lateral | undefined | true | | entity | longitudinal | undefined | false | | entity | longitudinal | undefined | true | | lane | lateral | undefined | false | | lane | lateral | undefined | true | | lane | longitudinal | undefined | false | | lane | longitudinal | undefined | true | | lane | lateral | shortest | false | | lane | lateral | shortest | true | | lane | longitudinal | shortest | false | | lane | longitudinal | shortest | true |

DistributionRange#

  • Property stepWidth is ignored.

DynamicsShape#

  • Enumeration literal sinusoidal is not supported.

Entities#

  • Property EntitySelection is not supported.

EntityCondition#

  • Properties EndOfRoadCondition, OffroadCondition, TimeToCollisionCondition, RelativeDistanceCondition, TraveledDistanceCondition, AngleCondition, and RelativeAngleCondition are not supported.
  • Property ReachPositionCondition deprecated in version 1.2 is still supported.

EntityObject#

  • Property ExternalObjectReference is not supported.

FollowTrajectoryAction#

  • Properties Trajectory and CatalogReference deprecated in version 1.1 are ignored.
  • Property TrajectoryRef of type Clothoid and Nurbs are not supported.

GlobalAction#

  • Properties TrafficAction and VariableAction are not supported.
  • Property ParameterAction deprecated in version 1.2 is still supported.
  • Property SetMonitorAction created in version 1.3 is not supported.

LaneChangeAction#

  • Specifying step for LaneChangeActionDynamics.dynamicsDimension is not supported.
  • Simulator may lead to an undefined behavior if step is specified.

LateralAction#

  • Properties LaneOffsetAction and LateralDistanceAction are not supported.

LongitudinalAction#

  • Property LongitudinalDistanceAction is not supported.

MiscObjectCategory#

  • Enumeration literals barrier, building, crosswalk, gantry, none, parkingSpace, patch, pole, roadMark, soundBarrier, streetLamp, trafficIsland, tree, and vegetation are not supported.
  • Enumeration literal wind deprecated in version 1.1 is not supported.

ModifyRule#

  • Class ModifyRule deprecated in version 1.3 is still supported.

ObjectController#

  • Property name is ignored.

OpenScenarioCategory#

  • The simulator reads Storyboard in XML as property ScenarioDefinition
  • The simulator reads Catalog in XML as property CatalogDefinition
  • The simulator reads ParameterValueDistribution in XML as property ParameterValueDistributionDefinition

ParameterAction#

  • Class ParameterAction deprecated in version 1.2 is still supported.

ParameterAddValueRule#

  • Class ParameterAddValueRule deprecated in version 1.2 is still supported.

ParameterModifyAction#

  • Class ParameterModifyAction deprecated in version 1.2 is still supported.

ParameterMultiplyByValueRule#

  • Class ParameterMultiplyByValueRule deprecated in version 1.2 is still supported.

ParameterSetAction#

  • Class ParameterSetAction deprecated in version 1.2 is still supported.
  • Class ParameterSetAction cannot handle parameters of type DataTime.

ParameterType#

  • Enumeration literal integer deprecated in version 1.2 is not supported.

Pedestrian#

  • Property role is ignored.
  • The simulator does not take into account role.
  • Property model deprecated version 1.1 is ignored but mandatory.
  • Maybe this is simulator bug and need to be fixed.

PedestrianCategory#

  • Enumeration literals wheelchair and animal are not supported.

Phase#

  • Property TrafficSignalGroupState created in version 1.2 is ignored.

Position#

  • Properties RoadPosition, RelativeRoadPosition, RelativeLanePosition, RoutePosition, GeoPosition, and TrajectoryPosition are not supported.

Precipitation#

  • Property intensity deprecated in version 1.1 is still supported.

Priority#

  • Enumeration literal override created in version 1.2 is not supported.
  • Enumeration literal overwrite deprecated in version 1.2 is supported.

PrivateAction#

  • Property VisibilityAction, SynchronizeAction and ActivateControllerAction are not supported.

Properties#

  • Property CustomContent is ignored.
  • The simulator does not take into account CustomContent.

ReachPositionCondition#

  • Class ReachPositionCondition deprecated in version 1.2 is still supported.
  • Property Position of types RoadPosition, RelativeRoadPosition, RelativeLanePosition, RoutePosition, GeoPosition, and TrajectoryPosition are not supported.

ReferenceContext#

  • Enumeration literal absolute is not supported.

RelativeClearanceCondition#

  • Property oppositeLanes is ignored.
  • The simulator behaves as if oppositeLanes is false.

RelativeDistanceCondition#

  • Property Position of types RoadPosition, RelativeRoadPosition, RelativeLanePosition, RoutePosition, GeoPosition, and TrajectoryPosition are not supported.
  • Not all combinations of properties for distance calculation are supported. Supported combinations are listed below: | coordinateSystem | relativeDistanceType | routingAlgorithm | freespace | |:----------------:|:--------------------:|:----------------:|:---------:| | entity | euclidianDistance | undefined | false | | entity | euclidianDistance | undefined | true | | entity | lateral | undefined | false | | entity | lateral | undefined | true | | entity | longitudinal | undefined | false | | entity | longitudinal | undefined | true | | lane | lateral | undefined | false | | lane | lateral | undefined | true | | lane | longitudinal | undefined | false | | lane | longitudinal | undefined | true | | lane | lateral | shortest | false | | lane | lateral | shortest | true | | lane | longitudinal | shortest | false | | lane | longitudinal | shortest | true |

RelativeDistanceType#

  • Enumeration literal cartesianDistance deprecated in version 1.1 is not supported.

RoadNetwork#

  • Property UsedArea is ignored.

RouteStrategy#

  • Enumeration literals fastest, leastIntersections and random are not supported.

RoutingAction#

  • Property RandomRouteAction created in version 1.3 is not supported.

ScenarioDefinition#

  • Property VariableDeclarations created in version 1.2 is ignored.
  • Property MonitorDeclarations created in version 1.3 is ignored.

Shape#

  • Properties Clothoid and Nurbs are not supported.
  • Property ClothoidSpline created in version 1.3 is not supported.

SpeedAction#

  • Specifying time or distance for SpeedActionDynamics.dynamicsDimension is not supported.
  • Simulator may lead to an undefined behavior if time or distance is specified.
  • Specifying cubic for SpeedActionDynamics.dynamicsShape is not supported.
  • Simulator may lead to an undefined behavior if cubic is specified.

SpeedCondition#

  • Property direction is ignored.
  • The simulator behaves as if direction is not given.

StochasticDistributionType#

  • Property LogNormalDistribution created in version 1.3 is not supported.

StoryboardElementStateCondition#

  • name prefix in OpenSCENARIO User Guide 3.1.2. is not supported.
  • The interpreter uses lexical scope instead. See Scoping for more details.

Sun#

  • Property intensity deprecated in version 1.2 is still supported.

TeleportAction#

  • Property Position of types RoadPosition, RelativeRoadPosition, RelativeLanePosition, RoutePosition, GeoPosition, and TrajectoryPosition are not supported.

TimeHeadwayCondition#

  • Properties coordinateSystem and relativeDistanceType created in version 1.1 is ignored.
  • Property alongRoute deprecated in version 1.1 is ignored.
  • Property freespace is ignored.
  • The simulator behaves as if freespace is false.

TransitionDynamics#

  • Property followingMode created in version 1.2 is ignored.

TriggeringEntitiesRule#

  • Enumeration literal none is added as TIER IV extension.

Vehicle#

  • Property role created in version 1.1 is ignored.
  • The simulator does not take into account role.
  • Property mass is ignored.
  • The simulator behaves as if mass is not given.