TIER IV Scenario Format version 2.0#
What is TIER IV Scenario Format version 2.0#
The "TIER IV Scenario format version 2.0" is a yaml-based scenario description format.
"TIER IV Scenario format version 2.0" consists of two blocks below:
ScenarioModifiers:
ScenarioModifier:
- name: <string>
list: [<any>, <any> ..., <any>]
- name: <string>
start: <float or int>
step: <float or int>
stop: <float or int>
OpenSCENARIO:
FileHeader: <string>
revMajor: <string or int>
revMinor: <string or int>
date: <string or int>
description: <string>
author: <string>
ParameterDeclarations:
.
.
ScenarioModifiers Block#
This block provides features to provide parameter distribution.
The parameter "name" expresses a variable. It is not case-sensitive, but its attributes must be the lower snake case, and it is converted to a variable in its list during parameter distribution. You can find more details in the test folder of the scenario_test_runner package. Three parameters, "start", "stop" and "step" express theirs varied ranges. Initial parameter distribution is from start to finish while increasing a value.
We can define parameter distributions like below:
ScenarioModifiers:
ScenarioModifier:
- name: "distributions"
start: 10
stop: 20
step: 3
If the step value is 1 then distributed parameter is [10]
If the step is value 2 distributed parameters are [10, 20]
If the step is value 3 distributed parameters are [10, 15, 20]
Attention:
- If the step is one, the only parameter of start is used
- If the step is zero, it returns error
- The number of simulations is factorial to number of steps
OpenSCENARIO Block#
This block is a pure yaml conversion of the OpenSCENARIO xml file.
The OpenSCENARIO user guide is here.