This document is the copyrighted property of ASAM e.V.
Any use is limited to the scope described in the license terms (https://www.asam.net/license). In alteration to the regular license terms, ASAM allows unrestricted distribution of this standard. §2 (1) of ASAM’s regular license terms is therefore substituted by the following clause: "The licensor grants everyone a basic, non-exclusive and unlimited license to use the standard ASAM OpenSCENARIO".
OpenSCENARIO comprises the specification and file schema for the description of the dynamic content in driving simulation applications. The primary use of OpenSCENARIO is the description of complex maneuvers that involve multiple vehicles.
OpenSCENARIO is used in virtual development, test and validation of driver assistance functions, automated and autonomous driving. The standard may be used in conjunction with ASAM OpenDRIVE and ASAM OpenCRG, which describe static content in driving simulation.
After the standard was developed over several years in an industry consortium, it was transferred to ASAM e.V. in November 2018.
The standards' html documentation is accompanied by the more comprehensible User Guide. The specification is based on a UML data model from which XML schema files are derived. Thus, the standard comprises the following content:
Model documentation (html)
XML schema files
List of analyzed deficits and proposed improvements
1.1.1. What is a Scenario?
A scenario is a description of how the view of the world changes with time, usually from a specific perspective. In the context of vehicles and driving, this encompasses the developing view of both world-fixed (static) elements such as the road layout and furniture, and world-changing (dynamic) elements such as weather and lighting, vehicles, objects, people or traffic light states. This description is irrespective of whether the environment is simulative, real or any combination thereof.
1.1.2. What is OpenSCENARIO?
OpenSCENARIO defines the dynamic content of the (virtual) world (e.g. behavior of traffic participants). Static components (such as the road network) are not part of OpenSCENARIO but can be referenced by the format.
OpenSCENARIO defines a data model and a derived file format for the description of scenarios used in driving and traffic simulators, as well as in automotive virtual development, testing and validation. The primary use-case of OpenSCENARIO is to describe complex, synchronized
Maneuvers that involve multiple instances of
Pedestrians and other traffic participants. The description of a scenario may be based on driver
Actions (e.g. performing a lane change) or on instances of
Trajectory (e.g. derived from a recorded driving
Maneuver). The standard provides the description methodology for scenarios by defining hierarchical elements, from which scenarios, their attributes and relations are constructed. This methodology comprises:
Storyboarding, i.e. usage of a
Events triggered by
Triggers, defined by
References to logical road network descriptions
Instantiation of instances of
Entity, such as
Pedestrians, acting on and off the road
Utilization of re-use mechanisms (i.e.
Other content, such as the description of the Ego Vehicle, driver appearance,
Pedestrians, traffic and environment conditions, is included in the standard as well.
The data for scenario descriptions in OpenSCENARIO is organized in a hierarchical structure and serialized in an XML file format.
The standard is based on an UML data model which is used to derive XML schema files for XML file validation. Moreover, the standard is comprised of a reference guide and this user guide.
The standard can be used together with road network descriptions defined according to the standard ASAM OpenDRIVE . The three standards complement each other in a way that they describe the entire content required to describe the virtual world for driving simulation, virtual test, development and validation.
Scenario descriptions are essential for testing, validating and certifying the safety of driver assistance systems and autonomous driving cars. The industry, certification agencies and government authorities jointly work on the definition of scenario libraries, which can be used to test and validate the safe operation of such systems. A publicly developed and vendor-independent standard, such as OpenSCENARIO, supports this endeavor by enabling the exchange and usability of scenarios in various simulation applications.
With the help of OpenSCENARIO, large numbers of critical situations can be run across various simulators. Thus, compared to road testing in real traffic, the amount of driven test kilometers in field tests can be significantly reduced.
In a simulation context a complete scenario is comprised of the following parts:
Static environment description, including:
Logical road network
Optionally physical and geometric road and environment descriptions
Dynamic content description, including:
Overall description and coordination of behavior of dynamic entities
Optional behavior models of dynamic entities
OpenSCENARIO describes the dynamic content, including the overall description and coordination of behavior of dynamic entities.
OpenSCENARIO does not specify the behavior models themselves, nor their handling by the simulation engine, including initialization and setup, runtime interfaces, packaging, etc.
OpenSCENARIO also does not define the road network or any geometric, visual or physical assets and characteristics used in a simulation. These are instead employed through references to other established formats. Hence, in certain contexts, OpenSCENARIO can be considered as a top-level container. It references other specifications for other relevant parts of the overall scenario.
Beyond the pure scenario itself, many other pieces of information are needed to describe a full simulation setup and test case. OpenSCENARIO should not be regarded as a complete specification of a simulator, its system under test or its test case. The following features specifically are not considered in scope for the OpenSCENARIO standard:
Test configuration description
The standard neither describes the actual test instance nor its structure.
System under test
The exact description of the system under test, e.g. detailed vehicle configuration, sensor placement, sensor models etc. is not part of OpenSCENARIO.
Test case language
Although including a set of driver input, the standard does not attempt to specify all possible user or system interactions with a vehicle.
Even though the standard includes the evaluation of conditions for triggering actions, there is no concept for creating test verdicts.
The standard includes the physiological description of a driver such as height and weight. However, except for basic road following, the standard does not include behavioral driver models.
Although the standard describes maneuvers in a kinematic way, it also defines a very basic vehicle model, which can be used for more realistic vehicle dynamics simulation. The standard does not include all necessary elements to specify advanced motion dynamics.
The standard does not include elements to describe roads, other than references to an external road network description. The OpenDRIVE standard can be used for this purpose .
3D environment models
The standard only specifies how to refer to external 3D environment models. Further details, like file format or model structure, are not specified.
The standard incorporates elements to specify the current time and weather information but does not describe how this is to be interpreted by the simulator.
OpenSCENARIO hence focuses on information relevant to the dynamic scenario components, such as the sequence of
Actions the instances of
Entity would be performing. However, most of these
Actions also depend on the static components that define the environment in which these
Actions take place (e.g. a lane change
Action may happen in a straight or a curved road, while a highway exit scenario could only be realized when the
Actors are close to an actual highway exit). Therefore, OpenSCENARIO files contain references that bind the scripted dynamic movements to static environments.
2. Relations to Other Standards
2.1. Backward Compatibility to Earlier Releases and Migration
Standard version 1.0.0 and the predecessor version 0.9.1 differ in terms of semantics, naming and even structure. As consequence, the model version 1.0.0 cannot provide backward compatibility to version 0.9.1.
Instead, OpenSCENARIO provides an XSLT migration script to transform valid files of the earlier version 0.9.1 into valid OpenSCENARIO 1.0.0 files. Within this script, each element of the 0.9.1 version has a template that transforms and reshapes the element to OpenSCENARIO 1.0.0.
2.1.1. Migration Issues
The following issues may arise when migrating between versions 0.9.1 and 1.0.0:
Renaming of types and properties.
Adding required properties and assign a default value to them
Adding required properties even though there is no way to define default values for the new property
Removing classes (de-supporting classes like traffic jam)
Structural change (moving branches in combination with renaming types, or consolidate different branches into a single branch)
Migrating from an unknown or unclear semantic in Version 0.9.1
Any of these specific issues are addressed in the documentation and in the XSLT-transformation script:
There is a mapping for each type declared in version 0.9.1 which enables tracking of what happened with that branch in version 1.0.0.
For each class in version 1.0.0, there is migration information that enables back tracking to the version 0.9.1.
2.1.2. Migration Execution
Any migration issue is addressed in the XSLT-transformation script. In rare cases, the migration cannot create a valid or a consistent document. If an invalid document is created, an error prompts/informs the user, that a manual check is necessary. If an inconsistent document is created, a warning will be shown to the user.
WARNING: Review catalogs since driver catalog and pedestrian catalogs are merged into controller catalog.
The original 0.9.1 description of a traffic source does not require a name property. Migration adds a name property that must be reviewed by the user.
ERROR: OSCTrafficDefinition.DriverDistribution.Driver cannot be migrated automatically and will result in invalid XML output.
The original 0.9.1 description of a driver distribution was semantically unclear. It cannot be consistently migrated to version 1.0.0.
2.1.3. Migration Prerequisites
As a core task, migration should transform a document that is validated by the schema 0.9.1 into a valid XML document that validates against the schema 1.0.0.
As a minimum prerequisite, a 0.9.1 scenario description must validate against the 0.9.1 schema. Further, the 0.9.1 description must be semantically valid in respect to valid links (e.g. to catalogs, defined parameters etc.). Migration neither checks the semantic validity for the ingoing 0.9.1 description, nor the semantic validity of the resulting 1.0.0 description.
There are three mandatory concepts within every scenario. First, the fundamental concept of a scenario is that a
RoadNetwork (the static driving infrastructure, including
TrafficSignals) is populated by instances of
Entity (e.g. road users, including
Pedestrians), which interact according to a set of instructions defined in the
Storyboard. Only in rare cases, no
RoadNetwork description is referenced in a scenario. In this case, instances of
Entity can only be positioned, moved and located using Cartesian coordinates and many
Actions defined by OpenSCENARIO can only be used with restrictions.
Second, the scenario’s
Storyboard contains at least one, but possibly multiple instances of
Story. The elements of a
Story are placed within a specific structure (as detailed in Section 3.2.1):
Actors (instances of
Entity which are involved in actions) ultimately take are triggered by
Conditions. More generally,
Conditions are used in
Triggers to start
Events or to stop
Acts and the
Storyboard. In this sense,
Conditions are basic building blocks to define dynamic behavior and interactions.
There are two additional concepts, which are intended to make scenarios easy to re-use for different use cases.
Catalogs are collections of OpenSCENARIO elements. Multiple scenarios can refer to the elements defined within a
Catalog, thus precluding the need to define the same element multiple times. Additionally, a
ParameterDeclaration provides the means to define parameters symbolically within a scenario or
3.1. General Concepts
Duration, (relative) time
Meters per second
Meters per second squared
For the definition of date and time the ISO 8601  Basic Notation shall be used. The following format pattern is used: "yyyy-MM-dd 'T' HH:mm:ss '.' FFFZ". Here 'T' is again used as time designator and '.' is used as separator for the following millisecond portion. An explanation is given in Table 3.
Year (four digits)
Month in year (without / with leading zero)
Day in month (without / with leading zero)
Hours, 0-23 count (without / with leading zero)
Minutes (without / with leading zero)
Seconds (without / with leading zero)
F, FF, FFF
Milliseconds (without / with leading zeros)
RFC 822 time zone (time shift to GMT)
At a given date and time of 2011-03-10 11:23:56 in the Central European Time zone (CET), the following standard-format output will be produced:
Elements in scenario descriptions can be referenced from other parts of the description through their names. To ensure that all references can be unambiguously resolved, the following set of rules governs the lookup of names from a reference:
Name lookup proceeds from the referencing element, but encompasses all elements at all hierarchy levels of the scenario hierarchy.
Element names at each level must be unique at that level, i.e. there cannot be more than one element with the same name at the same level (i.e. within the same directly enclosing element). For example, within one
Act must use a unique name ("MyStory1": "MyAct1", "MyAct2"…), but the names of the
Acts might be reused in another
Story ("MyStory2": "MyAct1", "MyAct2"…).
If the referenced name is globally unique, then it can be used directly as the only part of the reference.
If the referenced name is not globally unique, then enough name prefixes must be supplied to make the name unique.
A name prefix consists of the name of a directly enclosing element, which is prepended to the name using the separator '::', thus forming a new name reference. This implies that the '::' must not be used in names itself. It disambiguates the name by specifying a directly enclosing element name, thus only selecting names found within elements of the given prefix name.
Multiple prefixes of ever higher enclosing element names, up to, in extreme cases, the root element name, can and must be specified until a globally unique reference name is established.
If a reference cannot be resolved uniquely, for example if too few name prefixes have been specified to disambiguate fully, the result of the lookup is undefined.
3.1.3. Road Networks and Environment Models
In order to be able to properly describe the behavior of road users, OpenSCENARIO requires a reference to the description of the road network logic. Optionally, a geometric and visual representation of the environment in the form of 3D models may be referenced. Those references are established within the
RoadNetwork language element. As an example, the OpenDRIVE file format is common when it comes to describing road network logic.
Scenario authors will often need to refer to items defined in the road network (e.g. to instruct a vehicle to drive in a specific lane). OpenSCENARIO does not impose its own naming system for these items; they should be referred to using the names allocated by their own file format.
The following features of the road network may be addressed using OpenSCENARIO:
Lane within a road
Traffic signal controller
As mentioned before, a road network description supported by OpenSCENARIO is the OpenDRIVE format . This format describes the logical information related to road structure, such as road id, lane id and road geometry. This information can be used to locate and position instances of
Entity acting on the road and position traffic participants. If OpenDRIVE is used to represent the road network, its convention for lane numbering should be matched by the OpenSCENARIO file.
In addition to the road network description, 3D models representing the environment may be referenced in a scenario description. Essentially, files containing 3D models provide the geometric and visual representation (e.g. mesh and textures) for elements of the virtual environment including the road surface. Use-cases of 3D models referenced from scenarios are rendering, physical modeling and sensor simulation. Files containing 3D models are considered to be external elements to the OpenSCENARIO format.
It is also possible to outsource some parts of the scenario description to an external
Controllers can be assigned to
ScenarioObjects of type
Pedestrian. Once assigned,
Controllers are activated for a given domain (i.e. longitudinal or lateral) using the
ActivateControllerAction ([Private action]).
ActivateControllerAction is executing, the
Controller assigned to that
ScenarioObject will manage that domain.
Controllers may be internal (part of the simulator) or external (defined in another file). Intended use cases for
Specifying that a vehicle should be controlled by the system under test
Defining "smart actor" behavior, where a
Controllerwill take intelligent decisions in response to the road network and/or other vehicles. Hence, Controllers can be used, for example, to make agents in a scenario behave in a human-like way
Assigning a vehicle to direct human control
Controller element contains
Properties, which can be used to specify
Controller behavior either directly or by a
Routes are used to navigate instances of
Entity through the road network based on a list of
Waypoints on the road which are linked in order, resulting in directional
Entity's movement between the
Waypoints is left to the simulator using the
RouteStrategy as constraint. There may be more than one way to travel between a pair of
Waypoints. If this is the case, the
RouteStrategy specified in the latter of the pair will be used. Note that the implementation of this strategy may vary between simulators. In order to create unambiguous
Routes, the user must specify a sufficient number of
Waypoints. As long as the
Waypoints describe an unambiguous path, the corresponding
Route specifies a one-dimensional s coordinate system that enables unambiguous localization and positioning.
Routes may be assigned to
AssignRouteAction. Once assigned, they remain in place until another
Route overwrites them.
Entity is on a route, it will normally continue along the same route when it reaches a junction. However,
Routes are not lateral
Actions and do not override or create lateral
Actions. This means that a
Route will not be followed if the corresponding
Entity is in the wrong lane or conflicting lateral behavior is defined (e.g. an
Action involving a
Trajectory). In these cases, the route will be ignored.
Entity approaches a junction and is not on a
Route (or is on a
Route that cannot be followed) the road to follow will be selected at random from the available options.
Some additional rules apply to
Routes which pass over the same section of road more than once (see example in Figure 1). The
Route in the example consists of four
Waypoints (shown in boxes) which are linked in order. The part of the route highlighted in red is visited twice: once on the links between
Waypoints 1 and 3, and once on the links between
Waypoints 3 and 5. To avoid the
Entity becoming stuck in a loop, the following rules are applied:
Entityis on a road which belongs to more than one link between
Waypoints, it should be treated as being on the earliest link which has not already been followed.
Waypoint2, it will be treated as being on the link between
Waypoint2 (and not between 3 and 4).
Entitywill only follow later links than the one they are currently on.
Waypoint3, it will go towards
Waypoint4 then 5.
Entityleaves then rejoins a
Route, or reaches the final
Waypoint, any previously visited
Waypoints should be ignored.
Figure 1. Route passing over the same section of road twice
Entityis teleported to
Waypoint1 after reaching
Waypoint4, it will follow the
Routeas if for the first time.
Trajectory are used to define, in precise mathematical terms, an intended path for
Entity motion. The motion path can be specified using different mathematical shapes:
Polyline(a concatenation of simple line segments across a set of vertices)
Clothoid(Euler spiral, i.e. a curve with linearly increasing curvature)
Non-Uniform Rational B-Splines (
Nurbs) of arbitrary order
Nurbs, most relevant paths can be expressed either directly, or with arbitrary approximation:
Nurbs curves form a strict superset of the curves expressible as Bézier curves, piecewise Bézier curves, or non-rational B-Splines, which can be trivially mapped to corresponding
Nurbs curves. Since
Nurbs curves directly support the expression of conic sections (such as circles and ellipses), approximation of e.g.
Clothoids using arc spline approaches is feasible.
Another advantage of
Nurbs curves is the relative ease with which continuity up to a given derivative can be assured: A
Nurbs curve of degree k (i.e. order k+1), is infinitely continuously differentiable in the interior of each knot span and k-M-1 times continuously differentiable at a knot, where M is the multiplicity of the knot, i.e. the number of consecutive knot vector elements with the same value.
Nurbs curves are curves of quadratic (order = 3) and cubic (order = 4) degree, with higher order curves usually only needed to ensure continuity in higher derivatives. Since the effort to evaluate curves increases with higher orders, restricting instances of
Trajectory to lower orders is recommended, where possible.
Trajectory can be specified using just the three positional dimensions (along the X, Y, and Z axes, see section Section 3.1.7 for coordinate system definitions). Alternatively, instances of
Trajectory can also be specified using the three positional dimensions and the three rotational dimensions (heading, pitch and roll) for six total dimensions. In the second case, the path not only specifies the movement of the entity along the path, but also the orientation of the corresponding
Entity during that movement.
Additionally, an instance of
Trajectory can be specified with or without a time dimension, allowing for the combined or separate specification of the
Entity's longitudinal domain: A
Trajectory incorporating the time dimension completely specifies the motion of the entity, including its speed, whereas a trajectory without the time dimension does not specify the speed along the path, hence allowing separate control of the speed.
Trajectory provides a mathematically precise definition of a motion path, the corresponding
Entity's behavior is dependent on the
Actions employing it. Either an
Entity will follow this path exactly or use it as guidance for the controller to follow as best as the
Entity's rules of motion allow.
Trajectory actions are further described in Section 188.8.131.52.
3.1.7. Coordinate Systems
Following ISO 8855:2011  convention a coordinate system consists of a set of three orthogonal directions associated with X, Y, Z axes (an axis system) and a coordinate origin. In OpenSCENARIO, there are two main types of coordinate systems:
A right handed coordinate system, compliant with ISO 8855:2011 definition. Orientation is expressed by a heading(yaw)-pitch-roll sequence of rotations (see Figure 2)Figure 2. Heading, pitch and roll angle in an ISO 8855:2011 compliant coordinate system
A right handed, road based coordinate system defined by two coordinate axes associated with the reference line of the corresponding road (s-axis) and the direction orthogonal to it (t-axis) and pointing leftwards (see Figure 3)Figure 3. Road based s, t coordinate system with origin at the beginning of the road
The afore mentioned coordinate system types are referenced to create multiple coordinate systems listed in the upcoming subsections
World Coordinate System (Xw, Yw, Zw)
Coordinate system of type (X, Y, Z) fixed in the inertial reference frame of the simulation environment, with Xw and Yw axes parallel to the ground plane and Zw axis pointing upward.
Neither origin nor orientation of the world coordinate system are defined by the standard. If a road network is referenced from a scenario, the world coordinate system is aligned with the inertial coordinate system present in this description.
Road Coordinate System (s, t)
To every road specified in the world coordinate system there is an s, t-type coordinate system assigned. The s-axis follows road reference line while the t-axis, orthogonal to the s-axis, points left. The origin of the s-coordinate resides at the starting node of the road. The origin of the t-coordinate is fixed to the road centerline at the current s-position.
Vehicle Coordinate System (Xv, Yv, Zv)
The vehicle axis system of type (X, Y, Z), as defined in ISO 8855:2011, is fixed in the reference frame of the vehicle sprung mass, so that the Xv axis is substantially horizontal and forwards (with the vehicle at rest), and is parallel to the vehicle’s longitudinal plane of symmetry, and the Yv axis is perpendicular to the vehicle’s longitudinal plane of symmetry and points to left with Zv axis pointing upward. In OpenSCENARIO, the origin of this coordinate system is derived by projecting the center of the vehicle’s rear axis to the ground plane at neutral load conditions. Nevertheless, the origin remains fixed to the vehicle sprung mass (see Figure 4).
Pedestrian / MiscObject Coordinate System (Xp/m , Yp/m , Zp/m)
The axis system for a pedestrian (subscript p) or a miscellaneous object (subscript m) is fixed in the reference frame of the object’s bounding box. The X axis is horizontal and normal to the object’s front plane. The Y axis is horizontal and perpendicular to X and points to the left with the Z axis pointing upward.
The origin for this coordinate system is derived from the geometrical center of the object’s bounding box under neutral load conditions (if applicable) projected onto the ground plane.
OpenSCENARIO provides various ways to position or localize instances of
Entity acting in the scenario:
Absolute/relative in the world coordinate system
Relative to another
Absolute/relative in the road coordinate system
Absolute/relative in the lane coordinate system
Relative to a
3.1.8. Traffic Simulation
Besides the definition of deterministic behavior of instances of
Entity, OpenSCENARIO also provides ways to define stochastic or not precisely defined behavior. This can be useful, e.g. to create traffic within a scenario or around defined instances of
Entity increasing the overall realism of a scenario, inducing variance into the scenario sequence or defining parameters of the traffic, like traffic density. For this purpose, surrounding intelligent traffic agents can be defined using
TrafficActions. With the help of
TrafficActions, the parameterization of traffic sources, traffic sinks and traffic swarms can be specified.
The definition of
TrafficActions in OpenSCENARIO does not specify which maneuvers will be executed by the intelligent traffic agents. Instead, those
Actions specify the initialization or termination of vehicles whose behavior is controlled by external traffic simulation models. Spawned traffic participants will make routing decisions based on their corresponding driver
3.2. Components of a Scenario
In OpenSCENARIO, the
Storyboard encompasses the complete scenario description. The structure and naming of the
Storyboard concept is similar to that of classical storytelling in narrative fiction e.g. in a theater play. The
Storyboard provides the answers to the questions "who" is doing "what", and "when" in a scenario. It contains one initialization element (
Init) followed by one or more
Init is used to set the initial conditions for the scenario, such as the position and speed of instances of
Entity. It is not possible to specify conditional behavior in this section.
Story allows scenario authors to group different aspects into a higher-level hierarchy and therefore provide a structure in large scenarios.
Story in OpenSCENARIO, as in narrative fiction, contain
Acts that define conditional groups of
Act should focus on answering the question "when" something happens in the timeline of a corresponding
Story. Answer to that question is provided by the startTriggers and stopTriggers of an
Act. If a startTrigger evaluates to true, then and only then the included
ManeuverGroups are executed.
ManeuverGroup is part of an
Act and answers the question "who" is doing something in the scenario by assigning instances of
Actors (see [Maneuver groups and Actors]) to
ManeuverGroups can also include
Catalog references to reuse existing
Maneuvers. This concept is described in Section 3.4.2.
Maneuvers define "what" is happening in a scenario. They are containers for
Events that need to share a common scope, whereas
Events control the simulated world or corresponding instances of
Entity. This is achieved through triggering
Actions, given user-defined
The overarching hierarchy is called
Storyboard. It contains all the elements introduced so far and is depicted in Figure 5.
In a scenario, instances of
Entity are those objects that can - but do not have to - change their location dynamically over time. Instances of
Entity which are not
Pedestrians are called
MiscObjects. This group comprises the following object classes (which are the same as in the OpenDRIVE format):
Entity can be specified in the scenario format but the properties are specific to their type. For example, a
Vehicle is an instance of
Entity which provides properties like vehicleCategory and performance. In contrast, a
Pedestrian is specified by properties like model, mass and name.
Actions can change the state of an
Entity, e.g. its
Position, speed, or
Controller. On the other hand, the state of an
Entity can be queried to trigger an
Two main groups of instances of
Entity are distinguished in OpenSCENARIO:
Entitydescribes one specific object
EntitySelections describes a list of instances of
Motion Control for Entities
The motion of an
Entity can be controlled via
Actions, user assigned
Controllers or a default
Controller. It is assumed that each
Entity has a default
Controller which takes charge of a motion domain (lateral and/or longitudinal) when
Actions or user assigned
Controllers are lacking.
Controller is expected to maintain speed and lane offset of the
Entity. In the following cases, the default
Controller oversees an
Entity's motion domain (lateral and/or longitudinal):
Actions and no user assigned
Controllers are running
Actions and/or user assigned
Controllers are running and one motion domain, either lateral or longitudinal, is not addressed
3.2.3. Entity Selections
EntitySelections can be used to conveniently group instances of
Entity present in the scenario. They can be referenced anywhere single instances of
Entity can be used as well, allowing for the assignment of a new status to many instances of
Entity at once or using their aggregated information as a
EntitySelections can also be purposefully formed from any combination of objects within the scenario.
One use case of
EntitySelections is to choose multiple instances of
Entity to perform a certain
Maneuver at the same time. The
EntitySelection can be directly used as the name of the
Actor in the
ManeuverGroup. Then, a
Maneuver can be created which is triggered e.g. at a certain
3.3. ManeuverGroups, Maneuvers, Events and Actions
3.3.1. ManeuverGroups and Actors
ManeuverGroup singles out the instances of
Entity that can be actuated, or referenced to, by the
Maneuvers inside it. These instances of
Entity are grouped and referred to as the
Actors in a
ManeuverGroup, since they will play a role in the
Maneuvers to come. The
Actors group may be left empty. This can occur in situations where the
Maneuvers in a
ManeuverGroup lead to
Actions that are not related to instances of
Entity but instead to world or simulation states.
Actor can be defined using the
EntityRef element. This element is then combined in an unbounded list in order to specify
Actors for a given
Actors list may contain several instantiations of the type
EntityRef. Additionally, extra instances of
Entity may be added to the
Actors, at triggering time, if the
selectTriggeringEntities option is active.
EntityRef element explicitly couples an existing
Entity to an
Actor in the
ManeuverGroup. This is achieved by specifying the name of the desired
Entity in the element. Usage of
EntityRef is appropriate for situations where the instances of
Entity of interest are known when the scenario is defined.
The selectTriggeringEntities property is used in situations where the choice of
Actors depends on runtime information and is therefore impossible to know at the time the scenario is defined.
When the selectTriggeringEntities property of the
Actors of the
ManeuverGroup is true, all instances of
Entity whose states are used by the logical expressions in
Conditions which evaluate to true and are contained in
ConditionGroups which evaluate to true, are added to the
EntitySelection that forms the
It is possible to combine
EntityRef with selectTriggeringEntities set to true. In this case, the resulting Actors are the Union of the two.
ManeuverGroup is defined with a maximumExecutionCount. This setting specifies how many times the
ManeuverGroup shall run, where the number of runs is incremented by one each time the endTransition occurs (see Section 3.7.2).
Actions serve to create or modify dynamic elements of a scenario, e.g. change in lateral dynamics of a vehicle or change of the time of day.
Actions are divided in three categories:
In the initialization phase of a scenario,
Actions are responsible for setting up initial states of dynamic objects, environment, infrastructure, etc. In any later phase of the scenario
Actions are executed when
Events are triggered. In the following subchapters, the subtypes of
Actions defined in OpenSCENARIO are briefly explained.
PrivateActions have to be assigned to instances of
PrivateActions one can describe motion, position, and visibility of an
Entity in the scenario. Moreover, they can define longitudinal or lateral dynamic behavior of instances of
Entity, such as speed or lane change.
The following types of
Controlling speed or relative distance to a target.
SpeedActions are defined e.g. by an acceleration profile (dynamicShape) while
longitudinalDistanceActions are setup via actual distance or a headway time (e.g. using timeGap).
LaneOffsetAction, a lateral position within a lane can be targeted. Both actions support relative and absolute referencing of the action target. For the
LaneChangeAction, relative target referencing works differently than absolute referencing. Here, the
Vehicles' Xv-axis serves as reference direction. Lane changes are evaluated positive if they’re aligned with the vehicles' positive Yv -axis. Thus, a positive lane change moves the corresponding vehicle to the next actual lane in its positive Yv-axis direction. The road center line is not counted as a lane and thus not considered in this counting. Finally, with
LateralDistanceAction, a lateral distance to an object can be targeted. For each of the
LateralActions the lateral Dynamics can be restricted.
Enabling/disabling detectability of an
Entityby sensors or other traffic participants and visibility in the image generator.
Takes over longitudinal control of an
Entityin order to reach a desired position. At the same time a reference
Entityreaches a given reference position. The controlled
Entityis expected to regulate its speed, in relation to the reference
Entity, in order to meet the explicit position constraint and implicit time constraint. Optionally, in addition to the desired position, the controlled
Entitymay also be given a
FinalSpeed. This is the speed which the controlled
Entityshall have when reaching the destination. This
FinalSpeedcan be specified either as an absolute value or relative to the reference entity.
SynchronizeActionshall terminate when any one of the following occurs:
At the moment the controlled
Entityreaches the reference position, regardless of the states and position of the reference
When it is concluded that the controlled
Entitycan’t reach its destination for whatever reason
SynchronizeActiondoes not influence routing or the lateral behavior of the controlled
Entity. In other words, the destination should lie along the planned
Entityas defined by the default behavior and/or additional
The purpose of the
SynchronizeActionis to achieve specific repeatable traffic situations which are tolerant to flexible initial conditions and unpredicted vehicle behavior, e.g. in case of a human driver in the loop.
The example in Figure 6 shows how the
SychronizeActioncan be used to provoke an interception situation in an intersection. The dots indicate the respective destinations, which is also the point at which the
Entity(c1, yellow) will arrive at its destination, indicated by a yellow dot, whenever the reference
Entity(ego, blue) arrives at its destination, indicated by a blue dot. The
SynchronizeActionwill then terminate, and the synchronization will stop. The controlled
Entitywill move into the intersection according to default behavior or any other active
Action, causing a dangerous situation for the reference
Entity, who still have a chance to avoid collision.Figure 6. SynchronizeAction example inducing an interceptor situation
Figure 7 shows a very similar scenario to the previous example, but illustrates that the
SynchronizeActionalso works when the controlled
Entityperforms lateral operations in parallel, e.g. following an assigned
Routeor performing lane changes.Figure 7. Example of SynchronizeAction combined with routing
Figure 8 shows a vehicle boxed in, or surrounded, by other vehicles. The
SynchronizeActionis useful to form constellations at specific locations on the road network, typically proceeding a critical event - for example lead vehicle brakes.Figure 8. SynchronizeAction constellation example
In this case there are four controlled instances of
Entity(c[1-4]), each one having an individual
SynchronizeActionreferring to the blue ego car.
Explicitly (de-)activating a
Controllermodel. This may be done for longitudinal, lateral or both domains.
Assigning a driver model to instances of
Vehicleor a model controlling motion behavior for other moving instances of
ControllerActioncan be alternatively used to override control signals, e.g. apply the brakes.
Defining a location or destination of an
Entityin the scenario. The target position can be described as absolute coordinates or relative to other instances of
Entityshould follow. There are three ways of specifying a routing:
Waypoints on the road network and a
Using vertices, timings (optionally) and a corresponding interpolation strategy.
Specifying a target
Positionfor the corresponding
Entityto reach. The
Entitywill aim to take the shortest travelled
Routefrom the current position to the target position along the road network.
Actions are used in order to set or modify non-entity related quantities.
Setting weather state, road condition and time.
Removing or adding instances of
Setting/modifying values of parameters.
Setting/modifying the state of a traffic signal or a traffic signal controller phase.
Populating ambient traffic of the following kinds:
Creation of sources and sinks
A source will create vehicles, while a sink deletes vehicles. A source spawns new vehicles with the rate defined in the element. If no rate is given, a sink will delete all vehicles reaching its area of influence, but a rate can be defined to specify a maximum amount of vehicles to be removed per second. Removal of vehicles follows the "first in, first out" principle.
TrafficDefinitionof a sink is the equivalent of a blacklist, meaning that only vehicles matching this list will be removed while all other vehicles may pass unhindered. However, if no definition is given, it means that all vehicles reaching the sink will be removed.
Creation of swarm traffic following/surrounding a central object (see Figure 9)
Swarm traffic is set up in the area between inner radius and the outline of the ellipsis defined by the two semi axis attributes (blue area in the picture). The blue area will never contain more swarm vehicles than defined in the numberOfVehicles. If a vehicle is leaving the blue area it is deleted and a new vehicle will be spawned instead.Figure 9. Swarm definition
Vehicles spawned by a
Conditions just as other instances of
Entitydo. They may also perform
Actions by being referred to through an entity
Trigger, but since their names are determined by the simulation, no
Actions can be modeled by referring to these instances of
Spawned vehicles will make routing decisions based on their driver model, just as with the
ActivateControllerAction. Optionally, a starting velocity for the spawned vehicles may be specified. If no velocity is given, the speed limit of the underlying road will be used. All elements make use of a
TrafficDefinition, where the distribution of the spawned or removed vehicles can be defined by
VehicleCategoryDistribution. Which vehicles of that category are actually spawned is up to the simulation engine.
User Defined Action
Users can create their own
Actions which can incorporate a command or a script file. With
UserDefinedActions, a completely customized
Action can be performed that is specific to the respective simulation environment.
At runtime, it may occur that coexisting
Actions end up competing for the same resource thus creating a conflict. A quintessential example is the case where an
Action which controls an
Entity's speed clashes with a newly triggered
Action that tries to control the speed of the same
Action acts on an
EntitySelection, if there is a conflict for one
Entity, all other instances of
Entity within the selection are also treated as being in conflict.
Actions are treated as conflicting if they are competing for control of the same domain of the same resource. For example, a
SpeedAction always conflicts with any other
SpeedAction if both target the same
Entity. Conflicts of
Actions of different types depend on how the
Actions relate to each other and need to be identified in a case by case basis. Table 6 and Table 7 depict the possible runtime conflicts between
Actions of different types.
If it is determined that a newly triggered
Action conflicts with a currently ongoing
Action, the latter is overridden. Overriding a running
Action is equivalent to issuing a stopTrigger to that
Action, see Section 3.5.2.
Action Completion Criteria
Actions are considered complete, i.e. they reach their completeState directly after they complete their stopTransitions or endTransitions.
Actions may not be able to reach the completeState via the endTransition (for details, see chapter 3.7). By definition, these
Actions are assigned a task that requires constant monitoring or actuation, thus lacking end criteria. An example of such an
Action is the
SpeedAction when its
TargetSpeed is set to continuous. The end criteria for
Actions are depicted in Table 6 and Table 7.
Action that cannot reach the completeState via the endTransition has an impact on its parents, preventing them from also reaching a completeState. Such continuous
Actions can be terminated with a stopTrigger from the
StoryBoard they belong to. Alternatively, continuous
Actions will also be terminated when overridden by conflicting
Acting on Entity Selections
PrivateActions may be requested to control more than one
Entity at the time. This occurs when the
Actors resolve to an
EntitySelection, in a
ManeuverGroup. In these circumstances, all concerned instances of
Entity shall be actuated simultaneously when the action starts.
Actions acting on
EntitySelections can only be considered complete if and only if all instances of
Entity in the selection have completed the tasks specified in the
Action. For example, a
SpeedAction acting on five instances of
Entity will only be complete once all five instances of
Entity have reached the desired speed, regardless of the fact that some of them may reach that speed earlier than others.
Given any running
Action acting on an
EntitySelection, if any of the corresponding instances of
Entity sparks a conflict with a newly started action, then the running
Action is overridden. All its instances of
Entity are supposed to fallback to default behavior simultaneously. For example,
SpeedAction A controls five instances of
SpeedAction B starts, aiming to control one
Entity in Action A. Since the
Actions are of the same nature, a conflict occurs and
Action A is overridden.
Action B will then resume control of the conflicting
Entity while the remaining instances of
Action A engage in default behavior.
Actions are singular elements which may need to be combined in order to create meaningful behavior in a scenario. This behavior is created by
Events which serve as containers for
Events also incorporate startTriggers. The latter not only determine when the
Event starts. They are also used to start the contained
Actions always need to be wrapped by
Events with only one exception: In the
Actions are declared individually.
The maximumExecutionCount setting specifies how many times an
Event is supposed to run, where the number of runs is incremented by one each time the endTransition is reached.
Event is also parameterized with a definition of priority relatively to
Events that coexist in the same scope (
Maneuver). Whenever an
Event is started, the priority parameter is taken into consideration to determine what will happen to already ongoing
Events in the same
Maneuver. The three choices concerning the corresponding
Event defined in a scenario corresponds to a single runtime instantiation which implies that there cannot be multiple instantiations of the same
Event running simultaneously. In turn, this means that startTriggers bear no meaning unless the
Event is in a standbyState, as opposed to each startTrigger starting a new instantiation of the
Events together. The definition of a
Maneuver can be outsourced to a
Catalog and parameterized for easy re-use in a variety of scenarios. Examples for
Maneuvers are driving
Maneuvers, such as a (double) lane change, or an overtaker. Nevertheless, generic combinations of
Actions can be grouped to
Maneuvers, e.g. to simulate a weather change.
3.4. Re-Use Mechanisms
In OpenSCENARIO, parameters are central to provide an extension mechanism for scenarios. With the help of parameters, a scenario designer can make parameterization points of a scenario explicit. External tools can read the provided parameters and thus implement sophisticated methods to assign concrete values to the parameters. By this extension method a scenario can be reused for a large space of concrete values, e.g. the re-simulation of one scenario with different speeds.
ParameterDeclaration all parameters which are used in a scenario, have to be defined. Each parameter is defined by its name, the parameterType and a default, type-specific initialization value. Parameters are declared within
ParameterDeclaration by their individual names (without any prefix). Assignment of values to parameters declared in a
Catalog is allowed in
CatalogReferences. Parameters can be referenced from within the scenario, e.g. for obtaining their values. In this case, a "$" prefix is used to indicate the referencing.
Every attribute of an OpenSCENARIO language element can contain a parameter. There is a type inference check defined by the standard which ensures that the parameterType matches. The check is not ensured by the XML validator and therefore has to be implemented by the simulator.
parameters are set and evaluated at load time of the simulation.
ParameterConditions do not affect these parameters. Moreover, they act during simulation runtime.
parameter names starting with OSC are reserved for special use in future versions of OpenSCENARIO. Generally, it is forbidden to use the OSC prefix.
In parameter names, usage of symbols is restricted. Symbols that must not be used are:
" " (blank space)
Special rules apply to referencing parameters within
Catalogs (see section 3.4.3).
Many elements of a scenario require a detailed description, which may not only be rather lengthy but can also be tedious to repeatedly write if the element is used in several different scenarios.
Catalogs offer the possibility to outsource the description of certain elements from the scenario to a separate file, which can then be referenced from a scenario.
Catalogs enhances the reusability of elements and the readability of the scenario at the cost of technical detail in the scenario file. In order to refer to an element detailed within a
Catalog, a reference to the
Catalog has to be specified in the scenario and at the location where the element is being used the reference of both the
Catalog and the specific element has to be given.
There are eight different kinds of elements that can be outsourced to a
Catalog. All kinds of objects can be defined within
MiscObject, as well as their respective
Controllers. Navigational instructions in the form of
Route can also be stored within
Catalogs. Additionally, descriptions of the
Maneuvers can be outsourced this way.
3.4.3. Parameters in Catalogs
Catalog files are designed for reuse, and to support this store their own set of parameters. All
Parameters used within a catalog must be declared within its
ParameterDeclaration, which sets a default value for each parameter. When a catalog is referenced, the
ParameterAssignment element within
CatalogReference can be used to override these defaults.
For example, a catalog definition could contain the following
<ParameterDeclarations> <ParameterDeclaration name = "x" value = "5"/> <ParameterDeclaration name = "y" value = "7"/> </ParameterDeclarations>
When referenced in the main scenario, the value of x is overridden by using a
ParameterAssignment within the
<CatalogReference catalogName = "eg_catalog" entryName = "eg_entry"> <ParameterAssignments> <ParameterAssignment parameterRef = "x" value = "0"/> </ParameterAssignments> </CatalogReference>
This means that, for this use of the catalog, any reference to "$x" should be replaced with "0", and any reference to "$y" should be replaced with the default value of "7". No other parameters may be referenced from within the catalog.
The value attribute of a
3.4.4. Resolving Catalog References
Catalog references are resolved by locating the catalog by name and the entry within this catalog by its entry name (catalogName and entryName of the
CatalogReference could hand over
ParameterAssignments to resolve parameters for this specific reference.
Catalog must be defined in a catalog file (e.g. VehicleCatalog.osc). An instance of a
Catalog is identified by its name property.
Any valid catalog file of the correct catalog type and catalog name must be processed that resides in the defined directory. A directory for every catalog type can be defined in a scenario:
3.5. Conditions and Triggers
A scenario can be regarded as a collection of meaningful
Actions whose activation is regulated by
Triggers play an important role on how a scenario evolves since the same set of
Actions can lead to a multitude of different outcomes and it all hinges on how
Actions are triggered in relation to one other. A
Trigger in OpenSCENARIO is the outcome arising from a combination of
Conditions and will always evaluate to either true or false.
In OpenSCENARIO a
Condition is a logical expression that is assessed during run time and always evaluates to either true or false. A condition is a container for logical expressions and is assessed during runtime. The Condition operates on the current and previous evaluations of its logical expressions to produce a Boolean output which is used by triggers.
3.5.1. Associating Conditions
Condition may not suffice to represent a desired
Trigger. In complicated scenarios, it may instead be required that the relation between a set of
Conditions serve as a single
ConditionGroup is an association of
Conditions that is assessed in run time and can be only evaluated to true if and only if all associated
Conditions are true, otherwise it will evaluate to false. A
ConditionGroup is thus a way to bundle any given number of
Conditions into a single
To account for the fact that a desired
Trigger will likely be represented by a relationship between several
Conditions, the latter are never directly used as a
Trigger in the format and are instead bundled in
Trigger is then defined as an association of
Trigger evaluates to true if at least one of the associated
ConditionGroups evaluates to true, otherwise it evaluates to false (OR operation).
Given the nature of individual
ConditionGroups (AND between its
Conditions) and associations of
ConditionGroups (OR between its members), a
Trigger embodies a comprehensive mapping of the relationship (AND, OR) between individual
Triggers are used to start or stop ongoing scenario elements and are referred to as startTrigger and stopTrigger, respectively.
A startTrigger is used to move a runtime instantiation of a
Storyboard element from the standbyState to the runningState. Only
Event host startTriggers and any element that does not contain a startTrigger inherits the startTrigger from its parent element. For example, starting an
Act also starts its
Maneuvers, but does not start the
Events since they have their own startTriggers. Furthermore, no
Events can start if they do not belong to an
Act that is in the runningState.
Story element is an exception to the rules above since it does not require a formal startTrigger given that starting a simulation is equivalent to starting the
A stopTrigger is used to force a runtime instantiation of a
StoryboardElement to jump from its standbyState or runningState to the completeState. Only the
Story and the
Act elements host stopTriggers. Any
StoryboardElement inherits the stopTrigger from its parent. This is true even if the
StoryboardElement under consideration has its own stopTrigger. For example, if a
Story is affected by a stopTrigger, so are all its
Acts, even though they have their own stopTrigger.
When a stopTrigger is received, the concerned
StoryboardElement is expected to move to the completeState (stopTransition) and clear all remaining number of executions, if applicable. If the
Trigger occurs when the element is in the runningState, it is expected that its execution is terminated immediately.
The base condition type contains three basic elements: name, delay, and conditionEdge. Whereas the first element is self-explanatory, the others require clarification.
This element refers to the amount of time that needs to elapse between meeting the
Conditionand reporting it as met. Regardless of other parameters that may be used to define the
Condition, this element defines a pure delay on its output.
This element can be used to introduce a dynamic component to the
Conditionverification, since the previous states of its logical expression now play a role in the
Conditionoutput (example see Figure 10).
Conditionwith a rising edge returns true if its logical expression previously evaluated false but now evaluates true.
Conditionset with a falling edge returns true if its logical expression previously evaluated true but now evaluates false.
Conditionset with risingOrFalling edge will return true if either a rising or falling edge is verified.
Conditionset with none will return true if its logical expression is true, and false if its logical expression is false.
If the parameter risingEdge is set to rising, falling, or risingOrFalling, a
Conditionis not defined the first time it is checked since the previous evaluation of the logical expression is not defined. To address this, it is expected that all
Conditions defined with rising, falling, or risingOrFalling, return false the first time they are checked by a simulation engine.Figure 10. Illustration of edge dependent outputs of a speed
Conditionwith a greaterThan rule
All other elements of a
Condition will depend on its sub-type, of which there are two,
ByEntityConditions will use the states of instances of
Entity to perform the conditional evaluation. The conditional evaluations may depend on the value of a single state, or how the value of any one given state relates to another state (within the
Entity, between instances of
Entity, and between the
Entity and the corresponding characteristics of the
Entity conditions require the definition of
TriggeringEntities whose states are used in the conditional evaluation. In case more than one triggering
Entity is defined, the user is given two alternatives to determine when the
Condition evaluates to true; either all
TriggeringEntities verify the logical expression or at least one
Entity verifies the logical expression.
ByValueConditions represent logical expressions that are dependent on values not directly related to instances of
Entity. For example, these can be scenario states, times or traffic signal information.
ByValueConditions also provide a wrapper for external conditions that may depend on values which are not accessible from the scenario and are only available to the user implementation. Examples of these are button presses and custom signals or commands.
Property are means to allow for the definition of test-instance specific or use-case specific properties of OpenSCENARIO sub elements. They are available for the following types:
Property are collected in the
Properties container. Every
Properties definition can contain one or more name-value pairs (i.e. instances of
Property) and/or references to external files using the
File mechanism. Thus,
Properties are a powerful instrument for customizing scenarios, without the need of standardizing purpose-built features related to specific simulator, hardware and software setups.
Typical applications of
Properties are extensions of vehicle dynamics specifications, additional driver behavior settings, color information of objects, etc.
Properties might influence scenario execution (e.g. driver behavior) but scenarios still shall be executable without knowledge of their meaning.
3.7. States and Transitions of StoryboardElements
The progress of a runtime instantiation for a
StoryboardElements is marked by its runtime state. Runtime states must be referred to by the OpenSCENARIO standard since they can be used to create
Conditions and to determine how
StoryboardElements interact with
Triggers. The transitions between states are also of interest since it is possible to reach the same state from different starting points and it may be of importance to a scenario developer how a state is reached. Both states and transitions of
StoryBoardElements are defined by
From the perspective of OpenSCENARIO, a
StoryboardElement shall always be in one of three possible states: Standby, Running, and Complete (see Figure 11).
This is the default initialization state of a
The runningState symbolizes that the execution of the runtime instantiation is now ongoing and has not yet accomplished its goal.
The concept of accomplishing a goal varies depending on the type of
The completeState signals that the runtime instantiation of the
Checking for completeness involves verifying if the given runtime instantiation of the
Resetting the completeState can only be achieved externally by the parent
The startTransition symbolizes that the execution of the runtime instantiation is now starting. The startTransition can be used in conditions to trigger based on this transition.
The endTransition occurs when the runtime instantiation of the
The stopTransition marks the reception of a stopTrigger or the storyboard element is overridden (applicable for
When a runtime instantiation of a
Transition marking the moment an element is asked to move to the runningState but is instead skipped so it remains in the standbyState (only for
4. Scenario Creation
4.1. Example Description of a Scenario
This scenario is written for left-hand side traffic country, but could easily be adapted if required. The Ego vehicle (Ego), an externally controlled vehicle, is driving along an urban road approaching a junction on the offside. It is being followed by two influencing vehicles, c1 and c2 (the movements of which are controlled by the scenario). A third influencing vehicle (c3) is waiting to turn right at the junction. As The Ego vehicle (Ego) approaches the junction, c1 and c2 start to overtake. Slightly later, c3 starts to turn right, which prompts c1 and c2 to make an emergency stop. The initial positions of the vehicles are shown in Figure 12.
4.2. Init Section
The following XML example shows an
Action which positions The Ego vehicle (Ego) using global coordinates. Similar
Actions (not shown) are used to specify speeds and positions for the other vehicles.
<Storyboard> <Init> <Actions> <Private entityRef = "Ego"> <PrivateAction> <!-- Set Ego to its initial position --> <TeleportAction> <Position> <WorldPosition x = "-2.51" y = "-115.75" z = "0" h = "1.57" p = "0" r = "0" /> </Position> </TeleportAction> </PrivateAction> ... <!-- Similar actions --> </Private> </Actions> </Init> ... </Storyboard>
Story are used to group independent parts of the scenario, to make it easier to follow. It is never required to use more than one
Story, and if an
Act is moved from one
Story to another the scenario will work in the same way (as long as there are no naming conflicts). In this example, two instances of
Story are used:
one to describe the overtake and emergency stops
the other to describe the right turn
These are given the names AbortedOvertake and RightTurn respectively.
Story AbortedOvertake contains two
one to control the overtaking behavior
and another to control the emergency stops
RightTurn contains only a single
The following example shows the structure of instances of
Acts in this Scenario.
<Story name = "AbortedOvertake"> <Act name = "AbortedOvertakeAct1"> ... <!-- Act content describing overtakes --> </Act> <Act name = "AbortedOvertakeAct2"> ... <!-- Act content describing emergency stops --> </Act> </Story> <Story name = "RightTurn"> <Act name = "RightTurnAct"> ... <!-- Act content describing right turn --> </Act> </Story>
Acts, which contain
ManeuverGroups, allow a set of
Triggers to be applied to a substantial section of the scenario.
This example scenario contains startTriggers both at
In this case, c1 and c2 should both start to overtake at the same time. This makes it convenient to put all content associated with both overtakes in the same
Act. This has been named AbortedOvertakeAct1, is stored within the AbortedOvertake
Story, and causes c1 and c2 to change lane and then begin to accelerate past the Ego vehicle.
The example below shows the structure of an
Act will trigger when the Ego vehicle is close to the junction. Movements of vehicles in this
Act are defined in the
ManeuverGroups section, which is omitted here but described later in this chapter.
<Act name = "RightTurnAct"> <!-- Maneuver Group --> ... <StartTrigger> <ConditionGroup> <Condition name = "EgoCloseToJunction" delay = "0" conditionEdge = "rising"> <!-- ByEntity condition: Ego close to junction --> ... </Condition> </ConditionGroup> </StartTrigger> </Act>
Act can be terminated by a stopTrigger (see Section 184.108.40.206).
In AbortedOvertakeAct1, the two vehicles affected both perform the same
Actions. However, not all of these
Actions should happen at the same time. c1 and c2 should return to their original lane when they have passed the Ego vehicle (Ego), independent of what the other one is doing.
We have achieved this behavior by using a separate
ManeuverGroup for each vehicle (named c1ManeuverGroup and c2ManeuverGroup) in the example below). Each
ManeuverGroup allocates a
Maneuver (from a
Catalog) to one vehicle. This
Maneuver instructs that vehicle to change lane, accelerate, and then return to the previous lane ahead of the Ego vehicle (Ego). It would also be possible to achieve the same result using the approach discussed in [Maneuver groups and Actors].
<ManeuverGroup name = "c1ManeuverGroup" maximumExecutionCount = "1"> <Actors selectTriggeringEntities = "false"> <EntityRef entityRef = "c1"/> </Actors> <CatalogReference catalogName = "overtake" entryName = "Overtake Ego vehicle"> <!—Parameter assignment --> ... </CatalogReference> </ManeuverGroup> <ManeuverGroup name = "c2ManeuverGroup" numberOfExecutions = "1"> ... <!-- similar to above --> </ManeuverGroup>
In a similar way to multi-instantiation of
Story, it is never essential to use more than one
Maneuver, and if an
Event is moved from one
Maneuver to another (within the same
ManeuverGroup) the scenario will work in the same way.
In AbortedOvertakeAct1, vehicles c1 and c2 need to perform an overtake in the same way, but it must be specified in two different
ManeuverGroup elements. Therefore, a
Maneuver is defined:
<Catalog name = "Overtake"> <Maneuver name = "Overtake Ego Vehicle"> <ParameterDeclarations> <ParameterDeclaration name = " $OvertakingVehicle" parameterType = " string" value = ""/> <!-- "" will be overwritten by scenario --> </ParameterDeclarations> <!-- Events to define overtake behaviour --> <Event > ... </Event> ... </Maneuver> </Catalog>
This is then referenced within both
<ManeuverGroup name = "c1ManeuverGroup" maximumExecutionCount = "1"> <Actors selectTriggeringEntities = "false"> <EntityRef entityRef = "c1"/> </Actors> <CatalogReference catalogName = "Overtake" entryName = "OvertakeEgoVehicle"> <ParameterAssignments> <ParameterAssignment parameterRef = "OvertakingVehicle" value = "c1"/> </ParameterAssignments> </CatalogReference> </ManeuverGroup> <ManeuverGroup name = "c2ManeuverGroup" maximumExecutionCount = "1"> <Actors selectTriggeringEntities = "false"> <EntityRef entityRef = "c2"/> </Actors> <CatalogReference catalogName = "Overtake" entryName = "OvertakeEgoVehicle"> <ParameterAssignments> <ParameterAssignment parameterRef = "OvertakingVehicle" value = "c2"/> </ParameterAssignments> </CatalogReference> </ManeuverGroup>
In this example, the lane change
Action should start straight away when its parent
Act is triggered.
Events are required to apply
Actions, so in this case a trivial
Condition is used to trigger immediate execution.
<Event name = "brake event" priority = "overwrite"> ... <!-- Emergency stop action --> <StartTrigger> <ConditionGroup> <Condition name = "StartConditionOfAbortedOvertakeAct2" delay = "0" conditionEdge = "none"> <ByValueCondition> <SimulationTimeCondition value = "0" rule = "greaterThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event>
Conditions are used to ensure a certain state is reached before the
Action is applied (for example, the acceleration
Event must not start until the vehicle has changed lane).
The following paragraphs describe the examples provided with OpenSCENARIO. The examples are defined for right-hand traffic.
This example describes a traffic situation where the Ego vehicle drives behind a slower vehicle on the rightmost lane of a two-lane straight highway. At the same time, the Ego vehicle is overtaken by a faster vehicle on the left lane. After overtaking, the faster vehicle cuts in to the Ego vehicle’s lane.
At the initialization phase, the environment conditions are set. The Ego vehicle is instantiated in the rightmost lane, driving at 100 km/h. A vehicle, driving at the same speed and in the same lane, is instantiated 84 m ahead of the Ego vehicle. A second car, driving at 110 km/h, is instantiated 100 m behind the Ego vehicle in the lane left of it.
At simulation runtime, after the second car has passed the Ego vehicle by 20 m, it cuts in to the Ego vehicle’s lane, using a prescribed trajectory.
This scenario teaches the use of the
EnvironmentAction, instantiation of instances of
Entity, usage of
Conditions and instances of
5.2. Slow Preceding Vehicle
This scenario describes a traffic situation where the Ego vehicle approaches a slower vehicle in the same lane of a two-lane curved highway.
At the initialization phase, the environment conditions are set. The preceding vehicle is instantiated at the rightmost lane. It is driving at a constant speed of 80 km/h. The Ego vehicle is instantiated relative to this vehicle in the same lane, but 200 m behind, driving at 100 km/h.
This scenario teaches the instantiation of instances of
Entity and the usage of
5.3. End of Traffic Jam
This scenario describes a traffic situation where the Ego vehicle approaches two slower vehicles driving side-by-side on a straight two-lane highway running over a crest.
The environment conditions are set in the initialization phase. The Ego vehicle is instantiated at a constant velocity of 100 km/h on the rightmost lane of the road. 200 m ahead of Ego vehicle, two vehicles are instantiated at a velocity of 80 km/h in the rightmost lane and the neighboring lane to the left.
At simulation runtime, after the two vehicles have travelled a distance of 100 m / 200 m respectively, they linearly decelerate by 5 m/s2 until they reach a target speed of 70 km/h.
This example extends the Slow Preceding Vehicle example by parallel execution of
Acts and the usage of
5.4. End of Traffic Jam, Neighboring Lane Occupied
This scenario extends the End of Traffic Jam Scenario by a fourth vehicle on a three-lane highway with limited friction. The rightmost and the leftmost lanes of this highway are blocked by stationary vehicles. A third vehicle performs a lane change to the centermost lane in order to prevent a collision with the stationary vehicle on the rightmost lane. At the same time, it decelerates until it arrives at a full stop.
At the initialization phase, the environment conditions are set. The Ego vehicle is instantiated at a constant velocity of 80 km/h on the rightmost lane of the road. 300 m ahead of the Ego vehicle, a vehicle is instantiated in the same lane at a velocity of 70 km/h. 1000 m ahead of the Ego vehicle, a third vehicle is instantiated in the same lane as the other two vehicles. This vehicle is stationary (velocity 0 km/h). It is accompanied by a fourth vehicle, which is situated two lanes left and 1000 m ahead of the Ego vehicle.
At simulation runtime, the vehicle driving in front of the Ego vehicle at a velocity of 70 km/h performs a lane change to the left as soon as it approaches the stationary vehicle in the same lane by 55 m. In parallel to the lane change, it decreases its speed linearly by 10 m/s2 until it arrives at a full stop.
This scenario teaches the instantiation of instances of
Entity, the use of
ParameterDeclarations, and use of parallel
5.5. Double Lane Changer
This scenario describes a traffic situation where the Ego vehicle is driving at the rightmost lane behind another vehicle driving at the same speed, leaving a gap. A faster vehicle approaches the Ego vehicle from behind on the centermost lane. This vehicle changes lane into the gap on the rightmost lane after it has passed the Ego vehicle. In order to avoid collision with the vehicle driving ahead of the Ego vehicle, it immediately changes back to the center lane.
At the initialization phase, the Ego vehicle is initialized at the rightmost lane at a speed of 130 km/h. A second vehicle is initialized 13 m behind the Ego vehicle at the centermost lane driving at a speed of 170 km/h. A third vehicle is initialized 70 m ahead of the Ego vehicle on the rightmost lane driving at 130 km/h.
At simulation runtime, when the fast vehicle on the centermost lane has passed the Ego vehicle by 5 m, it performs a sinusoidal lane change to the rightmost lane. When this action is completed, the vehicle immediately changes back to the centermost lane, using another sinusoidal lane change.
This scenario teaches instantiation of instances of
Entity using Cartesian coordinates, use of
Conditions and consecutive execution of
5.6. Fast Overtake with Re-Initialization
This scenario describes a traffic situation were the Ego vehicle approaches a truck that slows down on the right lane of a three-lane highway. An overtaking vehicle is initialized in the centermost lane when the truck performs this action.
At the initialization phase, the Ego vehicle is initialized at a velocity of 130 km/h on the rightmost lane. A truck driving at a velocity of 90 km/h is initialized 120 m ahead of it in the same lane. The overtaking vehicle is initialized at an arbitrary position and orientation.
At simulation runtime, when the Ego vehicle approaches the truck by 60 m, the latter linearly reduces its velocity to 60 km/h. This action triggers the relocation of the overtaking vehicle to the centermost lane at a velocity of 200km/h at 200m behind of the truck. This action is delayed by 2 s.
This scenario teaches consecutive execution of
This scenario describes a traffic situation where the Ego vehicle is approached by a faster vehicle driving on the rightmost lane of a three-lane motorway.
At the initialization phase, the Ego vehicle is initialized at the rightmost lane driving at a velocity of 130 km/h. The other vehicle is initialized 79 m behind of the Ego vehicle driving in the same lane at a velocity of 150 km/h.
At simulation runtime, when the faster vehicle approaches the Ego vehicle by 30 m, it performs a sinusoidal lane change to the left. As soon as the vehicle is 5 m ahead of the Ego vehicle, it changes its lane back to the rightmost lane.
This scenario teaches the use of
Conditions and consecutive execution of
5.8. Traffic Jam
This scenario describes a traffic situation where the Ego vehicle approaches a traffic jam of six other vehicles on a three-lane motorway.
At the initialization phase, the Ego vehicle is initialized at a velocity of 130 km/h at the leftmost lane. The vehicles forming the traffic jam are initialized 145 m ahead of the Ego vehicle at a velocity of 0 km/h. Pairs of vehicles block all three lanes of the motorway. Each of the pairs features a longitudinal gap of 8 m between its two corresponding vehicles.
This scenario teaches instantiation of instances of
Entity using Cartesian coordinates.