下载场景

<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
	<FileHeader revMajor="1" revMinor="0" date="2024-08-22T16:34:39" description="scenario_20240814_410" author="oasis" />
	<CatalogLocations />
	<VariableDeclarations />
	<RoadNetwork>
		<LogicFile filepath="Town01" />
	</RoadNetwork>
	<Entities>
		<ScenarioObject name="ego_vehicle">
			<Vehicle name="vehicle.synkrotron.democar" vehicleCategory="truck">
				<BoundingBox>
					<Center x="1.4" y="0" z="0.75" />
					<Dimensions width="2.55" length="9.16" height="3.9" />
				</BoundingBox>
				<Performance maxSpeed="60" maxAcceleration="5.1" maxDeceleration="8" />
				<Axles>
					<FrontAxle maxSteering="1.22" wheelDiameter="0.7" trackWidth="2.1" positionX="2.8" positionZ="0.35" />
					<RearAxle maxSteering="1.22" wheelDiameter="0.7" trackWidth="2.1" positionX="2.8" positionZ="0.35" />
				</Axles>
			</Vehicle>
			<ObjectController>
				<Controller name="DefaultDriver">
					<Properties>
						<Property name="init_speed_holding" value="false" />
					</Properties>
				</Controller>
			</ObjectController>
		</ScenarioObject>
	</Entities>
	<Storyboard>
		<Init>
			<Actions>
				<GlobalAction>
					<EnvironmentAction>
						<Environment name="Environment1">
							<TimeOfDay animation="true" dateTime="2020-09-23T07:20:00" />
							<Weather cloudState="free">
								<Sun intensity="50000.0" azimuth="2.792526803190927" elevation="0.3490658503988659" />
								<Fog visualRange="10000" />
								<Precipitation precipitationType="dry" intensity="0" />
							</Weather>
							<RoadCondition frictionScaleFactor="1.0" />
						</Environment>
					</EnvironmentAction>
				</GlobalAction>
				<Private entityRef="ego_vehicle">
					<PrivateAction>
						<LongitudinalAction>
							<SpeedAction>
								<SpeedActionDynamics dynamicsShape="step" value="0" dynamicsDimension="time" />
								<SpeedActionTarget>
									<AbsoluteTargetSpeed value="0" />
								</SpeedActionTarget>
							</SpeedAction>
						</LongitudinalAction>
					</PrivateAction>
					<PrivateAction>
						<TeleportAction>
							<Position>
								<WorldPosition x="112.824" y="-330.759" z="0" h="6.283080587424467" p="0.0" r="0.0" />
							</Position>
						</TeleportAction>
					</PrivateAction>
				</Private>
			</Actions>
		</Init>
		<Story name="MyStory">
			<Act name="Act1">
				<ManeuverGroup maximumExecutionCount="1" name="ManeuverGroup1">
					<Actors selectTriggeringEntities="false">
						<EntityRef entityRef="ego_vehicle" />
					</Actors>
					<Maneuver name="Maneuver1">
						<Event name="E1ofActorego_vehicle" priority="parallel">
							<Action name="A1ofE1ofActorego_vehicle">
								<PrivateAction>
									<RoutingAction>
										<AcquirePositionAction>
											<Position>
												<WorldPosition x="191.478" y="-330.951" z="0" h="6.283080587424467" p="0.0" r="0.0" />
											</Position>
										</AcquirePositionAction>
									</RoutingAction>
								</PrivateAction>
							</Action>
							<StartTrigger>
								<ConditionGroup>
									<Condition name="C1ofCG1ofE1ofActorego_vehicle" delay="0" conditionEdge="rising">
										<ByValueCondition>
											<SimulationTimeCondition value="0" rule="greaterThan" />
										</ByValueCondition>
									</Condition>
								</ConditionGroup>
							</StartTrigger>
						</Event>
					</Maneuver>
				</ManeuverGroup>
				<StartTrigger>
					<ConditionGroup>
						<Condition name="ActStartCondition" delay="0" conditionEdge="rising">
							<ByValueCondition>
								<SimulationTimeCondition value="0" rule="greaterThan" />
							</ByValueCondition>
						</Condition>
					</ConditionGroup>
				</StartTrigger>
				<StopTrigger>
					<ConditionGroup>
						<Condition name="timeout" delay="0" conditionEdge="rising">
							<ByValueCondition>
								<SimulationTimeCondition value="120" rule="greaterThan" />
							</ByValueCondition>
						</Condition>
					</ConditionGroup>
					<ConditionGroup>
						<Condition name="collision_vehicle" delay="0" conditionEdge="rising">
							<ByEntityCondition>
								<TriggeringEntities triggeringEntitiesRule="any">
									<EntityRef entityRef="ego_vehicle" />
								</TriggeringEntities>
								<EntityCondition>
									<CollisionCondition>
										<ByType type="vehicle" />
									</CollisionCondition>
								</EntityCondition>
							</ByEntityCondition>
						</Condition>
					</ConditionGroup>
					<ConditionGroup>
						<Condition name="collision_pedestrian" delay="0" conditionEdge="rising">
							<ByEntityCondition>
								<TriggeringEntities triggeringEntitiesRule="any">
									<EntityRef entityRef="ego_vehicle" />
								</TriggeringEntities>
								<EntityCondition>
									<CollisionCondition>
										<ByType type="pedestrian" />
									</CollisionCondition>
								</EntityCondition>
							</ByEntityCondition>
						</Condition>
					</ConditionGroup>
					<ConditionGroup>
						<Condition name="collision_misobject" delay="0" conditionEdge="rising">
							<ByEntityCondition>
								<TriggeringEntities triggeringEntitiesRule="any">
									<EntityRef entityRef="ego_vehicle" />
								</TriggeringEntities>
								<EntityCondition>
									<CollisionCondition>
										<ByType type="miscellaneous" />
									</CollisionCondition>
								</EntityCondition>
							</ByEntityCondition>
						</Condition>
					</ConditionGroup>
					<ConditionGroup>
						<Condition name="reach_destination" delay="0" conditionEdge="rising">
							<ByEntityCondition>
								<TriggeringEntities triggeringEntitiesRule="any">
									<EntityRef entityRef="ego_vehicle" />
								</TriggeringEntities>
								<EntityCondition>
									<ReachPositionCondition tolerance="8">
										<Position>
											<WorldPosition x="191.478" y="-330.951" z="0" h="6.283080587424467" p="0.0" r="0.0" />
										</Position>
									</ReachPositionCondition>
								</EntityCondition>
							</ByEntityCondition>
						</Condition>
					</ConditionGroup>
				</StopTrigger>
			</Act>
		</Story>
		<StopTrigger />
	</Storyboard>
</OpenSCENARIO>