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asam-oss / OSC-ALKS-scenarios

ALKS scenario interpretation in OpenSCENARIO
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Create functions #59

Open EmnaABID25 opened 12 months ago

EmnaABID25 commented 12 months ago

Hi , base on your structure you have made I am trying to replicate for another functions , still not able to understand how to implement the functions (reaction) , for now created simple scenario (Open scenario , esmini ..) , how did you ? I did not know where to raise my question as it is not issue

arauschert commented 4 months ago

Hi! Sorry for the late reply. With the function I assume you refer to the system under test (SUT/ALKS)? A scenario is meant to describe the environment of the SUT, so that the scenario can be executed in a simulator according to a given test specification. So the behavior of the other traffic participants is modelled in the scenario and controlled by the simulator upon execution according to the scenario. Also the behavior of the ego entity for the time when the SUT does not actively control the entity is described in the scenario for execution by the simulator (in our case it's mostly implicitly defined in the scenarios as keep lane & keep speed). On the other hand the behavior/reaction of the SUT itself is not prescribed in the scenario, since the behavior of the SUT is not implemented in the simulator but in the SUT, which is not a simulation component. So technically you have to make sure that the ego entity's vehicle dynamics are controlled by the SUT (and not by the simulator anymore) as soon as the ALKSController has been activated. This means you have to integrate/connect the SUT (in)to your simulator. Note: esmini has an example implementation of an ALKSController for demonstration purposes as part of the esmini simulator, which is not meant as an example how to test an actual ALKS system. A further part of a test specification is the expected behavior of the SUT / pass&fail criteria of the test / metrics. This is also not part of the scenario and must be added in a test case (the test case refers to the scenario file). Also the expected behavior is expressed as constraints/tresholds (e.g. the distance to the lane boundaries shall not become less than 10cm during the whole test) rather than an exact prescription (e.g. drive on the lane centerline).

I hope this explanation helps. If you have further questions don't hesitate to contact me.