SystemConfigBlueprint

This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents. If the simulation uses only statically configured agents (AgentProfile Type attribute is “Static”), this file isn’t required.

AgentComponents

All components are listed here. An agent consists of a subset of this components.

Attribute	Description
Id	Used as key by the simulation to find the component
Priority	The module with the highest priority value gets executed first by the scheduler
Offset	Delay for the trigger method of each component in ms
Cycle	Interval in which the component gets triggered by the scheduler in ms
Response	Delay for the UpdateOutput method of each component in ms
Library	Library name of this component
Parameters	Parameters used by the component

Example: This example describes the Sensor_Driver module.

<component>
    <id>SenderCar2X</id>
    <schedule>
        <priority>399</priority>
        <offset>0</offset>
        <cycle>100</cycle>
        <response>0</response>
    </schedule>
    <library>AlgorithmCar2XSender</library>
    <parameters/>
</component>

Priorities

Please refer to the Components and channel communication diagram for assignment of a proper priority. Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers. Data is then handled by algorithms like Algorithm_Lateral. Output-relevant modules like dynamics and actions are executed last.

Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:

• Level 1 describes data produced by ADAS and drivers

• Level 2 describes data output by vehicle dynamic controllers

• Level 3 describes data delivered by dynamics

Priorities can be grouped (coarse) as following: Highest number indicates highest priority.

Scope	Range
Parameters	500
OpenScenarioActions	400
Sensor	350…399
Event	330
DriverMode	310
ADAS	250…299
ComponentController	200
Prioritizer (Lvl. 1)	150…199
VehicleDynamicsControllers	100…149
Prioritizer (Lvl. 2)	75…99
Dynamics	50…74
Prioritizer (Lvl. 3)	25…49
Updater	0…24

The table below can be used as orientation when a new module is introduced.

Name	Library	Priority	Scope	Note
ParametersAgentModules	ParametersAgent	500	Parameters	Sets all init-data and is updated cyclically
OpenScenarioActions	OpenScenarioActions	400	ADAS	Reads events from OpenScenario Actions and forwards them to other components
SensorObjectDetector	Sensor_OSI	398	Sensor	Gets instantiated multiple times (one time per sensor)
SensorAggregation	SensorAggregation_OSI	351	Sensor
SensorFusionErrorless	SensorFusionErrorless_OSI	350	Sensor
AlgorithmAgentFollowingDriverModel	AlgorithmAgentFollowingDriverModel	310	DriverModels
AEB	AlgorithmAutonomousEmergencyBraking	250	ADAS
FMU1	AlgorithmFmuWrapper	250	ADAS
FMU2	AlgorithmFmuWrapper	250	ADAS
FMU3	AlgorithmFmuWrapper	250	ADAS
ComponentController	ComponentController	200	ADAS	Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
PrioritizerLaterDriver	SignalPrioritizer	150	Prioritizer
PrioritizerAccelerationDriver	SignalPrioritizer	150	Prioritizer
PrioritizerTurningIndicator	SignalPrioritizer	150	Prioritizer
PrioritizerSteeringVehicleComponents	SignalPrioritizer	150	Prioritizer
PrioritizerAccelerationVehicleComponents	SignalPrioritizer	150	Prioritizer
LimiterAccelerationVehicleComponents	LimiterAccelerationVehicleComponents	120	VehicleDynamicsControllers
AlgorithmLateralDriver	AlgorithmLateralDriver	100	VehicleDynamicsControllers
AlgorithmLongitudinalVehicleComponents	AlgorithmLongitudinalVehicleComponents	100	VehicleDynamicsControllers
AlgorithmLongitudinalDriver	AlgorithmLongitudinalDriver	100	VehicleDynamicsControllers
PrioritizerSteering	SignalPrioritizer	75	Prioritizer
PrioritizerLongitudinal	SignalPrioritizer	75	Prioritizer
DynamicsCollision	DynamicsCollision	50	Dynamics
DynamicsRegularDriving	DynamicsRegularDriving	50	Dynamics
DynamicsTrajectoryFollower	DynamicsTrajectoryFollower	50	Dynamics
PrioritizerDynamics	SignalPrioritizer	25	Prioritizer
SensorRecordStateModule	SensorRecordState	2	Updater	Since values are “frozen” for current time step, logging can be placed anywhere
ActionLongitudinalDriverModules	ActionLongitudinalDriver	3	Updater	Will be expanded to ActionPrimary DriverTasks
ActionSecondaryDriverTasksModules	ActionSecondaryDriverTasks	3	Updater
AgentUpdater	AgentUpdater	1	Updater

Channel-Ids

Channels allow components to communicate with each other. The signal flow is set explicitly via a channel-Id of 4 digits (see also Components and channels communication diagram).

The first two numbers define the sending module (XX 00). The other two digits define the type of signal that is sent (00 XX).

Signals as well as modules can be grouped to allow explicit numbering (see tables below).

Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)

Example: PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.

Ids for Modules (first two digits)

Index range for module groups:

Group	Id
Dynamics	1…10
Algorithm	11…30
DriverTasks	31…40
Driver	41…50
VehicleComponent	51…70
Special	81…89
Sensor	91…99

With corresponding defined indices:

Module	Group	Id
AgentUpdater	Dynamics	1
Dynamics_TrajectoryFollower	Dynamics	2
Dynamics_RegularDriving	Dynamics	3
Dynamics_Collision	Dynamics	4
PrioritizerDynamics	Dynamics	5
Dynamics_Scenario	Dynamics	6
ControllerSwitch	Dynamics	7
Algorithm_LongitudinalVehicleComponent	Algorithm	11
Algorithm_LongitudinalAfdm	Algorithm	12
Algorithm_SteeringVehicleComponent	Algorithm	14
Algorithm_LateralVehicleAfdm	Algorithm	15
LimiterAccelerationVehicleComponents	Algorithm	17
PrioritizerLongitudinal	Algorithm	21
PrioritizerSteering	Algorithm	22
PrioritizerAccelerationVehicleComponents	Algorithm	23
PrioritizerSteeringVehicleComponents	Algorithm	24
Action_LongitudinalDriver	DriverTasks	31
Action_SecondaryDriverTasks	DriverTasks	32
PrioritizerTurningIndicator	DriverTasks	33
AlgorithmAgentFollowingDriverModel	Driver	41
AEB	VehicleComponent	52
FMU1	VehicleComponent	71
FMU2	VehicleComponent	72
FMU3	VehicleComponent	73
ComponentController	Special	83
OpenScenarioActions	Special	84
Parameter_Vehicle	Sensor	92
SensorAggregation	Sensor	93
SensorFusionErrorless	Sensor	94
Sensor_Driver	Sensor	95
SensorObjectDetector	Sensor	98

Ids for Signals (last two digits)

Index range for signal groups:

Group	Id
Dynamics	1…10
Algorithm	11…30
OpenScenarioActions	61…70
Special	71…80
Sensor	81…90
Parameters	91…99

With corresponding defined indices:

Signal	Group	Id
Dynamics	Dynamics	01
Longitudinal	Algorithm	11
Steering	Algorithm	12
Acceleration	Algorithm	13
Lateral	Algorithm	14
SecondaryDriverTasks	Algorithm	19
Trajectory	OpenScenarioActions	71
AcquireGlobalPosition	OpenScenarioActions	62
CustomParameters (CustomCommandAction)	OpenScenarioActions	63
SensorDriver	Sensor	81
SensorData	Sensor	90
ParametersVehicle	Parameters	92

Parameters

For more information on the type of parameters (especially stochastic distributions), please refer to the ProfilesGroup section.

Important Note: The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax. See the following example:

<parameters>
    <parameter>
        <id>StringParameter</id>
        <type>string</type>
        <unit/>
        <value>Lorem ipsum</value>
    </parameter>
    <parameter>
        <id>RandomParameter</id>
        <type>normalDistribution</type>
        <unit/>
        <value>
            <mean>15.0</mean>
            <sd>2.5</sd>
            <min>10.0</min>
            <max>20.0</max>
        </value>
    </parameter>
</parameters>