Description of OSC2 configuration options

The top.config struct contains the following four struct instances that are used to configure the environment: - ego_config - map_config - sim_config - test_config

ego_config

The following table describes the fields in the top.config.ego struct.

Field	Type	Description	Default value
dsp_launch_policy	av_launch_policy	Specify how the SUT Support Package (DSP) should be launched.	foretify
dsp_connection_string	string	Define DSP connection string (format is custom). Should be set only if dsp_launch_policy = off
max_dsp_connect_time	time	Maximum time allowed to connect to DSP.
allow_create_in_junction	boolean	Whether the ego is allowed to be placed in a junction at start of test.	true

gen_config

The following table describes the fields in the top.config.gen struct.

Field	Type	Description	Default value
contradiction_check	boolean	Run Foretify in contradiction_check mode which only checks the test for contradictions, without actually generating and running it.	false
controls	struct	Structure of boolean variables to control internal generation model constraints. For details, see Internal generation model. For a quick description of the parameters, see the table below.	false
retries	int	Number of attempts applied by InfiniGen to generate the test.	50
strategies	list of infinigen_strategy	Set a list of solving strategies to be used when generating a scenario. For details, see Choosing the best solving strategy.	[s1,s2,s3]
use_threads	boolean	When set to true, InfiniGen runs all available strategies (s1–s6), or the list of strategies specified in the strategies field, in parallel. When set to false, InfiniGen runs either the default strategies (s1–s3) or the list specified in the strategies field sequentially.	True

The following table describes the parameters of the controls struct.

Parameter	Description	Default value
speed_policy_disabled	Controls the speed constraint.	false
acceleration_policy_disabled	Controls the accleration constraint.	false
physical_relation_disabled	Controls the physical speed/time/distance relation constraint.	false
max_lat_acceleration_disabled	Controls the maximal lateral acceleration constraint.	false
lon_lat_movement_ratio_disabled	Controls the longitudinal/lateral movement ratio constraint.	false
valid_route_disabled	Controls the valid route constraint.	false
lane_boundaries_disabled	Controls the placement within the lane boundary constraint.	false
end_of_merge_lane_disabled	Controls the placement close to the end of the merging lane constraint.	false
curved_road_placement_disabled	Controls the placement on the curved road constraint.	false
max_legal_speed_disabled	Controls the keeping maximal legal speed constraint.	false
no_lane_change_disabled	Controls the no lane change constraint.	false
no_lateral_change_disabled	Controls the no lateral change constraint.	false
no_collision_disabled	Controls the no collision constraint.	false
no_overtake_disabled	Controls the no overtake constraint.	false
lane_modifier_disabled	Controls the keeping lane for satisfying lane modifier constraint.	false
step_time_disabled	Controls the duration as number of cycles constraint.	false
max_test_time_disabled	Controls the avoiding tests that are too long constraint.	false

map_config

The following table describes the fields in the top.config.map struct.

Field	Type	Description	Default value
default_generation_speed_limit	speed	The speed limit associated by generation with roads that have no (or undefined) speed-limit in the map.	300kph
force_merge_width_threshold	length	Sets the threshold for calculating the force_merge_offset_from_end field for highway_acceleration_lane. Defines the minimum width, below which the acceleration lane is considered to require a force-merge.	2.7m
highway_acceleration_lane_max_length	length	The max length for highway acceleration lane. Only merging lanes with length up-to this setting will be marked as acceleration lane.	500m
ignore_elevation	boolean	Specify whether to ignore map elevation, disregarding the z-axis values of points in the map (setting them to 0) to ensure that the map remains at ground level. This parameter lets you create scenarios from existing maps while ensuring that the map remains flat if elevation is unnecessary or if it interferes with actors' movements. This field is meant to be used with simulators that also ignore map elevation.	false
lane_outlier_angle_factor	float	Together with 'lane_outlier_max_dist' determines outlier lane polyline points that are removed during map load. Successive points at distance D less than 'lane_outlier_max_dist' that generate angle diff greater than max('max_lane_angle_change', [D.m() * 'lane_outlier_angle_factor']-degrees) are considered outliers and the first of them (according to polyline direction) is removed.	9.0
lane_outlier_max_dist	distance	See 'lane_outlier_angle_factor'.	10m
longitudinal_slopes_sample_step	length	Controls the interval for sampling changes in the slope of a lane. It should not be necessary to change this value.	150cm
max_drive_distance	distance	The maximum distance that the drive is supposed to travel. This is an optimization setting.	120m
max_lane_angle_change	angle	The maximal angle change between successive lane polyline segments. Greater angle changes are automatically smoothed during map load.	15deg
maximal_longitudinal_slope_change	angle	The maximal difference inside one slope segment.	5deg
min_highway_radius	length	The minimal radius to consider road as highway in highway-junction detection	50m
min_highway_speed_limit	speed	The minimum speed limit required to consider a road as a highway in highway-junction detection.	60kph
minimal_slope_angle	angle	The minimal angle to count as a slope. Segments with values below this are neither (not considered to be a slope).	0.5deg
oncoming_threshold	length	For scenarios that require oncoming actors approaching from opposite directions on road elements that are close enough for them to engage, this is the threshold of what is considered "close".	20cm
road_with_sign_max_length	length	The max length for the route associated with 'road_with_sign' route_elements. The element stretches back from the sign until first of either 'road_with_sign_max_length' meters or the first junction	100m
usable_map_area_configuration_id	string	Specify a specific configuration from the configurations available in usable_map_area_json_file. Given usable_map_area_json_file, a usable_map_area_configuration_id must be provided.
usable_map_area_json_file	string	Specify the path for a JSON file that defines areas on the map where scenarios can be generated. By default entire map is used. Setting this flag requires setting usable_map_area_configuration_id as well.
traffic_side_request	traffic_side_request	A map might specify the traffic side. If so, this option must not contradict. not_set means the traffic side is defined by the loaded map. right_hand requests right-hand traffic left_hand requests left-hand traffic	right_hand

sim_config

The following table describes the fields in the top.config.sim struct.

Field	Type	Description	Default value
sim_launch_policy	av_launch_policy	Specify how the simulator should be launched	foretify
ssp_launch_policy	av_launch_policy	Specify how the Simulator Support Package (SSP) should be launched	foretify
ssp_connection_string	string	Define SSP connection string (format is custom). Should be set only if ssp_launch_policy is set to off.
step_time_us	uint	Set simulation step size (in microseconds)	20000 (20ms)
use_microseconds_for_time	boolean	Flag that controls if the SSP/DSP will get the time in microseconds or milliseconds.	false
enable_gui	boolean	Specify if simulator will run with GUI or headless	true
pause_at_start	boolean	Specify whether the simulation pauses at the start of the run	false
pause_at_end	boolean	Specify whether the simulation pauses at the end of the run	false
speed_factor	real	Specify the simulation speed, where 0 is as fast as possible, 0.5 is double the speed of real time (if possible), 1 is real time, 2 is half the speed of real time, and so on	0
resolution	string	Defines the resolution of the current simulator display. The string format varies according to the simulator
connection_string	string	Defines the simulator connection string. It should be set only if sim_launch_policy is set to off.
max_wait_start_ simulation_time	time	Defines the maximum time to wait till simulation is started. Set to 0 for unlimited wait time.	60second
max_wait_step_time	time	Defines the maximum time allowed to wait till simulation step is complete. Set to 0 for unlimited wait time.	0second
max_ssp_connect_time	time	Maximum time allowed to connect to SSP. Set to 0 for unlimited wait time.	60second
use_collision_detection	boolean	Indicates if simulator's collision detection should be used	true
video_width	int	Desired video width	1280
video_height	int	Desired video height	720
video_frame_rate	int	Desired frame rate	5
tl_api_level	traffic_lights_api_level	The type of traffic light supported by the simulator, one of none (the default), physical or logical.
default_tl_color	traffic_lights_default_color	Specifies the initial state of the traffic lights, one of red (the default), green, or none (the initial state is determined by the simulator.)
requires_speed_and_ acceleration_for_kinematic_move	boolean	Defines if SSP requires speed and acceleration to be sent to the simulator. When true, the set_xy_trajectory_move_req. sends a trajectory that specifies rotational velocity (the yaw angle rate in terms of rad/sec). This is appropriate for kinematically controlled vehicles. After setting this parameter to true, run Foretify with the --dlog_frpc trace option in order to see the angular speed parameter printed in the log.	false
enable_state_validation	boolean	Defines if SSP reported state should be validated.	false
allow_different_rotation_for_trailer	boolean	A flag that indicates if the simulator supports providing a different rotation for truck and trailer.	true
camera_view	carla_default_view	Supported by the Carla simulator only, the option lets you choose one of various camera views. One of ego, all, rear, front, side_left, side_right, composite, blank	all is a top-down view showing all the actors.
composite_camera_layout	list of carla_default_view	Controls the layout of cameras in Carla's composite view. You can switch between views using Ctrl+V. This list must contain nine elements representing a 3x3 grid in row-major order. Set unwanted grid squares to blank.	[blank, front, blank, side_left, ego, side_right, blank, rear, blank]

Figure 1: Carla's default composite camera layout

The predefined av_launch_policy type used in this struct has the following possible values:

off: The component is not executed by Foretify.
foretify: The component is executed by Foretify after the initial plan phase.

test_config

The following table describes the fields in the top.config.test struct.

Field	Type	Description	Default value
activate_rss	boolean	Activate RSS feed.
detailed_object_reporting	boolean	When set, the object ID in error messages includes more info, thus facilitating debugging.	true
enable_avoid_collisions	boolean	When set, NPCs try to avoid collisions with other NPCs and ego	true
enable_record_video	boolean	Enables simulation record video mode	false
excluded_areas_path	string	The path to an excluded areas definition file. This file can be used for checking spawn positions on the map. If it's not set, no check is done.
implicits_kind	implicit_calc_kind	speed_based specifies that all vehicles in the test have 0 speed at time 0. Foretify generates actions (implicit moves) to reach the scenario's initial conditions. These actions are not part of top.main. The actual user-defined scenario starts after the vehicles reach the initial starting conditions defined in the scenario. none specifies that each vehicle has some (possibly non-zero) speed at time 0. The user-defined scenario starts immediately. This mode can be used only if the simulation environment supports creating actors with initial non-zero speed or if the scenario requires all cars to start at 0 speed.	none
map	string	Specifies the map to use for the test
map_memory_threshold_MB	int	The upper bound for memory allowed to be allocated to hold a map information in the generation engine (in MB).	4096
max_test_time	time	The maximum allowed time for single test run. This value must not contradict the specified duration of the loaded scenario. For example, if a scenario specifies a duration of 5 seconds, you must not request the total test time to be 3 seconds or less.	100second
max_time_headway	time	Set the maximum time headway.	3second
min_road_search_radius	distance	Limit the search distance from the previous position. This field is used when converting global position (as received from simulation) to road position.	5m
min_test_time	time	The minimum allowed simulation time for single test run. The run will error if it ends earlier. The defined time does not affect the planning phase.	3second
no_simulation	boolean	When true, stops the run immediately after the generation stage (for frun)	false
planned_path_extra_length	length	Add length to a vehicle's planned path beyond the original plan, at least as long as this value. This provides robustness in case at runtime a vehicle drives a longer distance than originally planned.	100meter
recorded_trace_path	string	Path for a recorded trace file used during monitor-from-recording.
ssp_dsp_init_order	ssp_dsp_call_order	Specifies the call order at initiation. One of ssp_first, dsp_first, or together (the default). See Sequence diagrams for more information.
ssp_dsp_step_order	ssp_dsp_call_order	Specifies the call order for each execution step. One of ssp_first, dsp_first, or together (the default). See Sequence diagrams for more information.
step_time	time	Set Foretify step size. Ideally Foretify step size should be a multiple of simulation step time (but this is not required). If this value is not a multiple of config.sim.step_time_us, there might be some discrepancy between the Foretify state and the simulation state.	20 ms.
terrain_definition	string	The path to terrain definition file. It can be used for checking spawn positions on the map. If it's not set, no check is done
test_drain_time	time	Test drain time is additional time allocated for the run after the explicit scenario execution has finished.	0second
test_name	string	It represents the name of the high-level test that runs an OSC2 scenario.
ttc_calculation_limit	time	Limit the time for TTC calculation. The default is 10s.
ttc_calculation_step_size	time	Set the TTC calculation step size (affects TTC precision). The default is 100ms.
continue_simulation_after_sut_collision	bool	Whether to continue simulation after a SUT collision (provided that the respective collision issue has severity of or is downgraded to error_continue or less). The default is false.