Predefined enumerated types
| Type name | Values |
|---|---|
| acceleration | SI(m: 1, s: -2) |
| adas_request_kind | undefined_adas_request_kind |
| age_group | child, adult |
| angle | SI(deg: 1) |
| angular_speed | SI(deg: 1, s: -1) |
| av_at_kind | start, end, all |
| av_car_side | front, front_left, left, back, left, back, back_right, right, front_right, other |
| av_driver_control_state | undefined_driver_control_state = -1, disabled = 0, enabled = 1 |
| av_launch_policy | off (not executed), foretify (after initial plan phase) |
| av_measure_by | center_to_center, nearest |
| av_rel_side | left = -1, same=0, right = 1 |
| av_road_lane_type | center = -1, within=0, curb = 1 |
| av_road_side | center, curb |
| av_side | right = -1, left = 1 |
| av_state | Indicates whether an AV or ADAS function, or a vehicle indicator such as siren is active, engaged, off, and so on. Valid values depend on the object. |
| behavioral_model_kind | User configurable. |
| behavior_manager_type | Controls if the vehicle activators' command (pedals and steering wheel) or trajectory are calculated and sent by Foretify to the vehicle. manual: Foretify drives the vehicle by passing trajectory or actuator commands to the SSP or the DSP. This mode should be used for L1-L3 SUT vehicles. third_party_bm: The vehicle is controlled by some external behavioral model. This is used for NPCs driven in car groups that are fed by the SUMO behavioral model. sut_control: The vehicle is fully controlled by SUT; Forertify doesn't calculate or send any pedals or steering commands. This should be used for L4 and above SUTs. |
| bm_engine_type | builtin, remote |
| vehicle_category | sedan, van, bus, box_truck, semi_trailer_truck, full_trailer_truck, motorcycle, bicycle |
| car_color | white, black, red, green, blue, yellow, brown, pink, gray |
| car_physics | kinematic, dynamic (kinematic means the vehicle is moved in simulation by setting its position and orientation directly at each simulation step. dynamic means the vehicle is moved by sending pedal and steering commands to the simulator.) |
| car_gear | P (Park), R (Reverse), N (Neutral), D (Drive) |
| car_group_formation | single_lane, all_lanes |
| car_model_id | should be extended to include models supported by the simulator |
| curvature | other, straightish, soft_left, hard_left, soft_right, hard_right If abs(radius) is greater than 1,000,000km then curve is straightish Else if abs(radius) is greater than 1km, then curve is soft_left (if sign is positive) or soft_right (if sign is negative) Else curve is hard_left (if sign is positive) or hard_right (if sign is negative) |
| cyclist_model_id | should be extended to include models supported by the simulator |
| debug_mode | none, debug_record (run simulation and record data), debug_replay (no actual simulator) |
| direction | other = 0, straight = 1, slight_right = 2, right = 3, sharp_right = 4, backwards = 5, sharp_left = 6, left = 7, slight_left = 8 |
| distance_direction | lon, lat |
| distance_reference | center, front_center, left_center, back_center, right_center, front_left, back_left, back_right, front_right, closest, front_center_compound, back_center_compound, closest_compound |
| distance_route_type | lane, road |
| driver_control_request_setting | keep_previous_state = -1, disabled = 0, enabled = 1 |
| gender | male, female |
| group_objects_type | common, random |
| group_route_behavior | random, common_route |
| 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. |
| issue_category | see detailed list of issue categories |
| issue_kind | see detailed list of issue kinds |
| issue_severity | see detailed list of issue severities |
| jerk | SI(m: 1, s: -3) |
| lane_relative_side | innermost, outermost, middle |
| line_kind | none, solid, broken, solid_solid, solid_broken, broken_solid, broken_broken, botts_dots, grass, curb, edge Double lines (like solid_broken) are specified from right to left, relative to the direction of the lane. |
| line_color | blue, green, red, white, yellow, orange |
| length | SI(m: 1) |
| line | left (Left side of the vehicle), right (Right side of the vehicle), center (Center of the vehicle) |
| logical_traffic_light_state | red, yellow, green |
| map_kind | User configurable. |
| mass | SI(kg: 1) |
| match_kind_enum | anchored, floating |
| mix_overlap_enum | any_mix, full, equal, inside, initial, final, start, end |
| msp_lane_use | none, driving, shoulder, biking, sidewalk, border, parking, rail |
| object_kind | Defines the kind of object, such as cyclist, person, puddle, stationary_vehicle, traffic_cone, and trailer. This list can be extended based on the types supported by the simulator. |
| object_category | car, bus, truck, trailer, bicycle, motorcycle, person, animal, other |
| person_group_age | children, adults, mixed |
| person_group_gender | male, female, mixed |
| person_model_id | should be extended for each simulator |
| puddle_model_id | should be extended for each simulator |
| relative_direction | sharp_right: max_angle_diff is 67.5 degrees, min_angle_diff is 0 degree mid_right: max_angle_diff is 112.5 degrees, min_angle_diff is 67.5 degrees slight_right: max_angle_diff is 157.5 degrees, min_angle_diff is 112.5 degrees any_right: max_angle_diff is 157.5 degrees, min_angle_diff is 0 degree opposite: max_angle_diff is 202.5 degrees, min_angle_diff is 157.5 degrees slight_left: max_angle_diff is 247.5 degrees, min_angle_diff is 202.5 degrees mid_left: max_angle_diff is 292.5 degrees, min_angle_diff is 247.5 degrees sharp_left: max_angle_diff is 360 degrees, min_angle_diff is 292.5 degrees any_left: max_angle_diff is 360 degrees, min_angle_diff is 202.5 degrees same: Used internally when comparing two identical road elements on the map. However, it cannot be used for specific use cases, such as top.roads_enter_junction_relation and top.roads_exit_junction_relation modifiers, which require two different roads. |
| road_pattern_id | User configurable. |
| service_package_type | SSP (Simulator Support Package) or DSP (SUT Support Package) |
| shape_quantity | position, speed, acceleration, direct_control |
| shape_request | lon, lat, both |
| shape_transform | relative, lane_relative, absolute |
| slope_direction | neither, uphill_slope, downhill_slope |
| speed | SI(m: 1, s: -1) |
| temperature | SI(K: 1) |
| time | SI(s: 1) |
| time_of_day | undefined_time_of_day, sunrise, morning, noon, afternoon, sunset, evening, night, midnight |
| track | actual = 0, projected = 1 |
| traffic_cone_model_id | User configurable. |
| traffic_side | right_hand, left_hand |
| traffic_side_request | not_set, right_hand, left_hand. not_set means the traffic side is defined by the loaded map. |
| traffic_sign_kind | stop, yield, other |
| trailer_kind | semi_trailer, full_trailer, none |
| trailer_model_id | User configurable. |
| turn_signal_state | unknown, off, right_on, left_on. The state may be set to unknown by the simulator if the state cannot be determined or if the capability is not supported. |
| visualizer_models | bounding_box, car, truck, truck_tractor, semi_trailer, trailer, pedestrian, bicycle, bus |
| weather_type | undefined_weather, clear, cloudy, foggy, light_rain, rain, heavy_rain, light_snow, snow, heavy_snow |