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The Ego vehicle starts at SimulationTime = 0 and increases the speed from 0 to 60 km/h. (Accelerate for 5 seconds)
In front of the lane where the Ego vehicle(hero) is located, there is a counter vehicle(standing).
If the distance between the Ego vehicle(hero) and the counter vehicle(standing) is narrowed to 30 m, the speed of the Ego vehicle(hero) is reduced to 30 km/h.
Both vehicles continue to drive for 1 minute and terminate.
I have a OpenSCENARIO file which has scenario end condition (StopTrigger on StoryBoard) as StoryboardElementStateCondition converting to endTransition. However, after SlowPrecordingStartCondition is triggered, the stop trigger does not work and ends with the following error. How can I fix it to do the scenario as intended? Destroying ego vehicle 147 ERROR: failed to destroy actor 147 : unable to destroy actor: not found
`
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2024-03-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="4.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<!-- 1. The Ego vehicle starts at SimulationTime = 0 and increases the speed from 0 to 60 km/h. (Accelerate for 5 seconds) -->
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="linear" dynamicsDimension="rate" value="4.0"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="16.6667"/> <!-- ${60 / 3.6} -->
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
<!-- 2. In front of the lane where the Ego vehicle is located, there is a counter vehicle. -->
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-2.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0.0"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="8.33333"/> <!-- ${30 / 3.6} -->
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="SlowPrecedingStory">
<Act name="SlowPrecedingAct">
<ManeuverGroup maximumExecutionCount="1" name="SlowPrecedingSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="hero"/>
</Actors>
<Maneuver name="SlowPrecedingManeuver">
<Event name="SlowPrecedingEvent" priority="overwrite">
<Action name="SlowPrecedingAction">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="linear"
dynamicsDimension="rate"
value="16.0"/> <!-- delta/sec -->
<SpeedActionTarget>
<AbsoluteTargetSpeed value="8.33333"/> <!-- ${30 / 3.6} -->
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<!-- 3. If the distance between the Ego vehicle and the red_Vehicle is narrowed to 30 m, the speed of the Ego vehicle is reduced to 30 km/h. -->
<Condition name="SlowPrecedingStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="standing"
relativeDistanceType="longitudinal"
value="30"
freespace="true"
rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="SlowPrecedingActStart" delay="0" conditionEdge="none">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="ActStopCondition" delay="60" conditionEdge="rising">
<!-- 4. Continue to drive both vehicles for 1 minute before terminating. -->
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="maneuver" storyboardElementRef="SlowPrecedingManeuver" state="endTransition"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
`
The text was updated successfully, but these errors were encountered:
I made an example of the situation below.
[Example]
I have a OpenSCENARIO file which has scenario end condition (StopTrigger on StoryBoard) as StoryboardElementStateCondition converting to endTransition. However, after SlowPrecordingStartCondition is triggered, the stop trigger does not work and ends with the following error. How can I fix it to do the scenario as intended?
Destroying ego vehicle 147
ERROR: failed to destroy actor 147 : unable to destroy actor: not found
`
The text was updated successfully, but these errors were encountered: