Elements with a role (i.e., with a gs key tag) are the main components of a GeoScenario. The following table shows a summary of all components supported in the latest version. Note that a component can be created with more than one element type (node, way or closed-way). The icons are not part of the language, but are used in this document as a reference to the GeoScenario Editor (custom JOSM)). Each component will be detailed in the next sections.
|globalconfig||node||unique, mandatory||Global configuration for a scenario. Defines a name for a scenario, the road network, and global failure conditions.|
|origin||node||unique, optional||Reference point in space (0,0) to align coordinates with different layers in simulation.|
|metric||node||multiple, optional||Metric. Defines a metric that needs to be tracked during the scenario.|
|egostart||node||unique, mandatory||The Ego starting position at the beginning of a scenario.|
|egogoal||node||multiple, mandatory||Goal position for Ego. Reaching this point is the standard success criterion for a scenario (alternative criteria is also possible using triggers). Optionally, can be defined as multiple points to be reached in sequence.|
|staticobject||node, way, closed-way||multiple, optional||Static Objects used to define obstacles blocking the drivable surface or impairing sensor detection.|
|vehicle||node||multiple, optional||Vehicles as Traffic Agents that can move during a scenario. Includes vehicles from all sizes and types (car, bicycle, truck, bus, etc)|
|pedestrian||node||multiple, optional||Pedestrians as Traffic Agents that can move during a scenario.|
|path||way||multiple, optional||Paths describing trajectories for both Pedestrians and Vehicles.|
|location||node, way, closed-way||multiple, optional||Named location, used as a reference point for other elements within a scenario. For example, an area where a pedestrian will be placed.|
|trigger||node||multiple, optional||Trigger used to orchestrate a scenario with actions for dynamic elements. A trigger can be executed by reaching its location, after a given time, or when a condition is true.|
|trafficlight||node||multiple, optional||Traffic light states (the physical traffic light is defined as a stationary element and is part of the road network)|
The figure shows a meta-model of our main GeoScenario components in a Class Diagram notation from UML.
In the next sections we will describe how all those elements work and interact. A table with attributes for each element will be provided. The following symbols will be used:
[l] // support lists [r] // support range [d] // support distributions * // mandatory attribute (all other are assumed to be optional) (x) // unit of measurement. If not provided, it follows GeoScenario standard units.