Scenarios

Autonomous navigation

The vehicle begins the maneuver at an initial pose located far from the first waypoint in the path. This allows for sufficient space for the vehicle to reach the selected target speed, which is achieved through the longitudinal speed controller and by enforcing null steeering angle at the front axle through the steering controller.

You can always override the initial pose of the vehicle by overriding the OverrideInitialPose method.

Autonomous vehicle simulations have a special driver. This driver accepts speed/steering angle control pairs.

Double lane change

This scenario simulates a double lane change (DLC) manoeuvre following the NATO AVTP 03-160W specification. The template supports wheeled or tracked vehicles, rigid terrain with a single or split-surface coefficient of friction, soft terrain via soil-contact model (SCM) with split-surface soil parameters and, optionally, a sideslope specification.

The initial point of the manoeuvre specification is the system origin, and the vehicle begins at a user-specified distance before said origin such that enough space is available to the vehicle to reach a pre-determined steady-state longitudinal speed.

Obstacle avoidance

Sideslope stability

The sideslope stability scenario performs a sideslope stability test as defined in the NATO Standard AMSP-06: Guidance for Standard Applicable to the Development of Next Genearation NATO Reference Mobility Models (NG-NRMM) standard.

In this scenario, the vehicle starts on a flat surface and reaches a defined steady longitudinal speed through a straight line corridor defined by the initial section of the manoeuvre path. The vehicle then follows a curvilinear path resemblant of an obstacle avoidance manoeuvre, and rebounds back to a straight line corridor immediately after.

This is a pass-fail manoeuvre, where the success criteria is the execution of the full manoeuvre and return to straight line path.

The following parameters are exposed to the user:

Sinusoidal steering scenario parameters

Key	Description	Type	Default value
scenario/gradePercentage	The slope in the longitudinal direction expressed as a percentage (e.g. 24.5%)	float (0.0 - +inf)	15.0
scenario/useGradeRamp	Whether or not the slope is gradually increased over time starting from a flat plane or immediately present at the beginning of the simulation.	bool	true
scenario/timeToMaxGrade	Only used when scenario/useGradeRamp is enabled. Defines how many seconds the transition between flat plane and the defined grade will take. Note that this is interpolated using a pure sinusoidal step function.	float (0.0 - +inf)	3.0
scenario/accelerationLength	The length of the initial straight line portion of the manoeuvre	float (0.0 - +inf)	100.0
scenario/terrain/type	The terrain model used in the scenario	string (rigid scm)	rigid
scenario/terrain/length	The size of the terrain patch in the longitudinal direction	float (0.0 - +inf)	1.0e4
scenario/terrain/width	The size of the terrain patch in the lateral direction	float (0.0 - +inf)	20.0
scenario/terrain/rigid/frictionCoefficient	The friction coefficient for the rigid terrain (only used when the rigid terrain type is selected)	float (0.0 - +inf)	0.85

Sinusoidal steering

Sinusoidal steering scenario parameters

Key	Description	Type	Default value
test	test	test	test

Split surface

Terrain mobility

Straight line acceleration

This scenario implements a straight line acceleration manoeuvre .

Straight line braking

Wall-to-wall turn