Creates a parallel behavior that runs all of the scenarios part of the route. These subbehaviors have had a trigger condition added s

Spawn the EV behind and wait for it to be close-by. After it has approached, give the ego a certain amount of time to yield to it.

Leave space in front, as the TM doesn't detect open doors, and change the opposite frequency so that the ego can pass

Order of sequence: - car_visible: spawn car at a visible transform - just_drive: drive until in trigger distance to ego_vehic

After invoking this scenario, a parked vehicle will wait for the ego to be close-by, merging into its lane, forcing it to break.

Hero vehicle is turning left in an urban area at a signalized intersection, where, a flow of actors coming straight is present.

Hero vehicle is turning left in an urban area at a signalized intersection, where, a flow of actors coming straight is present.

Hero vehicle is entering a junction in an urban area, at a signalized intersection, while another actor runs a red lift, forcing the

Basic behavior do nothing, i.e. Idle

Just wait for a while after the ego closes in on the blocker, then remove it.

Freeze the traffic lights until the ego has exited the junction

After invoking this scenario, a parked vehicle will wait for the ego to be close-by, merging into its lane, forcing it to break.

Hero vehicle is entering a junction in an urban area, at a signalized intersection, while another actor runs a red lift, forcing the

After invoking this scenario, it will wait for the user controlled vehicle to enter the start region, then make a traffic par

Just wait for the ego to exit the junction, for route the BackgroundActivity already does all the job

Hero vehicle is turning left in an urban area at a signalized intersection, where, a flow of actors coming straight is present.

Hero vehicle is turning left in an urban area at a signalized intersection, where, a flow of actors coming straight is present.

Hero vehicle is turning left in an urban area at a signalized intersection, where, a flow of actors coming straight is present.

The scenario defined after is a "control loss vehicle" scenario.

Hero vehicle is entering a junction in an urban area, at a signalized intersection, while another actor runs a red lift, forcing the

Hero vehicle is entering a junction in an urban area, at a signalized intersection, while another actor runs a red lift, forcing the

Creates a parallel behavior that runs all of the scenarios part of the route. These subbehaviors have had a trigger condition added s

The adversary vehicle will go to the target place while invading another lane.

The behavior tree returned by this method is as follows: The ego vehicle is trying to pass a leading vehicle in the same lane

Hero vehicle is turning right in an urban area, at a signalized intersection, while other actor coming straight from the left. The eg

Hero vehicle is turning right in an urban area, at a signalized intersection, while other actor coming straight from the left. The eg

The scenario defined after is a "other leading vehicle" scenario. After invoking this scenario, the user controlled vehicle has to dr

Hero vehicle is entering a junction in an urban area, at a signalized intersection, while another actor runs a red lift, forcing the

The vehicle has to drive the reach a specific point but an accident is in the middle of the road, blocking its route and forcing it t

The vehicle has to drive the whole predetermined distance. Adapt the opposite flow to let the ego invade the opposite lane.

The vehicle has to drive the whole predetermined distance.

The vehicle has to drive the whole predetermined distance. Adapt the opposite flow to let the ego invade the opposite lane.

Activate the bicycles and wait for the ego to be close-by before changing the side traffic. End condition is based on the ego behind

Activate the bicycles and wait for the ego to be close-by before changing the opposite traffic. End condition is based on the ego beh

Hero vehicle is turning left in an urban area at a signalized intersection, where, a flow of actors coming straight is present.

Hero vehicle is turning left in an urban area at a signalized intersection, where, a flow of actors coming straight is present.

Only behavior here is to wait

After invoking this scenario, cyclist will wait for the user controlled vehicle to enter trigger distance region, the cyclist

After invoking this scenario, cyclist will wait for the user controlled vehicle to enter trigger distance region, the cyclist

Hero vehicle is entering a junction in an urban area, at a signalized intersection, while another actor runs a red lift, forcing the

Hero vehicle is entering a junction in an urban area, at a signalized intersection, while another actor runs a red lift, forcing the

Vehicles run from the start to the end continuously.

the ego vehicle mergers into a slow traffic flow from the freeway entrance.

the ego vehicle mergers into a slow traffic flow from the freeway entrance.

Create an actor flow at the opposite lane which the ego has to cross

the ego vehicle mergers into a slow traffic flow from the freeway entrance.

Remove the lane that would collide with the construction and add the construction props. Wait until the ego is close to the construct

Remove the lane that would collide with the construction and add the construction props. Wait until the ego is close to the construct

Deactivate OutsideRouteLanesTest, then move ego to the parking point, generate blocking vehicles in front of and behind the ego.

Uses the Background Activity to force a hard break on the vehicles in front of the actor, then waits for a bit to check if the actor

After invoking this scenario, cyclist will wait for the user controlled vehicle to enter the in the trigger distance region,

The scenario defined after is a "follow leading vehicle" scenario. After invoking this scenario, it will wait for the user controlled

The scenario defined after is a "follow leading vehicle" scenario. After invoking this scenario, it will wait for the user controlled

After invoking this scenario, cyclist will wait for the user controlled vehicle to enter trigger distance region, the cyclist

Create the street lights behavior

Create the street lights behavior

Implementation of the metric.

Implementation of the metric. This is an example to show how to use the recorder, accessed via the log.

Implementation of the metric. This is an example to show how to use the criteria

Create the criteria tree. It starts with some route criteria (which are always active), and adds the scenario specific ones, which wi

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria is created, which is later used in the parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

Create the criteria tree. It starts with some route criteria (which are always active), and adds the scenario specific ones, which wi

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.

A list of all test criteria will be created that is later used in parallel behavior tree.